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Image-based 3D reconstruction and visualization of gastrointestinal tract

A 3D reconstruction and gastrointestinal technology, applied in the field of 3D reconstruction, can solve problems such as model registration errors

Active Publication Date: 2021-04-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the current registration method assumes that the point cloud to be registered conforms to the rigid motion transformation, and in the human gastrointestinal and other organs and tissues, there is its own peristalsis and deformation, which will lead to model registration errors

Method used

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  • Image-based 3D reconstruction and visualization of gastrointestinal tract
  • Image-based 3D reconstruction and visualization of gastrointestinal tract

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Embodiment 1

[0039] An embodiment of the present invention provides an image-based method for three-dimensional reconstruction and visualization of the gastrointestinal tract, in which the camera for collecting images is fixedly connected to the capsule robot. This method utilizes the edge features of the gastrointestinal fold contour and reverses the two-dimensional features through the internal reference of the camera. Mapping to 3D space, further subdividing the 3D point set to obtain the local 3D structure, and then registering the local structure in 3D space to calculate the motion transformation matrix, and using the motion transformation matrix to convert the local structure to the global coordinate system to complete the complete Model reconstruction. Such as figure 1 As shown, it mainly includes the following steps:

[0040] Step 1: Calibrate the monocular camera to obtain the internal reference matrix of the camera.

[0041] The main execution process of this step is as follows...

Embodiment 2

[0066] Embodiment 2: Further, step 5 may also be implemented in a discontinuous real-time reconstruction scenario.

[0067] An image-based three-dimensional reconstruction and visualization method for the gastrointestinal tract, wherein steps 1 to 3 are the same as steps 1 to 3 in Embodiment 1; step 4: when there is no overlap between two adjacent frames of images, use the active capsule robot system The provided camera motion transformation matrix is ​​used to register and stitch the reconstructed local 3D models corresponding to the two frames of images, so that all local models are transformed into the global coordinate system, and the intervals between adjacent local 3D models are connected by Bezier curves The overall three-dimensional structure of the gastrointestinal tract is obtained by fitting, such as Figure 5 shown.

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Abstract

The invention provides an image-based three-dimensional reconstruction and visualization method for the stomach and intestines. The specific process is as follows: processing images collected by a camera on an active capsule machine to obtain a set of intermittent fold contours of the stomach and intestines; The discontinuous edges of the folds are fitted and connected to generate a complete two-dimensional contour, and a reverse mapping model is constructed by using the internal parameters of the camera to convert the two-dimensional contour information to the three-dimensional space to obtain a three-dimensional local model of the gastrointestinal structure; Splicing to achieve global visualization of gastrointestinal structure. The method can rapidly and accurately reconstruct the gastrointestinal structure.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction, and in particular relates to an image-based three-dimensional reconstruction and visualization method of the gastrointestinal tract. Background technique [0002] The 3D reconstruction of the gastrointestinal tract based on the monocular camera refers to the use of image processing technology to extract the contour information formed by the fold structure in the gastrointestinal tissue, and use the relationship between the gray value of the contour and the depth information in the image to obtain the 3D point set of the contour. The point set is processed by smooth surface fitting to form a three-dimensional structure. This can be used to provide external environment information for the capsule robot's motion control and path planning. [0003] However, the single-frame image collected by the monocular camera can only reconstruct the local 3D contour, and it needs to pro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T7/13
Inventor 李敬徐磊黄强保罗·达里奥加斯托内·丘蒂
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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