公开(公告)号：US20240005532A1

公开(公告)日：2024-01-04

申请号：US18346331

申请日：2023-07-03

Applicant: Hefei University of Technology

Inventor： Xiaojian LI ,  Ling LI ,  Shanlin YANG ,  Youtong TANTAI ,  Jin FANG ,  Jieyu ZHENG ,  Shuai DING ,  Lin ZHANG ,  Yanwei QU ,  Hua TANG ,  Liangkuan BI

IPC: G06T7/246 ,  G06T7/73 ,  G06T7/50 ,  G06T7/60 ,  G06T3/00 ,  G06V10/46

CPC classification number: G06T7/248 ,  G06T7/74 ,  G06T7/50 ,  G06T7/60 ,  G06T3/0006 ,  G06V10/462 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/30004

Abstract: Dynamic tracking methods for an in-vivo three-dimensional key point and an in-vivo three-dimensional curve can include mapping a first local region to a first local point cloud and mapping a second local region to a second local point cloud according to a mapping relation between an endoscopic image and the point clouds; determining a first three-dimensional key point of a first two-dimensional key point on the first local point cloud, and acquiring a second three-dimensional key point on the second local point cloud through a coordinate transformation; and mapping the second three-dimensional key point back to the second local region, so as to acquire a second two-dimensional key point from a next image; and acquiring two-dimensional coordinates of a tracked key point by minimizing a preset optimization function in combination with an initial two-dimensional key point, and finally acquiring corresponding three-dimensional coordinates.