# Normal reconstruction from specularity in the endoscopic setting

arXiv: https://arxiv.org/abs/2211.05642 · HTML: https://mlsanity.com/paper/2211.05642/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 0 of its 19 references that are in the map.
- First posted on arXiv 10 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [Reconstructing the normal and shape at specularities in endoscopy](https://mlsanity.com/paper/2311.18299/) (2023)

## Abstract (arXiv)

We show that for a plane imaged by an endoscope the specular isophotes are concentric circles on the scene plane, which appear as nested ellipses in the image. We show that these ellipses can be detected and used to estimate the plane's normal direction, forming a normal reconstruction method, which we validate on simulated data. In practice, the anatomical surfaces visible in endoscopic images are locally planar. We use our method to show that the surface normal can thus be reconstructed for each of the numerous specularities typically visible on moist tissues. We show results on laparoscopic and colonoscopic images.