一种基于重建精度最优的多视点光学定位算法

Multi-Viewpoint Optical Positioning Algorithm Based on Optimal Reconstruction Accuracy

多视点光学定位系统因其可以减少手术中的定位盲区、获得更大的视野范围,已成为弥补光学定位中光线遮挡弊端的一种有效解决方案。本文提出基于重建精度最优的多视点光学定位算法,以解决光学定位中光线遮挡问题。算法首先通过分析各视点中光学定位标记物数量判断各视点与手术器械的光线遮挡情况;然后根据平行式立体视觉测量精度分析模型,分析平行式多视点的结构及标记物与相机之间的位置关系对三维测量精度的影响;最后选择重建精度最优并且不存在遮挡的视点对手术器械定位。实验结果表明,当存在某视点光线遮挡时,所提算法能实现手术器械的精确定位和实时跟踪。

Multi-viewpoint optical positioning system is an effective solution to make up for the disadvantages of light occlusion in optical positioning because it can reduce the blind area in the operation and obtain a larger field of vision. In this paper,multi-viewpoints optical positioning algorithm based on the optimal reconstruction accuracy is proposed to solve the problem of light occlusion in optical positioning. First,the proposed algorithm analyzes the number of optical positioning markers in each viewpoint to confirm the light occlusion of each viewpoint and surgical instrument. Then,according to parallel stereo vision measurement accuracy analysis model,the influence of the multi-viewpoints structure and the position relation between the marker and the camera on the measurement accuracy is analyzed. Finally,the viewpoint pair with the best reconstruction accuracy and no occlusion is selected surgical instruments. Experimental results indicate that the proposed algorithm can achieve accurate positioning and real-time tracking of surgical instruments when there is a certain view occlusion.