An image-based gastrointestinal three-dimensional reconstruction and visualization method

A three-dimensional reconstruction and gastrointestinal technology, applied in the field of three-dimensional reconstruction, can solve the problems of model registration errors, and achieve the effects of improving accuracy, increasing robustness, and reducing motion estimation errors.

Active Publication Date: 2019-05-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] However, the current registration method assumes that the point cloud to be registered conforms to the rigid motion transformation, and in the human gastrointestinal and other organs and tissues, there is its own peristalsis and deformation, which will lead to model registration errors

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  • An image-based gastrointestinal three-dimensional reconstruction and visualization method
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Embodiment 1

[0040] The embodiment of the present invention provides an image-based three-dimensional reconstruction and visualization method of the gastrointestinal tract, wherein a camera for collecting images is fixedly connected to the capsule robot, the method utilizes the edge features of the gastrointestinal fold contour, and reverses the two-dimensional features through the camera's internal parameters Map to the three-dimensional space, further subdivide the three-dimensional point set to obtain the local three-dimensional structure, and then perform the three-dimensional space registration of the local structure to calculate the motion transformation matrix, and use the motion transformation matrix to convert the local structure to the global coordinate system to complete the complete Reconstruction of the model. like figure 1 As shown, it mainly includes the following steps:

[0041] In step 1, the monocular camera is calibrated to obtain the camera internal parameter matrix. ...

Embodiment 2

[0067] Embodiment 2: Further, step 5 may also be implemented in a discontinuous real-time reconstruction scenario.

[0068] An image-based three-dimensional reconstruction and visualization method of the gastrointestinal tract, wherein steps 1 to 3 are the same as steps 1 to 3 in the first embodiment; step 4: when there is no overlap between two adjacent frames of images, use the active capsule robot system The provided camera motion transformation matrix is ​​used to register and stitch the reconstructed local 3D models corresponding to the two frames of images, so that all local models are transformed into the global coordinate system, and the interval between adjacent local 3D models is connected by Bezier curves. The overall three-dimensional structure of the gastrointestinal tract is obtained by fitting, such as Figure 5 shown.

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Abstract

The invention provides an image-based gastrointestinal three-dimensional reconstruction and visualization method, which comprises the following steps of: processing an image acquired by a camera on anactive capsule machine to obtain a gastrointestinal intermittent wrinkle contour set; fitting and connecting the intermittent edges belonging to the same fold in the contour set to generate a complete two-dimensional contour, and constructing a reverse mapping model by utilizing camera internal parameters to convert two-dimensional contour information into a three-dimensional space, so as to obtain a three-dimensional local model of the gastrointestinal structure; and splicing the local models to realize global visualization of the gastrointestinal structure. The method can quickly and accurately reconstruct the gastrointestinal structure.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction, and in particular relates to an image-based three-dimensional reconstruction and visualization method of the gastrointestinal tract. Background technique [0002] The three-dimensional reconstruction of the gastrointestinal tract based on the monocular camera refers to the use of image processing technology to extract the contour information formed by the folded structure in the gastrointestinal tissue, and the relationship between the gray value of the contour and the depth information in the image to obtain the three-dimensional point set of the contour, and then The point set is subjected to smooth surface fitting processing to form a three-dimensional structure. This can be used to provide external environment information for motion control and path planning of capsule robots. [0003] However, the single-frame image collected by the monocular camera can only reconst...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/13
Inventor 李敬徐磊黄强保罗·达里奥加斯托内·丘蒂
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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