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The proposed method is based on reverse projection from 2D fold contours to 3D space, motion estimation from 3D reconstructed points between neighboring frames, and model registration to reconstruct the fold structure. On the synthetic colon, the average percentages of the reconstructed depth error and circumference error are about 14.2% and 15.2%, respectively. The accuracy is enough for the navigation and control in capsule robot. This work demonstrates that the proposed method is superior to the methods using single-frame-based brightness intensity.<\/jats:p>","DOI":"10.1017\/s0263574720000399","type":"journal-article","created":{"date-parts":[[2020,5,27]],"date-time":"2020-05-27T09:59:51Z","timestamp":1590573591000},"page":"334-345","source":"Crossref","is-referenced-by-count":3,"title":["Depth Estimation for Local Colon Structure in Monocular Capsule Endoscopy Based on Brightness and Camera Motion"],"prefix":"10.1017","volume":"39","author":[{"given":"Lei","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4093-6335","authenticated-orcid":false,"given":"Jing","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Hao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peisen","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gastone","family":"Ciuti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paolo","family":"Dario","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,5,27]]},"reference":[{"key":"S0263574720000399_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72630-2_4"},{"key":"S0263574720000399_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2006.03.007"},{"key":"S0263574720000399_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-76856-2_35"},{"key":"S0263574720000399_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ISIMP.2004.1434068"},{"key":"S0263574720000399_ref7","first-page":"2179","article-title":"What Camera Motion Reveals about Shape with Unknown BRDF","author":"Chandraker","year":"2014","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition(CVPR)"},{"key":"S0263574720000399_ref6","first-page":"491","article-title":"Rapid Weak-Perspective Structure from Motion with Missing Data","author":"Kaz\u00f3","year":"2011","journal-title":"Proceedings of the IEEE International Conference on Computer Vision Workshops"},{"key":"S0263574720000399_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-67543-5_5"},{"key":"S0263574720000399_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2009.161"},{"key":"S0263574720000399_ref13","first-page":"768","article-title":"Intra-Operative Monocular 3D Reconstruction for Image-Guided Navigation in Active Locomotion Capsule Endoscopy","author":"Ciuti","year":"2012","journal-title":"Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics"},{"key":"S0263574720000399_ref20","first-page":"60","article-title":"Panoramic Mosaicing with a 180 Degree Field of View Lens","author":"Bakstein","year":"2002","journal-title":"Proceedings of the IEEE Workshop on Omnidirectional Vision"},{"key":"S0263574720000399_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s10620-005-1276-y"},{"key":"S0263574720000399_ref22","first-page":"61","article-title":"Poisson Surface Reconstruction","author":"Kazhdan","year":"2006","journal-title":"Proceedings of the Symposium on Geometry Processing"},{"key":"S0263574720000399_ref25","first-page":"25","article-title":"High Accuracy Optical Flow Estimation Based on a Theory for Warping","author":"Brox","year":"2004","journal-title":"Proceedings of the European Conference on Computer Vision(ECCV)"},{"key":"S0263574720000399_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-019-01962-w"},{"key":"S0263574720000399_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990361"},{"key":"S0263574720000399_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2010.174"},{"key":"S0263574720000399_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2005.846018"},{"key":"S0263574720000399_ref9","first-page":"525","article-title":"Shape from Shading for Hybrid Surfaces","author":"Ahmed","year":"2007","journal-title":"Proceedings of the IEEE International Conference on Image Processing"},{"key":"S0263574720000399_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.compmedimag.2013.10.005"},{"key":"S0263574720000399_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1986.4767851"},{"key":"S0263574720000399_ref19","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1007\/s11263-016-0964-8","article-title":"A comprehensive and versatile camera model for cameras with tilt lenses","volume":"123","author":"Carsten","year":"2017","journal-title":"Int. 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