153 results about "Landmark point" patented technology

A method for determining a translation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with a patient positioned in a projection imaging system. In one embodiment the user identifies an initial three-dimensional organ center from projections and extreme contour landmark points of the object on a set of projections. A set of contour points for the image object in each of a plurality of three-dimensional cross-section planes; is obtained and the points projecting nearest to the user-identified landmark points are selected. A three-dimensional grid having a predetermined number of intervals at a predetermined interval spacing centered at the user-identified organ center is defined. The three-dimensional image data contour points as centered onto each grid point are projected for evaluation and selection of the grid point leading to contour points projecting nearest to the user-identified landmark points. This selection leads to the iterative definition of a series of improved estimated three-dimensional organ centers, and associated translation vectors. Registration of a three dimensional image data to the patient positioned in a projection imaging system will allow, among other things, overlay of a visual representation of a pre-operative image object onto a projection image plane that can serve as a visual tool and a surgical navigation aid. In particular, the position and orientation of a medical device can be shown with respect to the three-dimensional image data and thus enable quicker, safer, and less invasive navigation of the medical device to and within an organ of interest.

A system and method for defining and tracking a deformable shape of a candidate anatomical structure wall in a three dimensional (3D) image is disclosed. The shape of the candidate anatomical structure is represented by a plurality of labeled 3D landmark points. At least one 3D landmark point of the deformable shape in an image frame is defined. A 3D cuboid is defined around the detected 3D landmark point. For each landmark point associated with the anatomical structure, its location and location uncertainty matrix is estimated in subsequent frames relative to the reference anatomical structures. A shape model is generated to represent dynamics of the deformable shape in subsequent image frames. The shape model includes statistical information from a training data set of 3D images of representative anatomical structures. The shape model is aligned to the deformable shape of the candidate anatomical structure. The shape model is fused with the deformable shape. A current shape of the candidate anatomical structure is estimated.

A portable remote control device enables user interaction with an appliance by detecting user gestures made in a hover zone, and converting the gestures to commands that are wirelessly transmitted to the appliance. The remote control device includes at least two cameras whose intersecting FOVs define a three-dimensional hover zone within which user interactions are imaged. Separately and collectively image data is analyzed to identify a relatively few user landmarks. Substantially unambiguous correspondence is established between the same landmark on each acquired image, and a three-dimensional reconstruction is made in a common coordinate system. Preferably cameras are modeled to have characteristics of pinhole cameras, enabling rectified epipolar geometric analysis to facilitate more rapid disambiguation among potential landmark points. As a result processing overhead and latency times are substantially reduced. Landmark identification and position information is convertible into commands that alter the appliance behavior as intended by the user's gesture.

A method for generating a personalized 3D model using a plurality of 2D images and a generic 3D model is provided. The method includes the following steps: extracting a plurality of feature points from the plurality of 2D images; extracting a plurality of landmark points from the generic 3D model; mapping the plurality of features extracted from the plurality of 2D images to the plurality of landmark points extracted from the generic 3D model so as to generate relationship parameters for a mapping algorithm; morphing the generic 3D model into a personalized 3D model with the plurality of landmark points, the relationship parameters and the mapping algorithm; iteratively refining the personalized 3D model with the plurality of feature points extracted from the plurality of 2D images; and when a convergent condition is met, the step of iteratively refining the personalized 3D model is complete and the personalized 3D model is saved to the 3D model database.

A method and system determine a three-dimensional (3D) pose of an object and 3D locations of landmark points of the object by first obtaining a 3D point cloud of the object. 3D surface patches are extracted from the 3D point cloud, and a parametric model is fitted to each 3D surface patch to determine a set of descriptors. A set of correspondences between the set of descriptors and a set of descriptors of patches extracted from 3D point clouds of objects from the same object class with known 3D poses and known 3D locations of landmark points is determined. Then, the 3D pose of the object and 3D locations of the landmark points of the object are estimated from the set of correspondences.

A method for determining a translation of a three-dimensional pre-operative image data set to obtain a registration of the three-dimensional image data with a patient positioned in a projection imaging system. In one embodiment the user identifies an initial three-dimensional organ center from projections and extreme contour landmark points of the object on a set of projections. A set of contour points for the image object in each of a plurality of three-dimensional cross-section planes; is obtained and the points projecting nearest to the user-identified landmark points are selected. A three-dimensional grid having a predetermined number of intervals at a predetermined interval spacing centered at the user-identified organ center is defined. The three-dimensional image data contour points as centered onto each grid point are projected for evaluation and selection of the grid point leading to contour points projecting nearest to the user-identified landmark points. This selection leads to the iterative definition of a series of improved estimated three-dimensional organ centers, and associated translation vectors. Registration of a three dimensional image data to the patient positioned in a projection imaging system will allow, among other things, overlay of a visual representation of a pre-operative image object onto a projection image plane that can serve as a visual tool and a surgical navigation aid. In particular, the position and orientation of a medical device can be shown with respect to the three-dimensional image data and thus enable quicker, safer, and less invasive navigation of the medical device to and within an organ of interest.

The invention relates to a simultaneous localization and mapping method based on distributed edge unscented particle filter. First, a coordinate system is built and an environmental map is initialized; then subfilters are built for each landmark point with successful matching respectively; next, based on a robot motion model, a particle swarm is generated in each subfilter respectively, and the state vector and the variance of each particle are obtained; noise is introduced, particle state vectors after extension are calculated by utilization of unscented transformation, the particles after extension are updated and the particle swarms are optimized; then particle weights are calculated and normalization is carried out, and aggregated data of each subfilter are subjected to statistics and the data are sent to a master filter; next, global estimation and variance are calculated; then the effective sampling draw scale and sampling threshold of each subfiter are determined, the subfilters with severe particle degeneracy are subjected to resampling; then the state vectors and the variances of the robot are output, and stored in a map. Finally, landmark point states are updated by utilization of kalman filtering algorithm until the robot is no longer running.

A method for localizing an internal body structure during an image-guided procedure that includes obtaining a three dimensional image of a body portion containing a targeted structure and selected reference structures; determining a set of landmark point coordinates for defining the location of each of the targeted and reference structures; computing triangulation parameters relating the location of the landmark points for the targeted structure and the reference structures; and, during an image-guided procedure, using the computed triangulation parameters to plot an estimated location of the targeted structure on an intra-operative image in which the reference structures have been identified.

Active contour models and active shape models were developed for the detection of the kinematics landmarks on sequential back surface measurements. The anatomical landmarks correspond with the spinous process, the dimples of the posterior superior iliac spines (PSIS), the margo mediales and the elbow. Back surface curvatures are used as a basis to guide the ACM and ASM's towards interesting landmark features on the back surface. Geometrical bending and torsion costs, and the main modes of variation of the landmark points are added to the models in order to avoid unrealistic curve shapes from a biomechanical point of view. Reconstruction of the underlying skeletal structures is performed using the surface normals as approximations for skeletal rotations (e.g. axial vertebrae rotations, pelvic torsion, etc.) and anatomical formulas to estimate skeletal dimensions.

The embodiment of the invention discloses a calibration method of a three-dimensional imaging system based on a rotating shaft and a binocular camera. The method is based on a three-dimensional imaging system comprising a rotating platform and a binocular camera. A target with at least one mark point is fixed on the rotating platform. The binocular camera comprises a first camera and a second camera; the method comprises the following steps: acquiring first and second images through the first and second cameras under at least two preset rotation angles, and acquiring pixel coordinates of marker points in the first and second images; according to the world coordinates of the landmark points in the world coordinate system and the first, the pixel coordinates of the marker points in the second image are calibrated and the calibration parameters are obtained. The calibration parameters include the rotational parameters, the equipment internal parameters corresponding to the first camera and the second camera, the equipment external parameters, and the pixel coordinate transformation relationship between the first and second cameras. By adopting the invention, the calibration accuracy of the three-dimensional imaging system based on the rotating shaft and the binocular camera can be improved.

In order to eliminate influence due to difference in the image pickup condition from an input image, an image processing apparatus includes a landmark point data input unit to input coordinates of a landmark point of a face image input through an image input unit and the grey-level value of texture of a face image, an inclination amount input unit to input an inclination amount of a face image in the depth direction, and an image space formation unit forming an image space by carrying out principal component analysis on a plurality of landmark point data and a plurality of inclination amounts with respect to a plurality of the input face images.

A method of detecting an anatomical primitive in an image volume includes detecting a plurality of transformationally invariant points (TIPS) in the volume, aligning the volume using the TIPs, detecting a plurality landmark points in the aligned volume that are indicative of a given anatomical object, and fitting a target geometric primitive as the anatomical primitive based using the detected landmark points.

A method for localizing an internal body structure during an image-guided procedure that includes obtaining a three dimensional image of a body portion containing a targeted structure and selected reference structures; determining a set of landmark point coordinates for defining the location of each of the targeted and reference structures; computing triangulation parameters relating the location of the landmark points for the targeted structure and the reference structures; and, during an image-guided procedure, using the computed triangulation parameters to plot an estimated location of the targeted structure on an intra-operative image in which the reference structures have been identified.

A system and method for defining and tracking a deformable shape of a candidate anatomical structure wall in a three dimensional (3D) image is disclosed. The shape of the candidate anatomical structure is represented by a plurality of labeled 3D landmark points. At least one 3D landmark point of the deformable shape in an image frame is defined. A 3D cuboid is defined around the detected 3D landmark point. For each landmark point associated with the anatomical structure, its location and location uncertainty matrix is estimated in subsequent frames relative to the reference anatomical structures. A shape model is generated to represent dynamics of the deformable shape in subsequent image frames. The shape model includes statistical information from a training data set of 3D images of representative anatomical structures. The shape model is aligned to the deformable shape of the candidate anatomical structure. The shape model is fused with the deformable shape. A current shape of the candidate anatomical structure is estimated.

The invention relates to vehicle navigation method with satellite positioning and communication equipment. It is traffic control method used to transmit navigation order for vehicle. It method includes the following steps: transmitting current location to navigation center after vehicle navigation end receives the pushbutton signal from driver; noticing the destination to navigation center by wireless tone; calculating the optimal path according to electronic map; transmitting the signal data to navigation terminal; broadcasting and displaying landmark point navigation cue speech information and abstract graph navigation directing information when the vehicle is closed to the landmark point. If the driver shortly presses navigation keystroke, the navigation cue speech information is repeated; if presses lengthily, the navigation will stop. Every driver can use only one keystroke to operate navigation terminal, quickly response to speech and abstract graph cue, and rightly drive to the destination.

A method for automatic facial impression transformation includes extracting landmark points for elements of a target face whose facial impression is to be transformed as well as distance vectors respectively representing distances of the landmark points, comparing the distance vectors to select a learning data set similar to the target face from a database, extracting landmark points and distance vectors from the learning data set, transforming a local feature of the target face based on the landmark points of the learning data set and score data for a facial impression, and transforming a global feature of the target face based on the distance vectors of the learning data set and the score data for the facial impression. Accordingly, a facial impression may be transformed in various ways while keeping an identity of a corresponding person.

The invention discloses a method for generating navigation information and a navigation system thereof. The navigation system is characterized in that navigation information contains landmark points which are near turnings and have obvious cognizable features or marks so as to ensure that a user can more easily judge the turnings for avoiding going to a wrong way. In addition, the user can also set types, priority levels and names of landmark points known by the user so as to further generate personalized navigation information.

A method generates a three-dimensional map of a region from successive images captured from different camera poses. The method includes a camera capturing images of the region; designating a subset of captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image; for a newly captured image, generating a camera pose prediction; selecting an ordering of the landmark points; detecting whether an image region of the new image approximately matches an expected image position of a landmark point based on the predicted camera pose by detecting whether the image region is substantially identical to the image information associated with that landmark point; and refining the pose prediction from the detecting step. The selecting includes performing a statistical test on the landmark points and selecting the ordering according to the statistical test results.

Systems and methods for shape registration are described. In one aspect, training shape vectors are generated from images in an image database. The training shape vectors identify landmark points associated with one or more object types. A distribution of shape in the training shape vectors is represented as a prior of tangent shape in tangent shape space. The prior of tangent shape is then incorporated into a unified Bayesian framework for shape registration.

A method of generating a correction plan for correcting a deformed bone includes inputting to a computer system a first image of the deformed bone in a first plane and inputting to the computer system a second image of the deformed bone in a second plane. Image processing techniques are employed to identify a plurality of anatomical landmarks of the deformed bone in the first image. The first image of the deformed bone is displayed on a display device. A graphical of the deformed bone is autonomously generated and graphically overlaid on the first image of the deformed bone on the display device, the graphical template including a plurality of lines, each line connected at each end to a landmark point corresponding to one of the anatomical landmarks. A model of the deformed bone may be autonomously generated based on the graphical template.

A system and method that acquire (i) at least a reference image including one of a preoperative image of a surgical site with skeletal and articulating bones and a contralateral image on an opposite side of the patient from the surgical site, and (ii) at least an intraoperative image of the site after an implant has been affixed to the articulating bone. The system generates at least one reference landmark point on at least one anatomical feature on the articulating bone in the reference image and at least one intraoperative landmark point on that anatomical feature in the intraoperative image. The reference and intraoperative images are compared, and differences between the orientation of the articulating bone in the two images are utilized to analyze at least one of offset and length differential.

A system and method are provided. The system includes a processor. The processor is configured to generate a response map for an image, using a four stage convolutional structure. The processor is further configured to generate a plurality of landmark points for the image based on the response map, using a shape basis neural network. The processor is additionally configured to generate an optimal shape for the image based on the plurality of landmark points for the image and the response map, using a point deformation neural network. A recognition system configured to identify the image based on the generated optimal shape to generate a recognition result of the image. The processor is also configured to operate a hardware-based machine based on the recognition result.

The present invention relates to a frame-contained stereotaxic neurosurgical operation system registration method. Said method utilizes the principle of that the distance between landmark points of body surface and the distance between skull interior any point and landmark point of body surface can remain unchanged in different systems of coordinates to calculate the distance between all the landmark points of body surface in the coordinate system of the stereotaxic instrument and the distance in CT or MRI coordinate system, compare both them and make registration so as to implement the registration of stereotaxic instrument coordinate system and CT or MRI coordinate system. Said invention also provides its application in neurosurgical operation.

A method generates a three-dimensional map of a region from successive images of that region captured from different camera poses. The method captures successive images of the region, detects a gravitational vertical direction in respect of each captured image, detects feature points within the captured images and designates a subset of the captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image. The method also includes, for a captured image (i) deriving a camera pose from detected feature points in the image; (ii) rotating the gravitational vertical direction to the coordinates of a reference keyframe using the camera poses derived for that image and the reference keyframe; and (iii) comparing the rotated direction with the actual gravitational vertical direction for the reference keyframe to detect a quality measure of that image.

The invention discloses a magnetic positioning method of a traffic vehicle based on a displacement cyclic unique code, and the method comprises the following steps: 1. magnetic spikes are laid on a road at an equal interval according to rules of the displacement cyclic unique code; 2. the vehicle is provided with a vehicle-borne magnetic sensor and a sensor acquisition card; 3. the data acquired by the sensor acquisition card is detected by a vehicle control unit in real time; 4. whether the vehicle is in a magnetic spike positioning region or not is judged; 5. whether the quantity of the magnetic spikes sensed by the vehicle-borne magnetic sensor is four or five is judged; 6. code values of four magnetic spikes are determined; 7. code values of five magnetic spikes are determined; and 8. the position of the vehicle is determined. The method can realize local positioning of the vehicle at a landmark point, is stable and reliable, does not need power supply and maintenance, is not easy to be fouled or covered, has long service life and is beyond the control of satellite signals of other countries.

In a method and apparatus for aligning two sets of medical imaging data, first and second sets of image data are obtained respectively, using first and second different medical imaging modalities, of an anatomical feature of a subject. For each set, an axis of the anatomical feature and a landmark point for the anatomical feature is determined, and the first and second sets are aligned by comparing the respective axes and landmark points.

Methods of reconstructing a 3D object model from portions of an object in a single 2D image using an existing 3D object model that is generic to a class to which the object in the 2D image belongs. In some embodiments, the methods determine a camera center from a computed estimated camera projection matrix. Landmark points on the object in the 2D image are back-projected to the existing 3D object model to warp the existing 3D object model according to the landmark points in the 2D image to create a derived 3D object model of the 2D object in the 2D image. Optional additional processing steps can include regularization, texturing, and infill of missing regions of the derived 3D object model. An example implementation of the disclosed methods is 3D craniofacial reconstruction from a single 2D image containing at least a portion of a face.

The invention provides a mark point detection model generation method and a mark point detection method. The generating method comprises the following steps of: constructing a three-dimensional modelcontaining pre-marked marker points; Acquiring a plurality of two-dimensional images of different angles of view of the three-dimensional model, and converting the three-dimensional position data of the landmark points into two-dimensional position data; Using the depth learning method, the two-dimensional images of each view and the two-dimensional position data of the landmark points being usedas input to train the neural network models respectively. Obtaining a second response map with markers, modifying the first response map to obtain a modified first response map, inputting position data of markers on the modified first response map as a mapping layer, and obtaining predicted three-dimensional position data of markers through mapping relationship; According to the original three-dimensional position data and the predicted three-dimensional position data, the loss value is calculated, and the response loss value satisfies the preset conditions to obtain the training completed landmark detection model. The method provided by the invention has the advantages of good performance.