Towards 3D reconstruction of endoscope images using shape from shading

The 3D reconstruction problem from a single endoscope image of a smooth object is studied in the context of the shape from shading methods and considering a single light source at the camera projection center. Based on a curve expansion shape from shading algorithm, a spherical projection model for the endoscope camera and a dichromatic model for the surface reflectance, an approach to solve practical problems, namely the endoscope image distortion and the removal of the image specular reflection component, is presented. Results obtained from application of this approach to synthetic and real images are presented.