Abstract
Endoscopy measuring three-dimensional (3D) shape of organ inner wall is addressed. It can provide organ surface shape and texture simultaneously and improve diagnosis capability such as to find small gastric submucosal tumors. Some endoscpic systems based on stereo measurement or laser scanning have been proposed for this purpose, however, they have the drawbacks of corresponding unstability and occulusion between stereo images. In this paper, we demonstrate 3D shape measurement with single lens endoscopy by a new shape-from-focus (SFF) method that compensates error caused by blur spatial non-uniformity. Our system improved organ shape measurement from 1.38 mm to 0.53 mm RMS error.
