Endoscope augmented reality error compensation method and device
An error compensation and augmented reality technology, applied in the field of medical image processing, can solve the problems of increased workload, unfriendly clinical environment, and no real solution to the decline of navigation accuracy.
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[0015] Such as figure 1 Shown, this endoscope augmented reality error compensation method, it comprises the following steps:
[0016] (1) Obtain the observation value of the endoscope camera pose through endoscope calibration and external tracking;
[0017] (2) By combining the observed and estimated values of the endoscopic camera pose, the optimal camera pose compensation matrix in the current operating space is calculated using the least squares method.
[0018] The present invention obtains the observation value of the endoscopic camera pose through endoscope calibration and external tracking, and then proposes an interactive endoscopic camera pose estimation method based on 2D markers, by combining the endoscopic camera pose Observed values and estimated values, using the least squares method to calculate the best camera pose compensation matrix in the current operating space, so the accuracy of AR fusion is significantly improved, and the camera pose error caused by...
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