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Three-dimensional target automatic positioning and attitude determination method based on monocular optical photography and application thereof

A three-dimensional target and automatic positioning technology, applied in the field of visual optical navigation, can solve the problems of high cost, increased system operation complexity, and increased cost

Pending Publication Date: 2022-05-20
CAPITAL UNIVERSITY OF MEDICAL SCIENCES
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, the cost of the equipment is high. Usually, we need two cameras to identify the target space, but in certain applications, we even need more than two cameras, which greatly increases the cost. At the same time, multiple cameras are willing to use the system The computational complexity also increases

Method used

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  • Three-dimensional target automatic positioning and attitude determination method based on monocular optical photography and application thereof
  • Three-dimensional target automatic positioning and attitude determination method based on monocular optical photography and application thereof
  • Three-dimensional target automatic positioning and attitude determination method based on monocular optical photography and application thereof

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Embodiment 1

[0070] Embodiments of the present invention provide a method for automatic positioning and attitude determination of three-dimensional objects based on monocular optical photography, simulating the navigation process of minimally invasive knee arthroscopic surgery. The flow chart of this method is as follows figure 1 As shown, it includes the following steps:

[0071] S1: Using pre-segmented MRI patella images, use volume image rendering technology to draw a visualized three-dimensional model of the patella, such as figure 2 As shown, the color and shape of the constructed 3D model should be as consistent as possible with the target object.

[0072] S2: Establish the world coordinate system w, the object coordinate system o and the camera coordinate system c, preset the positions of the 3D model and the camera in the world coordinate system w, and establish the world coordinate system w, the object coordinate system o, and the camera coordinate system The coordinate system t...

Embodiment 2

[0082] Embodiments of the present invention provide a method for automatic positioning and attitude determination of a three-dimensional target based on monocular optical photography, using a fourth-order Rubik's Cube as the target object to simulate the navigation process in the industrial field (the navigation process in aerospace and other fields is similar to this), The flow chart of this method is as figure 1 As shown, it includes the following steps:

[0083] S1: Construct a visual 3D model of the fourth-order Rubik's Cube. The color and shape of the 3D model should be as consistent as possible with the target object.

[0084] S2: Establish the world coordinate system w, the object coordinate system o and the camera coordinate system c, preset the positions of the 3D model and the camera in the world coordinate system w, and establish the world coordinate system w, the object coordinate system o, and the camera coordinate system The coordinate system transformation rela...

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Abstract

The invention provides a three-dimensional target automatic positioning and attitude determination method based on monocular optical photography. The method comprises the following steps: constructing a visual three-dimensional model of a target object; presetting the positions of the three-dimensional model and the camera in the world coordinate system, and establishing a coordinate system transformation relation among the world coordinate system, the object coordinate system and the camera coordinate system; randomly changing the spatial position of the camera or the three-dimensional model in the virtual scene, and recording corresponding image and spatial position transformation information; training the machine learning model to obtain a pose prediction model; the object monocular picture of the target object is input into the pose prediction model, and the pose prediction model outputs the coordinate transformation value of the corresponding target object or the camera relative to the preset position. According to the invention, accurate spatial position and attitude evaluation can be carried out on the target object shot by a traditional monocular vision imaging device, and no additional marker or camera needs to be added, or no calibration and processing are carried out on the target object on the spot.

Description

technical field [0001] The invention belongs to the technical field of visual optical navigation, in particular to a method for automatic positioning and attitude determination of a three-dimensional target based on monocular optical photography and its application. Background technique [0002] At present, the application of navigation system has spread all over all areas of our life. For example, in the industrial field, we use the navigation system to position and control the robot arm; in the medical field, the navigation system can provide doctors with precise positioning of the target device in the current environment relative to the patient's lesion tissue. [0003] The most widely used navigation systems in the market mainly include three categories, multi-eye vision optical navigation, electromagnetic navigation and inertial measurement unit. Among the above three navigation systems, optical navigation is the most widely used in the medical and industrial fields, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/20G06T7/00G06N3/04G06N3/08
CPCG06T7/75G06T7/20G06T7/0012G06N3/08G06T2207/20084G06T2207/20081G06N3/045
Inventor 杨志刘文海
Owner CAPITAL UNIVERSITY OF MEDICAL SCIENCES
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