Fast 3D-2D image registration method with application to continuously guided endoscopy
US8675935B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 16, 2011 |
| Grant date | Mar 18, 2014 |
| Priority date | — |
| Expiry date | Nov 16, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30061
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Fast and continuous registration between two imaging modalities 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 video cameras and register the two sources. A set of reference images are computed or captured within a known environment, with corresponding depth maps and image gradients defining a reference source. Given one frame from a real-time or near-real time video feed, and starting from an initial guess of viewpoint, a 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. 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 at that particular video frame and the reference source.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.