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.
CN109801360AActive Publication Date: 2019-05-24BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2019-05-24

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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.
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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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