Geometrical Calibration of X-Ray Imaging With RGB Cameras for 3D Reconstruction

Abstract

(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.We present a methodology to recover the geometrical calibration of conventional X-ray settings with the help of an ordinary video camera and visible fiducials that are present in the scene. After calibration, equivalent points of interest can be easily identifiable with the help of the epipolar geometry. The same procedure also allows the measurement of real anatomic lengths and angles and obtains accurate 3D locations from image points. Our approach completely eliminates the need for X-ray-opaque reference marks (and necessary supporting frames) which can sometimes be invasive for the patient, occlude the radiographic picture, and end up projected outside the imaging sensor area in oblique protocols. Two possible frameworks are envisioned: a spatially shifting X-ray anode around the patient/object and a moving patient that moves/rotates while the imaging system remains fixed. As a proof of concept, experiences with a device under test (DUT), an anthropomorphic phantom and a real brachytherapy session have been carried out. The results show that it is possible to identify common points with a proper level of accuracy and retrieve three-dimensional locations, lengths and shapes with a millimetric level of precision. The presented approach is simple and compatible with both current and legacy widespread diagnostic X-ray imaging deployments and it can represent a good and inexpensive alternative to other radiological modalities like CT.This work was carried out with the support of Information Storage S.L., University of Valencia (grant #CPI-15-170), CSD2007-00042 Consolider Ingenio CPAN (grant #CPAN13-TR01) as well as with the support of the Spanish Ministry of Industry, Energy and Tourism (Grant TSI-100101-2013-019).Albiol Colomer, F.; Corbi, A.; Albiol Colomer, A. (2016). Geometrical Calibration of X-Ray Imaging With RGB Cameras for 3D Reconstruction. IEEE Transactions on Medical Imaging. 35(8):1952-1961. https://doi.org/10.1109/TMI.2016.2540929S1952196135