Fast 3D-2D image registration system with application to continuously guided endoscopy
US8064669B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 7, 2011 |
| Grant date | Nov 22, 2011 |
| Priority date | — |
| Expiry date | Feb 7, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30061
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A novel framework for fast and continuous registration between two imaging modalities is disclosed. The approach makes it possible to completely determine the rigid transformation between multiple sources at real-time or near real-time frame-rates in order to localize the cameras and register the two sources. A disclosed example includes computing or capturing a set of reference images within a known environment, complete with corresponding depth maps and image gradients. The collection of these images and depth maps constitutes the reference source. The second source is a real-time or near-real time source which may include a live video feed. Given one frame from this video feed, and starting from an initial guess of viewpoint, the real-time video frame is warped to the nearest viewing site of the reference source. An image difference is computed between the warped video frame and the reference image. The viewpoint is updated via a Gauss-Newton parameter update and certain of the steps are repeated for each frame until the viewpoint converges or the next video frame becomes available. The final viewpoint gives an estimate of the relative rotation and translation between the camera…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.