Fig. 3
From: Bladder image stitching algorithm for navigation and referencing using a standard cystoscope
2D bladder image and 3D bladder phantom used in algorithm development and testing. (a) 2D experimental setup, (b) image calibration to correct for distortion and “fisheye” appearance with uncorrected (top) and corrected images (bottom), (c) test bladder image used in the 2D study, (d) illustrated sweep patterns used for original bladder map generation and revisit sweep, (e) 3D phantom, (f) example cystoscope image of 3D phantom, (g) illustration of two different sweep patterns performed to generate bladder maps, sweep 1 (yellow line) and sweep 2 (dashed black line).
