Cascade expansion method for working space and working visual angle of stereoscopic vision system

A stereoscopic vision and workspace technology, applied in image data processing, measuring devices, instruments, etc., can solve the problems of reducing positioning accuracy, increasing working distance, and increasing system cost

CN111798512AActive Publication Date: 2020-10-20BEIHANG UNIV
3 Cites 2 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-10-20

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a cascade expansion method for a working space and a working visual angle of a stereoscopic vision system. One stereoscopic vision system in the multiple stereoscopic vision systems serves as a global vision system to be fixed, and the other stereoscopic vision systems can be randomly moved in position and adjusted in view angle according to requirements in the working process, so that the working space and the working view angle of the stereoscopic vision systems are effectively expanded, and the flexibility of the stereoscopic vision systems is improved. A to-be-measured target cannot be seen under a global stereoscopic vision system; indirect positioning of a to-be-measured target under a global coordinate system can be achieved through other stereoscopic visionsystems, the purposes of overcoming limited visual angle and limited working space of a single stereoscopic vision system are achieved, the limitation that poses of multiple stereoscopic vision systems in a traditional scheme cannot be adjusted in the working process is overcome, and application of the stereoscopic vision systems is wider. The method is applied to operating room instrument navigation and has the advantages of low cost, flexible working space, high positioning precision and the like.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of stereo vision measurement, in particular to a method for expanding the working space and working angle of a stereo vision system by cascading multiple stereo vision systems. Background technique

[0002] The stereo vision pose measurement system has the ability to measure the pose of the target without contact, and is mostly used in the pose measurement and tracking of surgical instruments and targets in medical robot-assisted surgery. However, stereo vision has the disadvantages of limited working space, fixed working angle of view, conflicting working distance and measurement accuracy, and easy occlusion of surgical instruments to be tracked.

[0003] In actual working scenarios, a large surgical operation space needs to be reserved. In order to avoid interfering with the surgical operation, either the stereo vision system needs to be moved, or the stereo vision system needs to have a larger working sp...

Examples

Embodiment 1

[0034] first step, such as figure 1 As shown, two stereo vision systems are selected and numbered respectively as No. 1 stereo vision system 1 and No. 2 stereo vision system 2. Select No. 1 stereo vision system 1 as the master stereo vision system, and No. 2 stereo vision system 2 as the slave stereo vision system.

[0035] Specifically, if the two stereo vision systems are the same, you can number any one stereo vision system as No. 1, and the other stereo vision system as No. 2; if the two stereo vision systems are different, choose the one with the best performance or the highest precision One's stereo vision system is No. 1, and the other stereo vision system is No. 2.

[0036] The second step is to print or paste three X combination Marker marks 3 on the outer surface of the No. 2 stereo vision system 2, such as figure 1 In the shown No. 2 stereo vision system 2, establish the local coordinate system O of the three X combined Marker mark M -X M Y M Z M , and recorde...