A capsule endoscopic image three-dimensional reconstruction method and system

A technology of capsule endoscopy and three-dimensional reconstruction, which is applied in the field of image processing and endoscopy, can solve the problems of high hardware requirements, and achieve the effects of improved accuracy, robust effect and simple structure

Active Publication Date: 2019-03-08
重庆金山医疗技术研究院有限公司
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Deep learning has relatively high hardware requirements for training data col...

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  • A capsule endoscopic image three-dimensional reconstruction method and system
  • A capsule endoscopic image three-dimensional reconstruction method and system
  • A capsule endoscopic image three-dimensional reconstruction method and system

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[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0051] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two The internal communication of each element may be directly connected or indirectly connected through an intermediary. Those skilled in the art can understand the specific meanings of the above terms according to specific situations.

[0052] The inventio...

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Abstract

The invention discloses a capsule endoscopic image three-dimensional reconstruction method and system. The capsule endoscopic image three-dimensional reconstruction method comprises the following steps of calibrating a monocular camera of the capsule endoscopy to obtain internal and external parameters of the camera; selecting a picture sequence taken by a monocular camera and correcting the picture sequence; detecting feature points of the corrected image; matching and tracking the obtained feature points to form the trajectory of the feature points; carrying out the image photographic reconstruction; carrying out the three-dimensionally reconstruction on the image processed in step S5. The invention generates a stereoscopic and accurate 3d dense point cloud model through a monocular picture sequence, and completes three-dimensional reconstruction. The brightness of the feature point extraction picture of the invention is unchanged, the feature points can be well matched and tracked,and the effect of the three-dimensional reconstruction is more robust. Compared with the traditional monocular 3D reconstruction method, feature extraction and tracking speed is faster, and the real-time 3D reconstruction can be achieved.

Description

technical field [0001] The invention relates to the technical field of image processing, and is particularly suitable for the technical field of endoscopes, in particular to a method and system for three-dimensional reconstruction of capsule endoscopic images. Background technique [0002] Capsule endoscope is wireless endoscope, which is composed of a miniature camera, digital processing system and wireless transceiver system. device. Compared with the insertion-type gastrointestinal endoscope, the biggest advantage of capsule endoscopy is that it is painless, non-invasive, safe, and convenient, especially for the examination of the small intestine. Capsule endoscopy looks like a normal capsule, about 1.5 centimeters long and less than 1 centimeter in diameter. Restricted by the size of the hardware, capsule endoscopy has low image resolution and a generally low frame rate, usually 2-4 frames / s. Doctors cannot focus on observing lesions and abnormal parts. [0003] In ad...

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Application Information

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IPC IPC(8): G06T7/55
CPCG06T2207/10068G06T2207/30028G06T2207/30092G06T7/55
Inventor 臧道东严莎莎张志良郭凌郭慧
Owner 重庆金山医疗技术研究院有限公司
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