Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging

Most camera view planning algorithms are employed in exploration tasks that maximise information gain, but few address the specific challenge of observing targeted surface areas with optimal image quality. This paper presents a novel camera view planning algorithm designed for dermoscopic mole mappi...

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Detalles Bibliográficos
Autores: Franchi, Valerio, Campos Dausà, Ricard, Quintana Plana, Josep, Grácias, Nuno Ricardo Estrela, Garcia Campos, Rafael
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2026
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:dnet:recercat____::cf8180283c20ede20393c13f9884b954
Acceso en línea:http://hdl.handle.net/10256/28780
https://hdl.handle.net/10256/28780
Access Level:acceso abierto
Palabra clave:Visió per ordinador en medicina
Computer vision in medicine
Pell -- Càncer -- Diagnòstic
Skin -- Cancer -- Diagnosis
Dermatoscòpia
Dermatoscopy
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spelling Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body ImagingFranchi, ValerioCampos Dausà, RicardQuintana Plana, JosepGrácias, Nuno Ricardo EstrelaGarcia Campos, RafaelVisió per ordinador en medicinaComputer vision in medicinePell -- Càncer -- DiagnòsticSkin -- Cancer -- DiagnosisDermatoscòpiaDermatoscopyMost camera view planning algorithms are employed in exploration tasks that maximise information gain, but few address the specific challenge of observing targeted surface areas with optimal image quality. This paper presents a novel camera view planning algorithm designed for dermoscopic mole mapping, which is crucial for early melanoma detection. Traditional full-body scanners, though beneficial, suffer from fixed camera positions that can compromise image quality due to varying body contours and patient sizes. Our algorithm addresses this limitation by dynamically optimizing the camera position on a set of collaborative robot (cobot) arms to enhance image resolution, safety, and viewing angles during skin examinations. The proposed method formulates the problem as a non-linear least-squares optimisation that ensures no camera occlusion and a safe distance from the end effector encapsulating the camera to the patient while adjusting the pose of the camera based on the topography of the body. This approach not only maintains optimal imaging conditions by considering resolution and angle of incidence but also prioritises patient safety by preventing physical contact between the camera and the patient. Extensive testing demonstrates that our algorithm adapts effectively to different body shapes and sizes, ensuring high-resolution images across various patient demographics. Moreover, the integration of our camera view planning algorithm into an intelligent dermoscopy system has shown promising results in improving the efficiency and geometric quality of dermoscopic image acquisition, which could lead to more reliable and faster diagnoses. This technology holds significant potential to transform melanoma screening and diagnosis, providing a scalable, safer, and more precise approach to dermatological imagingMDPI (Multidisciplinary Digital Publishing Institute)2026info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionpeer-reviewedapplication/pdfhttp://hdl.handle.net/10256/28780https://hdl.handle.net/10256/28780Technologies, 2026, vol. 14, núm. 4, p. 197Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.3390/technologies14040197info:eu-repo/semantics/altIdentifier/eissn/2227-7080Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:dnet:recercat____::cf8180283c20ede20393c13f9884b9542026-05-29T05:05:01Z
dc.title.none.fl_str_mv Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
title Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
spellingShingle Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
Franchi, Valerio
Visió per ordinador en medicina
Computer vision in medicine
Pell -- Càncer -- Diagnòstic
Skin -- Cancer -- Diagnosis
Dermatoscòpia
Dermatoscopy
title_short Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
title_full Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
title_fullStr Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
title_full_unstemmed Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
title_sort Safety-Enforcing and Occlusion-Aware Camera View Planning for Full-Body Imaging
dc.creator.none.fl_str_mv Franchi, Valerio
Campos Dausà, Ricard
Quintana Plana, Josep
Grácias, Nuno Ricardo Estrela
Garcia Campos, Rafael
author Franchi, Valerio
author_facet Franchi, Valerio
Campos Dausà, Ricard
Quintana Plana, Josep
Grácias, Nuno Ricardo Estrela
Garcia Campos, Rafael
author_role author
author2 Campos Dausà, Ricard
Quintana Plana, Josep
Grácias, Nuno Ricardo Estrela
Garcia Campos, Rafael
author2_role author
author
author
author
dc.subject.none.fl_str_mv Visió per ordinador en medicina
Computer vision in medicine
Pell -- Càncer -- Diagnòstic
Skin -- Cancer -- Diagnosis
Dermatoscòpia
Dermatoscopy
topic Visió per ordinador en medicina
Computer vision in medicine
Pell -- Càncer -- Diagnòstic
Skin -- Cancer -- Diagnosis
Dermatoscòpia
Dermatoscopy
description Most camera view planning algorithms are employed in exploration tasks that maximise information gain, but few address the specific challenge of observing targeted surface areas with optimal image quality. This paper presents a novel camera view planning algorithm designed for dermoscopic mole mapping, which is crucial for early melanoma detection. Traditional full-body scanners, though beneficial, suffer from fixed camera positions that can compromise image quality due to varying body contours and patient sizes. Our algorithm addresses this limitation by dynamically optimizing the camera position on a set of collaborative robot (cobot) arms to enhance image resolution, safety, and viewing angles during skin examinations. The proposed method formulates the problem as a non-linear least-squares optimisation that ensures no camera occlusion and a safe distance from the end effector encapsulating the camera to the patient while adjusting the pose of the camera based on the topography of the body. This approach not only maintains optimal imaging conditions by considering resolution and angle of incidence but also prioritises patient safety by preventing physical contact between the camera and the patient. Extensive testing demonstrates that our algorithm adapts effectively to different body shapes and sizes, ensuring high-resolution images across various patient demographics. Moreover, the integration of our camera view planning algorithm into an intelligent dermoscopy system has shown promising results in improving the efficiency and geometric quality of dermoscopic image acquisition, which could lead to more reliable and faster diagnoses. This technology holds significant potential to transform melanoma screening and diagnosis, providing a scalable, safer, and more precise approach to dermatological imaging
publishDate 2026
dc.date.none.fl_str_mv 2026
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
peer-reviewed
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/28780
https://hdl.handle.net/10256/28780
url http://hdl.handle.net/10256/28780
https://hdl.handle.net/10256/28780
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.3390/technologies14040197
info:eu-repo/semantics/altIdentifier/eissn/2227-7080
dc.rights.none.fl_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
publisher.none.fl_str_mv MDPI (Multidisciplinary Digital Publishing Institute)
dc.source.none.fl_str_mv Technologies, 2026, vol. 14, núm. 4, p. 197
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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