Title:
ENDOSCOPE POSITIONING METHOD, ELECTRONIC DEVICE, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/050918
Kind Code:
A1
Abstract:
Provided in the present application are an endoscope positioning method, an electronic device, and a non-transitory computer-readable storage medium. The method comprises: on the basis of a depth extraction network, acquiring a depth image (I) of a t-th image frame collected by a real endoscope; acquiring a depth image dt-n of a (t-n)-th target virtual image frame collected by a virtual endoscope, or on the basis of the depth extraction network, acquiring a depth image (II) of a (t-n)-th image frame collected by the real endoscope; inputting the depth image (I) and the depth image dt-n or inputting the depth image (I) and the depth image (II) into a depth registration network to obtain the relative position and orientation estimation information (III) of the real endoscope; and superposing the relative position and orientation estimation information (III) with the position and orientation estimation information (IIII) of the real endoscope collecting the (t-n)-th image frame, so as to obtain the position and orientation estimation information (IV) of the real endoscope collecting the t-th image frame. The method can quickly, accurately and continuously obtain the current position and orientation information of the real endoscope.
Inventors:
LIU HONGBIN (CN)
TIAN QINGYAO (CN)
ZHANG ZIHUI (CN)
TIAN QINGYAO (CN)
ZHANG ZIHUI (CN)
Application Number:
PCT/CN2022/125009
Publication Date:
March 14, 2024
Filing Date:
October 13, 2022
Export Citation:
Assignee:
INST OF AUTOMATION CHINESE ACADEMY SCIENCES (CN)
International Classes:
G06T7/00
Foreign References:
| CN111772792A | 2020-10-16 | |||
| CN104540439A | 2015-04-22 | |||
| CN111325797A | 2020-06-23 | |||
| CN114022527A | 2022-02-08 | |||
| US20070013710A1 | 2007-01-18 |
Attorney, Agent or Firm:
CN-KNOWHOW INTELLECTUAL PROPERTY (CN)
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