Mr. Chadi Albitar Profile

Chadi Albitar

at HIAST

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Proceedings Article | 13 March 2009 Paper

Fast 3D vision with robust structured light coding

Chadi Albitar, Pierre Graebling, Christophe Doignon

Proceedings Volume 7261, 726113 (2009) https://doi.org/10.1117/12.808179

KEYWORDS: 3D modeling, Abdomen, Calibration, Endoscopy, Surgery, Reconstruction algorithms, Cameras, Detection and tracking algorithms, 3D vision, Structured light

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In this paper we present a new monochromatic pattern for a robust structured light coding based on the spatial neighborhood scheme and using the M-array approach. We tackle the design problem with the definition of a small set of symbols associated to simple geometrical features. One of these primitives embeds the local orientation of the pattern which is helpful for the neighborhood detection during the decoding process. The pattern codification is robust as it allows a high error rate characterized by an average Hamming distance higher than 6. The design of the pattern takes into account its integration in an endoscopic tool. Moreover, the color to be used in the projection is chosen after a study on the interaction color-organ. The aim of this work is to use this pattern for the real-time 3D reconstruction of dynamic scenes, particularly in endoscopic surgery, with fast and reliable detection and decoding stages. Ongoing results are presented to assess both the capabilities of he proposed pattern and the reliable decoding algorithm.

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