Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image
文献类型：期刊论文
| 作者 | Hu, Lihua1; Feng, Shida1,2; Wang, Bo2
|
| 刊名 | SENSORS
 |
| 出版日期 | 2024-06-01 |
| 卷号 | 24期号:11页码:14 |
| 关键词 | 6D pose estimation weakly supervised learning back-propagatable PnP |
| DOI | 10.3390/s24113355 |
| 通讯作者 | Wang, Bo(bo.wang@ia.ac.cn) |
| 英文摘要 | Instrument pose estimation is a key demand in computer-aided surgery, and its main challenges lie in two aspects: Firstly, the difficulty of obtaining stable corresponding image feature points due to the instruments' high refraction and complicated background, and secondly, the lack of labeled pose data. This study aims to tackle the pose estimation problem of surgical instruments in the current endoscope system using a single endoscopic image. More specifically, a weakly supervised method based on the instrument's image segmentation contour is proposed, with the effective assistance of synthesized endoscopic images. Our method consists of the following three modules: a segmentation module to automatically detect the instrument in the input image, followed by a point inference module to predict the image locations of the implicit feature points of the instrument, and a point back-propagatable Perspective-n-Point module to estimate the pose from the tentative 2D-3D corresponding points. To alleviate the over-reliance on point correspondence accuracy, the local errors of feature point matching and the global inconsistency of the corresponding contours are simultaneously minimized. Our proposed method is validated with both real and synthetic images in comparison with the current state-of-the-art methods. |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Chemistry ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001245408000001 |
| 出版者 | MDPI |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58745]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 通讯作者 | Wang, Bo |
| 作者单位 | 1.Taiyuan Univ Sci & Technol, Coll Comp Sci & Technol, Taiyuan 030024, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Hu, Lihua,Feng, Shida,Wang, Bo. Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image[J]. SENSORS,2024,24(11):14. |
| APA | Hu, Lihua,Feng, Shida,&Wang, Bo.(2024).Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image.SENSORS,24(11),14. |
| MLA | Hu, Lihua,et al."Weakly Supervised Pose Estimation of Surgical Instrument from a Single Endoscopic Image".SENSORS 24.11(2024):14. |
入库方式： OAI收割
来源：自动化研究所
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