Image Fusion With a Dental Panoramic X-ray Image and Face Image Acquired With a KINECT

Transcription

1 Image Fuson Wth a Dental Panoramc X-ray Image and Face Image Acqured Wth a KINECT Kohe Kawa* 1, Koch Ogawa* 1, Aktosh Katumata* 2 * 1 Graduate School of Engneerng, Hose Unversty * 2 School of Dentstry, Asah Unversty

2 1. Introducton Detector CT system X-ray tube 3D scanner Reconstructed mages Reconstructed mages

3 2. Introducton 3D face mage 3D bone mage fuson Dagnoss and treatment CT system+3d scanner GALILEOS comfort plus(srona)

4 3. Introducton Conventonal method Dental X-ray CT system + 3D scanner Proposed method Dental panoramc X-ray system + KINECT Low cost and compact Low cost and popular

5 4. Proposed system We proposed a panoramc X-ray system wth a KINECT. KINECT nfrared projector nfrared camera RGB camera X-ray tube detector RGB mage resoluton Depth mage resoluton Depth range RGB camera vew Depth camera vew Infrared wavelength Specfcatons (30 fps) (30 fps) 400~4000 mm (horzontal) 62 deg. (vertcal) 48 deg. (horzontal) 57 deg. (vertcal) 43 deg. 830 nm mrror lght path >40cm KINECT

6 5. Method (Data acquston) Defne the rotaton axs To defne the rotaton axs, a bar phantom was measured wth a KINECT. Bar phantom RGB data Face Depth data Rotaton axs s fxed at the center of the bar phantom. Used area (80 300)

7 6. Method (Convert depth data to 3D postons) Top vew y z x y y Rotaton axs c2 Surface data x, y, z 60 KINECT Surface data z c1 We convert the coordnate system x x 3D poston z c2 y y y (0,0,0) x x = z tan θ h 320 y = z tan θ v 240 x y z c1 x x x = x cos θ z sn θ z = x sn θ + z cos θ

8 7. Method (Voxelzaton of the surface data) z Data after converson X Y Z(depth) R G B plot the pont to the pxel array x count the number of dots s an acqured 3D poston # of dots z thresholdng and bnalzaton Slce mage x select surface voxels usng a threshold

9 8. Method (post processng) contour dlaton 6 tmes thnnng 2 tmes prunng 1 tme dlaton 3 tmes slce mage color mappng Mssng color of a processed slce mage s assumed to be a color of the nearest neghbor voxel. search path slce mage 3D surface mage after processng mssng color colored mage Stack contour mages vertcally Object space voxels 3D surface mage wth color mappng Stack colored contour mages vertcally

10 9. Expermental setups 380mm detector KINECT X-ray tube 15 KINECT QRmaster-P (Telesystems, Japan) mrror

11 10. Orbt of the X-ray tube and detector The rotaton center of a panoramc X-ray apparatus moves lnearly durng the data acquston. Scalng of acqured data s requred.

12 11. Acqured mage RGB mage Depth mage 59 frames / rotaton (12 sec.)

13 12. Experment (volunteer) Step1 marker 70 Panoramc X-ray data acquston Step2 tungsten rubber markers on the face Step3 Axs data acquston Face data acquston

14 13. Result (2.5D teeth and jaw bone mage) 2D panoramc mage 2.5D teeth and jaw bones mage A 2.5D teeth and jaw bone mage s reconstructed by fndng the focal pont of each area usng the tomosynthess method. Ths technques was presented by Telesystems, Japan.

15 14. How to make a panoramc mage Reconstructed curved planes 1locaton -2mm 2locaton -1 5 shft 3 1 3locaton 0 (central plane) 4locaton 1 5locaton 2 Raw data 2D panoramc mage

16 15. How to make a 2.5D mage 1 locaton -2mm 3locaton 0 (central plane) focused poston (x, y, z ) patch (x, y, z ) 5locaton D mage compare hgh frequency components

17 16. Regstraton (face mage and teeth mage) y y z face b 0 d 0 d 1 g p a 0 b 1 a1 x jaw bone : marker number(=1~5) a b ( x, y, z x, y, z ( x ) ) : maker poston on the face movng d 1 5 x, y, z c( x, y, z, ) g p 2 ( a ( x, y, z ) b ( x, y, z )) 5 5 arg mn c( x, y, x, ) x, y, z, : marker poston on the jaw bone 5 d 1 5 d ( d ) : gravty pont of jaw bone marker constrant condtons a y < b y a JB 2 z JB

18 17. Result (fused mage) 3D face mage 2.5D teeth and jaw bone mage fused mage

19 18. Concluson We made a dental fuson mage wth a KINECT and dental panoramc X-ray system. The qualty of the face mage was good, but the 2.5D teeth and bone mage was not enough. In the next stage, we wll mprove 2.5D jaw bone mages. References 1. K. Ogawa, R. P. Langlas, W. D. McDavd, et al. Development of a new dental panoramc radographc system based on a tomosynthess method, Dentomaxllofacal Radology (2010) 39, d_2645.html