Jeu. 12/09/2019 14:00 Amphi Jean Jacques Moreau, Bâtiment 2, RdC
BARTOLI Adrien (Institut Pascal (UMR6602), CNRS, UCA, CHU de Clermont-Ferrand)
Research in 3D computer vision with application in laparoscopic surgery
It was established in the past century that 3D information may be recovered from multiple images under the assumption that the observed scene is rigid. This fundamental result is now a 3D reconstruction technology: one may for instance handheld a camcorder around a building and convert the footage to a dense 3D point cloud automatically on a regular computer. The process may also compute the camera's time-varying position, orientation and internal parameters, such as the focal length. But how about non-rigid scenes and objects? Can one similarly film a handheld piece of cloth and later recover 3D from the footage? To make it clear, this is not about using several cameras to observe a non-rigid object, which would boil down to the rigid case, but about using a single camera, possibly moving, providing a single or multiple images, and recovering 3D from these. The constraints involved in non-rigid 3D reconstruction are not only weaker than in rigid 3D reconstruction: they make it a tremendously more involved problem. Research since about the beginning of our century has nonetheless recently led to some important theoretical and practical results for the case of non-deformable structures. In short, non-rigid but non-deformable structures can be uniquely 3D reconstructed from images in many practical cases. I will present general points on 3D computer vision and then focus on the case of non-rigid objects. I will then show how these results can be used to facilitate augmented reality in laparoscopic surgery, providing the surgeon with a live visual guidance in the operating theatre. Some of the next important steps are to integrate models from mechanics and new problem specific constraints.
Pour plus d'informations, merci de contacter Le floc'h S.