A method and system for filtering virtual mark points

Abstract

The invention discloses a method and system for filtering virtual marker points. The method includes the following steps: step S1, obtaining the coordinates of k real marker points on the tracking object, selecting a real marker point arbitrarily, and calculating the distance between it and other marker points. The distance between obtains k-1 numerical value; Step S2, utilizes the marker point tracking device to track the marker point on the tracking object, obtains the data of the m tracking marker points obtained by the marker point tracking device, and obtains the coordinates of the m tracking marker points ; Step S3, calculate in turn the distance between each tracking marker point and the rest of the tracking marker points, m tracking marker points get m groups of distances, and each group of distances has m-1 values; Step S4, traverse m tracking marker points m groups of distances, sequentially match the m-1 values ​​with the k-1 values ​​obtained in step S1, and filter the virtual mark points according to the matching results. The present invention can realize the filtering of the virtual mark points generated by the coplanar mark points Purpose.

Description

technical field [0001] The present invention relates to the technical field of precise position measurement, in particular to a method and system for filtering virtual marker points. Background technique [0002] Currently, binocular vision cameras are widely used in applied research, such as surgery for performing image-guided procedures, such as neurosurgery, orthopedics, or radiation therapy. [0003] figure 1 As shown, the main system components of the binocular vision camera are the position sensor (Position Sensor) and the illuminator (illuminators), from which the infrared light (IR light) is emitted from its illuminator (illuminators), and is reflected back to the position sensor by the marking point , and then measure the 3D spatial position and transformation information of the marked point. [0004] The binocular vision camera establishes a coordinate system in its position sensor (Position Sensor), the origin and coordinate axes are as follows: figure 2 shown...

AI Technical Summary

Problems solved by technology

[0007] That is to say, when the current binocular vision camera recognizes coplanar markers, due to the defects of its own measurement technology and calculation method, it will cause more markers to be recognized than actual markers, that is, virtual markers appear. The current technology In , the system relies on its own algorithm and cannot judge which markers are real and which are virtual

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