Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Region of interest detection with iterative colour clustering and a global weighting scheme
    ( 2017)
    Katanacho, Manuel
    ;
    Hoffmann, Jonas
    ;
    Uhlmann, Eckart
    Many modern surgical systems utilize advanced computer vision and image processing techniques for a vast variety of tasks, such as object recognition, segmentation, classification and 3D reconstruction. In many cases, the extraction of a specific region of interest (ROI) in the image is performed prior to further processing steps. This increases the computation speed and may improve the quality of the system´s output because misleading elements in the image are masked out. We present a novel approach that considers global colour distributions to extract one (or more) ROIs in a camera image stream. Our method is both fast and robust against illumination discontinuities, irregularities in the texturing of surfaces and false areas with very similar colour. The method is used for the detection of human skin in an operating room environment for a camera based navigation system.
  • Publication
    Depth map based point cloud registration to CT patient data for surgical navigation
    ( 2017)
    Katanacho, Manuel
    ;
    Lack, John-Certus
    ;
    Hoffmann, Jonas
    ;
    Uhlmann, Eckart
  • Publication
    3D human face reconstruction for surgical navigation
    ( 2016)
    Katanacho, Manuel
    ;
    Hoffmann, Jonas
    ;
    Engel, Sebastian
  • Publication
    Camera pose estimation for a visual navigation system
    ( 2016)
    Katanacho, Manuel
    ;
    Hoffmann, Jonas
    A camera pose (position and orientation) estimation procedure is developed for application in navigated surgery. The procedure computes the camera's position and orientation relative to a surface model of the patient's face that is priorly acquired. Correspondences between tracked feature points in the camera video stream and three-dimensional points in the patient surface model allow constant computation of the camera's position and orientation. With this transformation the camera is used as a measurement tool in navigated surgery and represents one of the core components in a novel surgical navigation system called Visual Navigation, an alternative to conventional optical and electromagnetic tracking systems.