{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T17:39:27Z","timestamp":1770917967963,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2018,7,12]],"date-time":"2018-07-12T00:00:00Z","timestamp":1531353600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National Nature Science Foundation of China","award":["31271069"],"award-info":[{"award-number":["31271069"]}]},{"DOI":"10.13039\/501100019082","name":"Shanghai Aerospace Science and Technology Innovation Fund","doi-asserted-by":"publisher","award":["SAST2016084"],"award-info":[{"award-number":["SAST2016084"]}],"id":[{"id":"10.13039\/501100019082","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As the traditional single camera endoscope can only provide clear images without 3D measurement and 3D reconstruction, a miniature binocular endoscope based on the principle of binocular stereoscopic vision to implement 3D measurement and 3D reconstruction in tight and restricted spaces is presented. In order to realize the exact matching of points of interest in the left and right images, a novel construction method of the weighted orthogonal-symmetric local binary pattern (WOS-LBP) descriptor is presented. Then a stereo matching algorithm based on Gaussian-weighted AD-Census transform and improved cross-based adaptive regions is studied to realize 3D reconstruction for real scenes. In the algorithm, we adjust determination criterions of adaptive regions for edge and discontinuous areas in particular and as well extract mismatched pixels caused by occlusion through image entropy and region-growing algorithm. This paper develops a binocular endoscope with an external diameter of 3.17 mm and the above algorithms are applied in it. The endoscope contains two CMOS cameras and four fiber optics for illumination. Three conclusions are drawn from experiments: (1) the proposed descriptor has good rotation invariance, distinctiveness and robustness to light change as well as noises; (2) the proposed stereo matching algorithm has a mean relative error of 8.48% for Middlebury standard pairs of images and compared with several classical stereo matching algorithms, our algorithm performs better in edge and discontinuous areas; (3) the mean relative error of length measurement is 3.22%, and the endoscope can be utilized to measure and reconstruct real scenes effectively.<\/jats:p>","DOI":"10.3390\/s18072243","type":"journal-article","created":{"date-parts":[[2018,7,12]],"date-time":"2018-07-12T06:39:59Z","timestamp":1531377599000},"page":"2243","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["A Miniature Binocular Endoscope with Local Feature Matching and Stereo Matching for 3D Measurement and 3D Reconstruction"],"prefix":"10.3390","volume":"18","author":[{"given":"Di","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Instrument Science and Engineering, SEIEE, Shanghai Jiao Tong University, Shanghai 200240, China"}]},{"given":"Hua","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering, SEIEE, Shanghai Jiao Tong University, Shanghai 200240, China"},{"name":"Shanghai Engineering Research Center for Intelligent Diagnosis and Treatment Instrument, Shanghai 200240, China"}]},{"given":"Xiang","family":"Cheng","sequence":"additional","affiliation":[{"name":"Department of Instrument Science and Engineering, SEIEE, Shanghai Jiao Tong University, Shanghai 200240, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,12]]},"reference":[{"key":"ref_1","unstructured":"Yu, G. (2016). Development and Design of Video Endoscope Image System, East China University of Science and Technology."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"926","DOI":"10.1109\/JMEMS.2012.2194774","article-title":"Miniature flipping disk device for size measurement of objects through endoscope","volume":"21","author":"Choi","year":"2012","journal-title":"J. Microelectromech. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"2337","DOI":"10.3788\/OPE.20142209.2337","article-title":"Binocular optical system of industrial endoscope for three-dimensional measurement","volume":"22","author":"Guo","year":"2014","journal-title":"Opt. Precis. Eng."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Furukawa, R., Sanomura, Y., Tanaka, S., Yoshida, S., Sagawa, R., Visentini-Scarzanella, M., and Kawasaki, H. (2016, January 16\u201320). 3D endoscope system using DOE projector. Proceedings of the 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, USA.","DOI":"10.1109\/EMBC.2016.7591140"},{"key":"ref_5","unstructured":"(2018, May 14). Mentor Visual iQ Video Borescope. Available online: https:\/\/www.gemeasurement.com\/inspection-ndt\/remote-visual-inspection\/mentor-visual-iq-video-borescope."},{"key":"ref_6","unstructured":"(2018, May 14). Videoscopes and Borescopes. Available online: https:\/\/www.olympus-ims.com.cn\/zh\/rvi-products\/iplex-nx\/."},{"key":"ref_7","unstructured":"(2018, May 14). Shenda Endoscope. Available online: http:\/\/www.china-endoscope.com\/."},{"key":"ref_8","unstructured":"(2018, May 14). Shanghai Aohua Endoscopy Co. Ltd.. Available online: http:\/\/www.aohua.com\/index.php."},{"key":"ref_9","unstructured":"(2018, May 14). Beijing Dellon Inspection Technology Co., Ltd.. Available online: http:\/\/www.dellon.net\/products\/dianzi\/286.html."},{"key":"ref_10","unstructured":"(2018, May 14). Xvzhou TENOSI Visual Technology Co. Ltd.. Available online: http:\/\/www.tenosi.com\/article.asp?id=856."},{"key":"ref_11","first-page":"24","article-title":"Research of error-model on two eyes stereoscopic measurement system","volume":"32","author":"Li","year":"2006","journal-title":"Opt. Tech."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1023\/B:VISI.0000029664.99615.94","article-title":"Distinctive image features from scale-invariant keypoints","volume":"60","author":"Lowe","year":"2004","journal-title":"IJCV"},{"key":"ref_13","unstructured":"Ke, Y., and Sukthankar, R. (July, January 27). PCA-SIFT: A more distinctive representation for local image descriptors. Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Washington, DC, USA."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Bay, H., Tuytelaars, T., and Van Gool, L. (2006, January 7\u201313). Surf: Speeded up robust features. Proceedings of the ECCV, Graz, Austria.","DOI":"10.1007\/11744023_32"},{"key":"ref_15","unstructured":"Ojala, T., Pietikainen, M., and Harwood, D. (1994, January 9\u201313). Performance evaluation of texture measures with classification based on Kullback discrimination of distributions. Proceedings of the IAPR International Conference on Pattern Recognition, Jerusalem, Israel."},{"key":"ref_16","first-page":"123","article-title":"A stereo matching algorithm using improved gradient and adaptive window","volume":"35","author":"Zhu","year":"2015","journal-title":"Acta Opt. Sin."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1582","DOI":"10.1109\/TPAMI.2008.221","article-title":"Evaluation of stereo matching costs on images with radiometric differences","volume":"31","author":"Scharstein","year":"2009","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1073","DOI":"10.1109\/TCSVT.2009.2020478","article-title":"Cross-based local stereo matching using orthogonal integral images","volume":"19","author":"Zhang","year":"2009","journal-title":"IEEE Trans. Circuits Syst. Video Technol."},{"key":"ref_19","unstructured":"Bradski, G., and Kaehler, A. (2008). Learning OpenCV: Computer Vision with the OpenCV Library, O\u2019Reilly Media, Inc."},{"key":"ref_20","unstructured":"Canny, J. (1983). A variational approach to edge detection. AAAI Conference on Artificial Intelligence, AAAI Press."},{"key":"ref_21","first-page":"52","article-title":"Fire smoke recognition based on image entropy","volume":"29","author":"Pan","year":"2015","journal-title":"J. Jiangsu Univ. Sci. Technol. (Nat. Sci. Ed.)"},{"key":"ref_22","unstructured":"(2018, May 14). Affine Covariant Features. Available online: http:\/\/www.robots.ox.ac.uk\/~vgg\/research\/affine\/."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1016\/j.patcog.2008.08.014","article-title":"Description of interest regions with local binary patterns","volume":"42","author":"Schmid","year":"2009","journal-title":"Pattern Recognit."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Einecke, N., and Eggert, J. (2011, January 1\u20133). A two-stage correlation method for stereoscopic depth estimation. Proceedings of the IEEE International Conference on Digital Image Computing: Techniques and Applications, Sydney, Australia.","DOI":"10.1109\/DICTA.2010.49"},{"key":"ref_25","unstructured":"Kolmogorov, V., and Zabih, R. (2001, January 7\u201314). Computing Visual Correspondence with Occlusions using Graph Cuts. Proceedings of the Eighth IEEE International Conference on Computer Vision (ICCV), Vancouver, BC, Canada."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"1509","DOI":"10.1109\/TCSVT.2010.2077771","article-title":"High performance stereo vision designed for massively data parallel platforms","volume":"20","author":"Yu","year":"2010","journal-title":"IEEE Trans. Circuits Syst. Video Technol."},{"key":"ref_27","unstructured":"Hirschmuller, H. (2005, January 20\u201325). Accurate and efficient stereo processing by semi-global matching and mutual information. Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Diego, CA, USA."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1330","DOI":"10.1109\/34.888718","article-title":"A flexible new technique for camera calibration","volume":"22","author":"Zhang","year":"2000","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"323","DOI":"10.1109\/JRA.1987.1087109","article-title":"A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses","volume":"3","author":"Tsai","year":"1987","journal-title":"IEEE J. Robot. Autom."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/7\/2243\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:11:44Z","timestamp":1760195504000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/7\/2243"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7,12]]},"references-count":29,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2018,7]]}},"alternative-id":["s18072243"],"URL":"https:\/\/doi.org\/10.3390\/s18072243","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,7,12]]}}}