This study aims to develop a novel imaging technique to improve the accuracy of the colposcolpic diagnosis of cervical cancer. An optical imaging system based on active stereo vision is built to measure the 3-D surface topology of cervix and track the motion of patient. The information of motion tracking are used to register the time-sequenced images of cervix recorded over the period of examination. The imaging system is evaluated by tracking the movements of cervix models. The results show that the error of 2-D image registration is 0.8 pixels, equivalent to the motion tracking error of 0.05 mm in the field-of-view. The imaging technique holds the promise to enable quantitative mapping of the acetowhitening kinetics over cervical surface for more accurate diagnosis of cervical cancer.

© 2007 Optical Society of America

1. B. W. Pogue, H. B. Kaufman, A. Zelenchuk, W. Harper, G. C. Burke, E. E. Burke, and D. M. Harper, "Analysis of acetic acid-induced whitening of high-grade squamous intraepithelial lesions," J. Biomed. Opt. 6, 397-403 (2001). [CrossRef] [PubMed]
2. C. Balas, "A novel optical imaging method for the early detection, quantitative grading, and mapping of cancerous and precancerous lesions of cervix," IEEE Trans. Biomed. Eng. 48, 96-104 (2001). [CrossRef] [PubMed]
3. T. T. Wu, J. Y. Qu, T. H. Cheung, S. F. Yim, and Y. F. Wong, "Study of dynamic process of acetic acid induced-whitening in epithelial tissues at cellular level," Opt. Express 13, 4963-4973 (2005). [CrossRef] [PubMed]
4. Y. F. Wang and J. K. Aggarwal, "An overview of geometric modeling using active sensing," IEEE Control Syst. Mag. 8, 5-13 (1988). [CrossRef]
5. J. Batlle, E. Mouaddib, and J. Salvi, "Recent progress in coded structured light as a technique to solve the correspondence problem: a survey," Pattern Recogn. 31, 963-982 (1998). [CrossRef]
6. K. Hasegawa, K. Noda, and Y. Sato, "Electronic endoscope system for shape measurement," in Proceedings of the 16th International Conference on Pattern Recognition (IEEE Computer Society, 2002), pp. 761-764.
7. T. Wu, J. Qu, T. -H. Cheung, K. Lo, and M. -Y. Yu, "Preliminary study of detecting neoplastic growths in vivo with real time calibrated autofluorescence imaging," Opt. Express 11, 291-298 (2003). [CrossRef] [PubMed]
8. R. Y. Tsai, "A versatile camera calibration technique for highaccuracy 3D machine vision metrology using off-the-shelf TV camera and lenses," IEEE J. Rob. Autom. 3, 323-344 (1987). [CrossRef]
9. D. Q. Huynh, R. A. Owens, and P. E. Hartmann, "Calibrating a structured light stripe system: a novel approach," Int. J. Comput. Vis. 33, 73-86 (1999). [CrossRef]
10. P. J. Besl and N. D. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern Anal. Mach. Intell. 14, 239-256 (1992). [CrossRef]
11. Y. Chen and G. Medioni, "Object modeling by registration of multiple range images," Image Vis. Comput. 10, 145-155 (1992). [CrossRef]
12. Z. Zhang, "Iterative point matching for registration of free-form curves and surfaces," Int. J. Comput. Vis. 13, 119-152 (1994). [CrossRef]
13. S. Rusinkiewicz and M. Levoy, "Efficient variants of the ICP algorithm," in Proceedings of 3rd International Conference on 3-D Digital Imaging and Modeling (3DIM'01) (IEEE Computer Society, 2001), pp. 145-152.
14. J. L. Bentley, "Multidimensional binary search trees used for associative searching," Commun. ACM 18, 509-517 (1975). [CrossRef]
15. A. Goshtasby, "Image registration by local approximation methods," Image Vis. Comput. 6, 255-261 (1988). [CrossRef]

Commun. ACM

• J. L. Bentley, "Multidimensional binary search trees used for associative searching," Commun. ACM 18, 509-517 (1975). [CrossRef]

IEEE Control Syst. Mag.

• Y. F. Wang and J. K. Aggarwal, "An overview of geometric modeling using active sensing," IEEE Control Syst. Mag. 8, 5-13 (1988). [CrossRef]

IEEE J. Rob. Autom.

• R. Y. Tsai, "A versatile camera calibration technique for highaccuracy 3D machine vision metrology using off-the-shelf TV camera and lenses," IEEE J. Rob. Autom. 3, 323-344 (1987). [CrossRef]

IEEE Trans. Biomed. Eng.

• C. Balas, "A novel optical imaging method for the early detection, quantitative grading, and mapping of cancerous and precancerous lesions of cervix," IEEE Trans. Biomed. Eng. 48, 96-104 (2001). [CrossRef] [PubMed]

IEEE Trans. Pattern Anal. Mach. Intell.

• P. J. Besl and N. D. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern Anal. Mach. Intell. 14, 239-256 (1992). [CrossRef]

Image Vis. Comput.

• Y. Chen and G. Medioni, "Object modeling by registration of multiple range images," Image Vis. Comput. 10, 145-155 (1992). [CrossRef]
• A. Goshtasby, "Image registration by local approximation methods," Image Vis. Comput. 6, 255-261 (1988). [CrossRef]

Int. J. Comput. Vis.

• Z. Zhang, "Iterative point matching for registration of free-form curves and surfaces," Int. J. Comput. Vis. 13, 119-152 (1994). [CrossRef]
• D. Q. Huynh, R. A. Owens, and P. E. Hartmann, "Calibrating a structured light stripe system: a novel approach," Int. J. Comput. Vis. 33, 73-86 (1999). [CrossRef]

J. Biomed. Opt.

• B. W. Pogue, H. B. Kaufman, A. Zelenchuk, W. Harper, G. C. Burke, E. E. Burke, and D. M. Harper, "Analysis of acetic acid-induced whitening of high-grade squamous intraepithelial lesions," J. Biomed. Opt. 6, 397-403 (2001). [CrossRef] [PubMed]

Opt. Express

• T. Wu, J. Qu, T. -H. Cheung, K. Lo, and M. -Y. Yu, "Preliminary study of detecting neoplastic growths in vivo with real time calibrated autofluorescence imaging," Opt. Express 11, 291-298 (2003). [CrossRef] [PubMed]
• T. T. Wu, J. Y. Qu, T. H. Cheung, S. F. Yim, and Y. F. Wong, "Study of dynamic process of acetic acid induced-whitening in epithelial tissues at cellular level," Opt. Express 13, 4963-4973 (2005). [CrossRef] [PubMed]

Pattern Recogn.

• J. Batlle, E. Mouaddib, and J. Salvi, "Recent progress in coded structured light as a technique to solve the correspondence problem: a survey," Pattern Recogn. 31, 963-982 (1998). [CrossRef]

Other

• K. Hasegawa, K. Noda, and Y. Sato, "Electronic endoscope system for shape measurement," in Proceedings of the 16th International Conference on Pattern Recognition (IEEE Computer Society, 2002), pp. 761-764.
• S. Rusinkiewicz and M. Levoy, "Efficient variants of the ICP algorithm," in Proceedings of 3rd International Conference on 3-D Digital Imaging and Modeling (3DIM'01) (IEEE Computer Society, 2001), pp. 145-152.

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