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A three-dimensional reconstruction method of endoscopic images combining sfm and binocular matching

A binocular matching and endoscopic image technology, applied in the field of endoscopy, can solve the problems that doctors cannot perform three-dimensional measurement and lose scale information, and achieve the effect of convenient three-dimensional measurement and convenient observation

Active Publication Date: 2022-08-09
ZHEJIANG LAB +1
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Problems solved by technology

Patent CN111145238A realizes 3D reconstruction of monocular endoscope through SLAM method, but this method belongs to sparse reconstruction, and its densification is also based on the processing of feature points, only the outline of the scene can be obtained, and doctors cannot observe specific details through this reconstruction; And it loses scale information, and doctors cannot perform three-dimensional measurements

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Embodiment Construction

[0031] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effects of the present invention will become clearer.

[0032] The three-dimensional stitching method of endoscopic images combining SfM and binocular matching of the present invention, such as figure 1 As shown, the method specifically includes the following steps:

[0033] S1: Sequence acquisition of left and right views of the endoscope.

[0034] Completed the construction of the binocular endoscope system and calibrated the binocular camera. In this embodiment, the Zhang Zhengyou checkerboard calibration method is used to calculate the internal parameters and external parameters of the binocular camera. Using a black and white checkerboard with a checkerboard of 9*6 and a side length of 12mm as the calibration board, 15 sets of binocular images of the calibration board with different poses were taken within the working dista...

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Abstract

The invention discloses a three-dimensional splicing method of endoscopic images combining SfM (Structure from Motion) and binocular matching, including the acquisition of left and right view sequences of an endoscope, SfM reconstruction of left or right view sequences, binocular matching site determination, Binocular matching reconstruction, point cloud preprocessing and SfM point cloud and binocular matching point cloud registration and other steps, this method is aimed at the characteristics of the gastrointestinal scene, based on the SfM 3D reconstruction point cloud framework, through the binocular matching point The three-dimensional splicing of clouds realizes fast and dense reconstruction of the entire scene, and the reconstruction results retain the original features and scale information, which is convenient for doctors to observe and three-dimensional measurement of key areas.

Description

technical field [0001] The invention relates to the technical field of endoscopes, in particular to a three-dimensional stitching method of endoscopic images combining SfM and binocular matching. Background technique [0002] Endoscopy can help doctors observe the real scene in the gastrointestinal tract, and has a wide range of applications in clinical diagnosis and treatment. However, traditional endoscopes cannot generate intuitive three-dimensional morphological information, which may easily lead to inaccurate judgment of important structures and their relative positions by doctors during the operation, making it difficult to perform effective and accurate operations, increasing the time and risk of surgery. [0003] Binocular endoscopes can provide three-dimensional information to assist doctors in depth perception. If three-dimensional reconstruction of gastrointestinal organs can be performed while acquiring three-dimensional images, the operation time can be greatly...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/55G06T3/00G06T7/33G06T7/80
CPCG06T7/55G06T3/0068G06T7/33G06T7/85G06T2207/10028G06T2207/10068G06T2207/30208G06T2207/30028G06T2207/30092G06T2200/32
Inventor 周长江王立强杨青袁波余浩
Owner ZHEJIANG LAB
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