摘要
提出一种低成本、高精度的手术器械定位跟踪系统,系统使用彩色圆形小球作为标志点,基于双目视觉原理获取标志点深度信息,通过标志点间接定位手术器械针尖。阐述双目视觉模型的原理,系统中的摄像机标定、特征提取、立体匹配和三维重建等过程。
A low-cost,high-precision surgical instrument positioning and tracking system is proposed.The system uses colored round balls as mark⁃ing points,and obtains the depth information of the marking points based on the principle of binocular vision,and indirectly locates the tip of the surgical instrument through the marking points.Explains the principle of binocular vision model,the process of camera calibration,feature extraction,stereo matching and 3D reconstruction in the system.
作者
黄健
殷锋
袁平
陈彦如
HUANG Jian;YIN Feng;YUAN Ping;CHEN Yan-ru(College of Computer Science,Sichuan University,Chengdu 610065;College of Computer Science and Technology,Southwest Minzu University,Chengdu 610041;College of Technology and Information Engineering,Chongqing University of Education,Chongqing 400067)
出处
《现代计算机》
2021年第8期70-73,87,共5页
Modern Computer
基金
四川省国际科技合作基地(川科外[2018]12号)。
关键词
手术定位
双目立体视觉
特征点提取
Surgical Positioning
Binocular Stereo Vision
Feature Point Extraction
