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

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.

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...

AI Technical Summary

Problems solved by technology

Shortening the focal length of the lens will help increase the field of view, but will reduce the positioning accuracy; increasing the binocular baseline distance will help increase the working distance and improve the working accuracy, but will reduce the working space; increasing the camera resolution will help improve the accuracy, but will reduce the working space. Increase system cost and reduce image processing speed; and, regardless of the above-mentioned measures, the viewing angle must be kept fixed during the work process, and there will be a problem that the line of sight is affected by occlusion

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