FIG. 1.

Flow diagram of the reconstruction pipeline. The first frame of both planes is used as a mask image and registered to the current frame. A noise reduction and ridgeness filter is then applied to the subtraction of current frame and mask. Subsequently, the image is binarized to separate the device from the background and the centerline is extracted using topology preserving thinning and Dijkstra’s path search algorithm. Finally, an epipolar reconstruction is performed using the projection matrices from an offline calibration step to obtain the 3D shape of the device.