Direct bundle adjustment for 3D image fusion with application to transesophageal echocardiography

Zhehua Mao, Liang Zhao, Shoudong Huang, Yiting Fan, Alex Pui Wai Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

In this paper, we propose a novel algorithm for fusing a sequence of 3D images, named as Direct Bundle Adjustment (DBA). This algorithm simultaneously optimizes the global pose parameters of image frames and the intensity values of the fused global image using the 3D image data directly (without extracting features from the images). This one-step 3D image fusion approach is achieved by formulating the problem as an optimization problem to minimize the intensity differences between the global image and the corresponding points in the different local images. The proposed DBA method is particularly useful in the scenarios where distinct features are not available, such as Transesophageal Echocardiography (TEE) images. We validate the proposed method via simulated and in-vivo 3D TEE images. It is shown that the proposed method is robust to intensity noises and much more accurate than the conventional sequential fusion method.
Original languageEnglish
Title of host publication2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers
Pages548-554
Number of pages7
ISBN (Electronic)9781665417143
DOIs
Publication statusPublished - 16 Dec 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems - Online, Prague, Czech Republic
Duration: 27 Sept 20211 Oct 2021
https://www.iros2021.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2021
Country/TerritoryCzech Republic
CityPrague
Period27/09/211/10/21
Internet address

Keywords / Materials (for Non-textual outputs)

  • 3D TEE
  • bundle adjustment
  • direct method
  • image fusion
  • ultrasound imaging

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