Near-infrared binocular visual stereo matching method based on reflecting ball mark point

Abstract

The invention discloses a near-infrared binocular visual stereo matching method based on a reflecting ball mark point. According to the method, the three-dimension geometric size characteristic of thereflecting ball mark point is utilized, and false matching point pairs of the near-infrared binocular visual mark point are removed so as to obtain the rapid and robust stereo matching result, so that space three dimensional coordinates of the mark point are accurately calculated, and real-time and robust tracing position on the mark point is achieved accordingly. The corresponding relation of the mark point at left and right camera image points can be efficiently and accurately, and false matching is effectively eliminated, so that interference of a false three-dimension space point to optical localization is excluded so as to improve the positioning accuracy and robustness of a near-infrared optical localization system.

Description

technical field [0001] The invention relates to the research fields of computer vision and computer-aided surgery, in particular to a near-infrared binocular vision stereo matching method based on reflective ball marking points. Background technique [0002] Over the past decade, image-guided therapy systems based on optical positioning have been widely used in neurosurgery, oral and maxillofacial surgery, orthopedic surgery, tumor radiotherapy, and even soft tissue surgery. Precise positioning of targets is the most critical core content of image-guided therapy systems applied in radiotherapy, surgery and other therapies, and the positioning accuracy of targets directly affects the curative effect of the therapy. [0003] For image-guided therapy systems based on optical positioning, the positioning accuracy of the target mainly depends on the positioning accuracy of the near-infrared optical positioning system. At present, mainstream image-guided therapy systems, such as ...

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Problems solved by technology

[0006] The purpose of the present invention is to aim at the near-infrared binocular positioning system in the process of tracking reflective ball marking points, when more than 2 marking points have a common polar plane, the image points of these marking points on the left and right cameras are no longer uniquely paired to produce Pseudo-matching point pairs, resulting in more than one false three-dimensional space point, provides a near-infrared binocular vision stereo matching method based on reflective ball mark points, which can quickly and accurately find the left and right camera mark point images The correct correspondence of the points, thereby effectively eliminating the false matching point pairs and the false three-dimensional space points generated by the false matching point pairs, thereby improving the positioning stability and positioning accuracy of the near-infrared binocular vision positioning system

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