CN102253057B - Endoscope system and measurement method using endoscope system - Google Patents

Endoscope system and measurement method using endoscope system Download PDF

Info

Publication number
CN102253057B
CN102253057B CN 201110092627 CN201110092627A CN102253057B CN 102253057 B CN102253057 B CN 102253057B CN 201110092627 CN201110092627 CN 201110092627 CN 201110092627 A CN201110092627 A CN 201110092627A CN 102253057 B CN102253057 B CN 102253057B
Authority
CN
China
Prior art keywords
video image
camera
main
image
anaglyph
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN 201110092627
Other languages
Chinese (zh)
Other versions
CN102253057A (en
Inventor
宋展
郑翔
聂磊
陆丕清
黎文富
李涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD, Shenzhen Institute of Advanced Technology of CAS filed Critical SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD
Priority to CN 201110092627 priority Critical patent/CN102253057B/en
Publication of CN102253057A publication Critical patent/CN102253057A/en
Application granted granted Critical
Publication of CN102253057B publication Critical patent/CN102253057B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Image Processing (AREA)
  • Endoscopes (AREA)

Abstract

The invention relates to an endoscope system which is characterized by at least comprising an image acquisition device, a controller and an image processing device, wherein the image acquisition device is used for shooting a video image and comprises a main camera head and an auxiliary camera head, and the resolution of the main camera head is higher than that of the auxiliary camera head; the controller is used for controlling opening of the main camera head and the auxiliary camera head and transmitting the video image; and the image processing device is used for getting points to be measured on the video image according to a user command and performing calculation on the video image for getting three-dimensional information of the points to be measured in the video image. As for the endoscope system and a measurement method using the endoscope system, the main camera head and the auxiliary camera head are arranged in the image acquisition device, in order to get the three-dimensional information of the points to be measured, the main camera head and the auxiliary camera head are opened for measurement; and by combining the main camera head with the auxiliary camera head, the cost of the endoscope system is greatly reduced and the volume of the image acquisition device is reduced.

Description

The measuring method of endoscopic system and use endoscopic system
[technical field]
The present invention relates to computer vision technique, particularly relate to the measuring method of a kind of endoscope system and use endoscopic system.
[background technology]
Endoscope is owing to existing the advantage that small items can nondestructively be detected, and can observe the advantages such as place that the people can't arrive, be widely used in every field, for example, detection to wall in building trade, the detection of pipe interior situation in oil and gas industry, in the detection of engine maintenance and safety-security area, endoscope has all been used in the fields such as detection of explosive widely in auto industry.
In the evolution of endoscope, simple bidimensional image can not provide abundant information, and making to provide the endoscope of three-dimensional information to develop rapidly.
According to principle of work, can provide the endoscope of three-dimensional information to be divided into virtual reality formula and optical profile type.Wherein, the endoscope of virtual reality formula be by grating respectively picture that left and right cameras is captured send into user's right and left eyes, thereby form stereopsis., the endoscope of virtual reality formula need to use all wears special stereoscopic vision equipment, as the stereoscopic vision helmet, glasses etc., can't accurately carry out three-dimensional measurement, and price is expensive in the extreme.The endoscope of optical profile type is to form Stereo Vision Measurement System by two endoscopes, must utilize accurate motion control device or structured light device to come three groups of information of reconstruct, and cost is very high.
[summary of the invention]
Based on this, be necessary to provide a kind of endoscopic system that reduces costs.
In addition, also be necessary to provide a kind of measuring method of having used the use endoscopic system of above-mentioned endoscopic system.
A kind of measuring method of using endoscopic system comprises the following steps:
Take by main camera and secondary camera respectively and obtain video image, the resolution of described main camera is higher than the resolution of secondary camera;
Calculate the anaglyph in described video image;
Obtain tested point on main video image according to user instruction;
According to described anaglyph, described secondary video image is calculated the three-dimensional information of tested point in main video image.
Preferably, also comprise:
Close described secondary camera, show the picture in described main camera.
Preferably, describedly also comprise before taking by main camera and secondary camera the step that obtains video image respectively:
Described main camera and secondary camera are demarcated the step that obtains calibrating parameters.
Preferably, described video image comprises the main video image of main camera shooting and the secondary video image that secondary camera is taken, and the step of the anaglyph in the described video image of described calculating is:
By micro-slip window mode or global mode, main video image and secondary video image are mated and obtain anaglyph.
Preferably, the described step of obtaining the tested point on video image according to user instruction is:
Obtain the tested point that the user selects on main video image;
Describedly according to described anaglyph to the step that described video image calculates the three-dimensional information of tested point in video image be:
Obtain the match point of tested point in secondary video image according to the tested point on anaglyph and main video image;
Calculate the three-dimensional information of described tested point by the match point in calibrating parameters and secondary video image.
The measuring method of above-mentioned endoscopic system and use endoscopic system, main camera and secondary camera are set in image collecting device, for the three-dimensional information main camera of unlatching and the secondary camera that obtain tested point are measured, the combination of main camera and secondary camera has reduced the cost of endoscopic system widely, has reduced the volume of image collecting device.
In the measuring method of above-mentioned endoscopic system and use endoscopic system, close secondary camera when the user observes by video image, only by main camera capture video image, and show, greatly saved system resource.
[description of drawings]
Fig. 1 is the structural representation of endoscopic system in an embodiment;
Fig. 2 is the structural representation of image collecting device in Fig. 1;
Fig. 3 is the schematic diagram of main video image in an embodiment;
Fig. 4 is the schematic diagram of secondary video image corresponding with main video image in Fig. 3;
Fig. 5 is the schematic diagram that the three-dimensional information of tested point in an embodiment calculates;
Fig. 6 uses the process flow diagram of the measuring method of endoscopic system in an embodiment;
Fig. 7 calculates the process flow diagram of the three-dimensional information of tested point in video image to video image according to anaglyph in Fig. 6;
Fig. 8 is the application schematic diagram of endoscopic system in an embodiment;
Fig. 9 is another angle schematic diagram of image collecting device in Fig. 8.
[embodiment]
Fig. 1 shows the detailed construction of endoscopic system in an embodiment, and this endoscopic system comprises image collecting device 10, controller 30 and image processing apparatus 50.
In conjunction with consulting Fig. 2, image collecting device 10 is used for the capture video image, comprises main camera 101 and secondary camera 103, and the resolution of main camera 101 is higher than the resolution of secondary camera 103.In the present embodiment, image collecting device 10 is placed in the front end of endoscopic system, integrated main camera 101 and secondary camera 103, and the resolution of main camera 101 is higher, and the resolution of secondary camera 103 is lower.For example, the model of main camera 101 is 640 * 480 pixels, 30 frame/seconds, 4.5 millimeters of diameters; The model of secondary camera 103 is 320 * 240 pixels, 30 frame/seconds, 2.5 millimeters of diameters.Compare with traditional single camera endoscopic system, image collecting device 10 has guaranteed picture quality by the secondary camera 103 that increases low cost, small size, and realizes the three-dimensional measurement function of system.
Before measuring, need to carry out the demarcation of endoscopic system, the main camera 101 of having opened is taken and is obtained principal mark and decide image, and secondary camera 103 shootings obtain secondary uncalibrated image.Particularly, the plane target drone image is positioned over the front end of endoscopic system, open simultaneously main camera 101 and secondary camera 103, take respectively the uncalibrated image of many group diverse location different angles, wherein, each group uncalibrated image has comprised that principal mark decides image and secondary uncalibrated image, and each principal mark is decided image the secondary uncalibrated image corresponding with it.Be the accuracy that guarantees to demarcate, principal mark decides image and secondary uncalibrated image all is no less than three.The plane target drone image can be cross-hatch pattern picture, circular image or concentric circle diagram picture.
Also comprised the light source that is used for floor light in image collecting device 10.Be the illumination in auxiliary dark surrounds, light source is preferably LED(Light Emitting Diode, light emitting diode) light source.The quantity of light source is preferably 2.
Controller 30 is used for controlling the unlatching of main camera 101 and secondary camera 103, and transmitting video image.In the present embodiment, when measuring, controller 30 is opened main camera 101 and secondary camera 103.Controller 30 is connected with image collecting device 10 by video transmission line, is controlling the unlatching of main camera 101 and secondary camera 103 or is closing.In the use procedure of reality, the user only just need to open two cameras simultaneously mostly only needing to use a camera to observe when needs are measured, therefore, when the user observed, controller 30 was opened main camera 101, closes secondary camera 103; When the user need to measure, controller 30 was opened main camera 101 and secondary camera 103 simultaneously, thereby had realized taking full advantage of of system resource.In a preferred embodiment, controller 30 is USB(Universal Serial Bus, USB (universal serial bus)) controller.
Image processing apparatus 50 is used for obtaining tested point on video image according to user instruction, and video image is calculated the three-dimensional information of tested point in video image.In the present embodiment, video image comprises the main video image of main camera 101 shootings and the secondary video image that secondary camera 103 is taken, the user selects tested point in the shown main video image of image processing apparatus 50, image processing apparatus 50 obtains according to user instruction the tested point that needs are measured.
For carrying out the demarcation of endoscopic system, image processing apparatus 50 decides image according to principal mark and secondary uncalibrated image calculates calibrating parameters.
Decide extract minutiae image and secondary uncalibrated image from principal mark respectively, utilize principal mark to decide unique point in image and secondary uncalibrated image and the coordinate in known plane target drone image can calculate calibrating parameters.Calibrating parameters has comprised relative position relation and the camera inner parameter between main camera 101 and secondary camera 103.Relative position relation has comprised rotation parameter and translation parameters etc., and the camera inner parameter has comprised focal length, photocentre position and the distortion parameter of camera.It is that image type according to the plane target drone image determines that principal mark is decided unique point in image and secondary uncalibrated image, for example, if the plane target drone image is checkerboard image, with the angle point in image as unique point; If the plane target drone image is circular image or concentric circle diagram picture, with the center of circle in image as unique point.
After image collecting device 10 has been taken video image, image processing apparatus 50 adopts micro-slip window modes or global mode that main video image and secondary video image are mated and obtains anaglyph, obtain the match point of tested point in secondary video image according to the user at the tested point of selecting on main video image and anaglyph, and calculate the three-dimensional information of tested point according to the match point in calibrating parameters and secondary video image.
Particularly, as shown in Figure 3 and Figure 4, the micro-slip window mode is mated in the process that obtains anaglyph main video image and secondary video image, if in main video image 300 and secondary video image 400, corresponding point all are parallel to the v axle, for any point (u, v) on main video image 300, moving window is moved to point (u, v), the Image Coding that obtains is vectorial w; Any point (u+d, v) on secondary video image 400 moves to point (u+d, v) with moving window, and the Image Coding that obtains is vectorial w '.Calculate the similarity of w and w ' by methods such as dot product or angles, the similarity of w and w ' can be used as the similarity of main video image mid point (u, v) and secondary video image mid point (u+d, v), constantly change the size of d, to obtain the highest a bit (u+d of similarity max, v) as the match point of master image mid point (u, v), and then generate anaglyph.Can proofread and correct the anaglyph that generates by the micro-slip window mode, greatly improve the quality of anaglyph.
In order further to improve the quality of anaglyph, also can proofread and correct the anaglyph that generates by the position relationship of adjacent match point after the micro-slip window mode obtains anaglyph having passed through.
In by global mode, main video image and secondary video image being mated the process that obtains anaglyph, for finding the solution match point, construct image coupling energy carries out the coupling of main video image and secondary video image, for calculating the energy theorem E (D) of anaglyph D, computation process is as shown in following formula:
E ( D ) = Σ p C ( p , D p ) + Σ q ∈ N p P 1 T [ | D p - D q | = 1 ] + Σ q ∈ N p P 2 T [ | D p - D q | > 1 ]
Wherein, C (p, D p) expression main video image in any point p and secondary video image mid point p+D pMatching error, Represent any point p and its field pixel N in main video image pThe penalty factor of small parallax,
Figure GDA00001967892300053
Represent pixel q and its field pixel N in main video image pLarger parallax punishment energy, P 2Relevant with gradient magnitude.The matching effect that will make general image in the process of mating by the global mode relatively matching effect of micro-slip window mode is good.
In above anaglyph, minimizing of energy can go out anaglyph by direct solution by finding the solution.
In another embodiment, the user also can carry out manual coupling, to reduce due to the mistake that texture information the was brought coupling that repeats with it fails to match.
The user selects tested point on main video image, image processing apparatus 50 obtains match point on secondary video image by anaglyph, calculates the three-dimensional information that can obtain tested point according to the match point on this pair video image and calibrating parameters.
For example, as shown in Figure 5, the three-dimensional information computation process of tested point can be: establish
Figure GDA00001967892300061
Be main camera 101 centers, Be secondary camera 103 centers, the center distance between main camera 101 and secondary camera 103 is T, x lBe the tested point on main camera 101, x rBe the match point on secondary camera 103.Can obtain according to similar triangles
Figure GDA00001967892300063
Find the solution and to obtain z=-Tf/x l-x rAs from the foregoing, x in any point p on demarcating T, f and main video image lAnd x rDepth information z can be calculated in situation before, then three-dimensional information (x, y, z) can be obtained by calibrating parameters.
In another embodiment, the controller 30 of above-mentioned endoscopic system cuts out secondary camera 103, and image collecting device 10 is by main camera 101 capture video images, and in image processing apparatus 50 display video image.When the user observes, only open main camera 101 and can obtain high-resolution video image.In a preferred embodiment, controller 30 is connected with image processing apparatus 50 by the USB output line.Because secondary camera 103 all is in idle state in most of the time, only to open when measuring, this USB output line can only arrange 1, and main camera 101 shares a USB output line with secondary camera 103 and is connected with image processing apparatus 50.
In addition, also be necessary to provide a kind of measuring method of using endoscopic system, as shown in Figure 6, this measuring method comprises the following steps:
Step S10 takes by main camera and secondary camera respectively and obtains video image, and the resolution of main camera is higher than the resolution of secondary camera.In the present embodiment, carrying out measuring channel crack, dangerous combustible and explosive articles etc. when measuring, opening main camera and secondary camera carries out the shooting of video image, and wherein, the resolution of main camera is higher, and the resolution of secondary camera is lower.For example, the model of main camera is 640 * 480 pixels, 30 frame/seconds, 4.5 millimeters of diameters; The model of secondary camera is 320 * 240 pixels, 30 frame/seconds, 2.5 millimeters of diameters.
In the measuring method of above-mentioned use endoscopic system, also comprised before taking by main camera and secondary camera the step that obtains video image respectively main camera and secondary camera have been demarcated the step that obtains calibrating parameters.In the present embodiment, calibrating parameters has comprised relative position relation and the camera inner parameter between main camera and secondary camera.Relative position relation has comprised rotation parameter and translation parameters etc., and the camera inner parameter has comprised focal length, photocentre position and the distortion parameter of camera.The main camera of having opened is taken and is obtained principal mark and decide image, and secondary camera shooting obtains secondary uncalibrated image.Particularly, open simultaneously main camera and secondary camera carries out the shooting of plane target drone image, to obtain many group uncalibrated images.Wherein, each group uncalibrated image has comprised that principal mark decides image and secondary uncalibrated image, and each principal mark is decided image the secondary uncalibrated image corresponding with it.Be the accuracy that guarantees to demarcate, principal mark decides image and secondary uncalibrated image all is no less than three.The plane target drone image can be cross-hatch pattern picture, circular image or concentric circle diagram picture.
Decide extract minutiae image and secondary uncalibrated image from principal mark respectively, utilize principal mark to decide the unique point of image and secondary uncalibrated image and the coordinate in known plane target drone image can calculate calibrating parameters.Calibrating parameters has comprised relative position relation and the inner parameter between main camera and secondary camera.The unique point that principal mark is decided in image and secondary uncalibrated image determines according to the plane target drone image, for example, if the plane target drone image is checkerboard image, with the angle point in image as unique point; If the plane target drone image is circular image or concentric circle diagram picture, with the center of circle in image as unique point.
Step S30 calculates the anaglyph in video image.In the present embodiment, the step of calculating the anaglyph in video image is: by micro-slip window mode or global mode, main video image and secondary video image are mated and obtain anaglyph.
Particularly, the micro-slip window mode is mated in the process that obtains anaglyph main video image and secondary video image, on main video image, moving window is moved to any point, obtain the Image Coding vector of this point, on secondary video image, equally moving window is moved to any point, and obtain corresponding Image Coding vector.By the similarity between the Image Coding vector in Image Coding vector and secondary video image in the main video image of the methods such as dot product or angle calculating, point in the secondary video image of continuous conversion, with obtain with main video image in the Image Coding vector similarity the highest a bit as match point, thereby generate anaglyph.Transferring window mode by the part can proofread and correct the anaglyph that generates, and has greatly improved the quality of anaglyph.
In order further to improve the quality of anaglyph, after having passed through the micro-slip window mode anaglyph is proofreaied and correct, also can proofread and correct anaglyph by the position relationship of adjacent match point.
In by global mode, main video image and secondary video image being mated the process that obtains anaglyph, for finding the solution match point, construct image coupling energy carries out the coupling of main video image and secondary video image, for calculating the energy theorem E (D) of anaglyph D, computation process is as shown in following formula:
E ( D ) = Σ p C ( p , D p ) + Σ q ∈ N p P 1 T [ | D p - D q | = 1 ] + Σ q ∈ N p P 2 T [ | D p - D q | > 1 ]
Wherein, C (p, D p) expression main video image in any point p and secondary video image mid point p+D pMatching error,
Figure GDA00001967892300082
Represent any point p and its field pixel N in main video image pPenalty factor, Represent pixel q and its field pixel N in main video image pLarger parallax punishment energy, P 2Relevant with gradient magnitude.The matching effect that will make general image in the process of mating by the global mode relatively matching effect of micro-slip window mode is good.
In above anaglyph, minimizing of energy can go out anaglyph by direct solution by finding the solution.
In another embodiment, the user also can carry out manual coupling, to reduce due to the mistake that texture information the was brought coupling that repeats with it fails to match.
Step S50 obtains tested point on video image according to user instruction.In the present embodiment, the step of obtaining the tested point on video image according to user instruction is: obtain the tested point that the user selects on main video image.
Step S70 calculates the three-dimensional information of tested point in video image to video image according to anaglyph.In the present embodiment, the user selects tested point on main video image, obtains match point on secondary video image by anaglyph, calculates the three-dimensional information that can obtain tested point according to the match point on this pair video image and calibrating parameters.
In a specific embodiment, as shown in Figure 7, according to anaglyph to the step that video image calculates the three-dimensional information of tested point in video image be:
Step S701 obtains the match point of tested point in secondary video image according to the tested point on anaglyph and main video image.In the present embodiment, can obtain match point corresponding with tested point in secondary video image by anaglyph.
Step S703 calculates the three-dimensional information of tested point by the match point in calibrating parameters and secondary video image.In the present embodiment, recorded the three dimensional space coordinate of tested point in three-dimensional information.
In addition, according to user's demand, also can calculate according to the three dimensional space coordinate of tested point the degree of depth, highly, the information such as area and cross section.
In other embodiment, above-mentioned measuring method has also comprised closes secondary camera, shows the step of the picture in main camera.In the present embodiment, when the user observes, only open main camera and can obtain high-resolution video image.
Elaborate the application process of the measuring method of above-mentioned endoscopic system and use endoscopic system below in conjunction with an embodiment.In this embodiment, as Fig. 8 and shown in Figure 9, after the endoscope system has carried out demarcating, with image collecting device 10 move around object under test can blur-free imaging the position, this position can be decided according to lens focus, for example, can be the position apart from 50～100 millimeters of objects under test.
Under light source 105 auxiliary, if the user need to observe object under test, 30 main cameras 101 of needs unlatching of controller, observe by the captured video image of main camera 101.
If the user need to measure in object under test certain any position, controller 30 will be opened main camera 101 and secondary camera 103 simultaneously, and take respectively and obtain main video image and secondary video image.Image mates main video image and secondary video image by micro-slip window mode or global mode and obtains anaglyph.
The user carries out the selection of tested point to the shown main video image of image processing apparatus 50, image processing apparatus 50 obtains match point on secondary video image according to user-selected tested point by anaglyph, calculates the three-dimensional information that can obtain tested point according to match point and calibrating parameters on secondary video image.
The measuring method of above-mentioned endoscopic system and use endoscopic system, main camera and secondary camera are set in image collecting device, for the three-dimensional information main camera of unlatching and the secondary camera that obtain tested point are measured, the combination of main camera and secondary camera has reduced the cost of endoscopic system widely, has reduced the volume of image collecting device.
In the measuring method of above-mentioned endoscopic system and use endoscopic system, close secondary camera when the user observes by video image, only by main camera capture video image, and show, greatly saved system resource
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (5)

1. measuring method of using endoscopic system comprises the following steps:
Take by main camera and secondary camera respectively and obtain video image, the resolution of described main camera is higher than the resolution of secondary camera, and described video image comprises the main video image of main camera shooting and the secondary video image that secondary camera is taken;
Calculate the anaglyph in described video image;
Obtain tested point on main video image according to user instruction;
According to described anaglyph, described secondary video image is calculated the three-dimensional information of tested point in main video image.
2. the measuring method of use endoscopic system according to claim 1, is characterized in that, also comprises:
Close described secondary camera, show the picture in described main camera.
3. the measuring method of use endoscopic system according to claim 1, is characterized in that, describedly also comprises before taking by main camera and secondary camera the step that obtains video image respectively:
Described main camera and secondary camera are demarcated the step that obtains calibrating parameters.
4. the measuring method of use endoscopic system according to claim 2, it is characterized in that, described video image comprises the main video image of main camera shooting and the secondary video image that secondary camera is taken, and the step of the anaglyph in the described video image of described calculating is:
By micro-slip window mode or global mode, main video image and secondary video image are mated and obtain anaglyph.
5. the measuring method of use endoscopic system according to claim 3, is characterized in that, the described step of obtaining the tested point on main video image according to user instruction is:
Obtain the tested point that the user selects on main video image;
Describedly according to described anaglyph to the step that described secondary video image calculates the three-dimensional information of tested point in main video image be:
Obtain the match point of tested point in secondary video image according to the tested point on anaglyph and main video image;
Calculate the three-dimensional information of described tested point by the match point in calibrating parameters and secondary video image.
CN 201110092627 2011-04-13 2011-04-13 Endoscope system and measurement method using endoscope system Active CN102253057B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110092627 CN102253057B (en) 2011-04-13 2011-04-13 Endoscope system and measurement method using endoscope system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110092627 CN102253057B (en) 2011-04-13 2011-04-13 Endoscope system and measurement method using endoscope system

Publications (2)

Publication Number Publication Date
CN102253057A CN102253057A (en) 2011-11-23
CN102253057B true CN102253057B (en) 2013-06-05

Family

ID=44980446

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201110092627 Active CN102253057B (en) 2011-04-13 2011-04-13 Endoscope system and measurement method using endoscope system

Country Status (1)

Country Link
CN (1) CN102253057B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103505218B (en) * 2013-10-10 2015-06-24 南京普派医疗科技有限公司 Method for measuring focus tissue size through endoscope
CN104236515B (en) * 2014-09-11 2017-01-18 山东省计量科学研究院 Field angle automatic measuring device for medical electronic endoscope
CN105120135B (en) * 2015-08-25 2019-05-24 努比亚技术有限公司 A kind of binocular camera
CN106254765B (en) * 2016-07-19 2019-04-12 Oppo广东移动通信有限公司 Zoom processing method, device and the terminal device of dual camera
DE102019100822A1 (en) * 2019-01-14 2020-07-16 Lufthansa Technik Aktiengesellschaft Boroscopic inspection procedure
CN109945812B (en) * 2019-03-22 2020-12-08 北京航空航天大学 Rotating shaft replacing mechanism and method for monitoring contact width of sealing area of rubber-plastic shaft seal
CN110779692B (en) * 2019-11-06 2021-08-17 浙江大学医学院附属妇产科医院 Medical endoscope optical performance detection method
CN112066158A (en) * 2019-12-10 2020-12-11 天目爱视（北京）科技有限公司 Intelligent pipeline robot
CN114593688B (en) * 2022-03-03 2023-10-03 惠州Tcl移动通信有限公司 Three-dimensional measurement method and device based on AR (augmented reality) glasses, AR glasses and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0316244A1 (en) * 1987-11-12 1989-05-17 Welch Allyn, Inc. Video equipped endoscope with needle probe
CN1283086A (en) * 1997-11-04 2001-02-07 赛特莱恩技术有限公司 Video rectoscope
CN2621596Y (en) * 2003-05-21 2004-06-30 高龙关 Simple health endoscope
CN200970224Y (en) * 2006-11-09 2007-11-07 上海大学 Three dimension positioning system for medical endoscope body
CN201248687Y (en) * 2008-07-08 2009-06-03 欧普康光电(厦门)有限公司 Medical endoscope adopting a digital image device
CN101558987A (en) * 2009-05-22 2009-10-21 朱俭 Fingertip video speculum with protective sleeve

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3791777B2 (en) * 2001-12-28 2006-06-28 オリンパス株式会社 Electronic endoscope

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0316244A1 (en) * 1987-11-12 1989-05-17 Welch Allyn, Inc. Video equipped endoscope with needle probe
CN1283086A (en) * 1997-11-04 2001-02-07 赛特莱恩技术有限公司 Video rectoscope
CN2621596Y (en) * 2003-05-21 2004-06-30 高龙关 Simple health endoscope
CN200970224Y (en) * 2006-11-09 2007-11-07 上海大学 Three dimension positioning system for medical endoscope body
CN201248687Y (en) * 2008-07-08 2009-06-03 欧普康光电(厦门)有限公司 Medical endoscope adopting a digital image device
CN101558987A (en) * 2009-05-22 2009-10-21 朱俭 Fingertip video speculum with protective sleeve

Also Published As

Publication number Publication date
CN102253057A (en) 2011-11-23

Similar Documents

Publication Publication Date Title
CN102253057B (en) Endoscope system and measurement method using endoscope system
CN109544679B (en) Three-dimensional reconstruction method for inner wall of pipeline
CN104036488B (en) Binocular vision-based human body posture and action research method
CN103278139B (en) A kind of varifocal single binocular vision sensing device
CN104075688B (en) A kind of binocular solid stares the distance-finding method of monitoring system
CN104299261B (en) Three-dimensional imaging method and system for human body
CN1238691C (en) Combined stereovision, color 3D digitizing and motion capture system
CN105574525B (en) A kind of complex scene multi-modal biological characteristic image acquiring method and its device
CN108234984A (en) Binocular depth camera system and depth image generation method
CN109035309A (en) Pose method for registering between binocular camera and laser radar based on stereoscopic vision
CN102519434B (en) Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data
US9253470B2 (en) 3D camera
CN104567728A (en) Laser vision profile measurement system, measurement method and three-dimensional target
CN1735217A (en) Method of generating image and device
CN102650886A (en) Vision system based on active panoramic vision sensor for robot
CN108093244A (en) A kind of remotely servo-actuated stereo visual system
CN106767526A (en) A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers
CN102081296A (en) Device and method for quickly positioning compound-eye vision imitated moving target and synchronously acquiring panoramagram
CN103093460A (en) Moving camera virtual array calibration method based on parallel parallax
CN110849269A (en) System and method for measuring geometric dimension of field corn cobs
CN105004324A (en) Monocular vision sensor with triangulation ranging function
CN104034261A (en) Surface normal measurement device and method
CN104013424A (en) Ultrasonic volume panorama imaging method based on depth information
CN103426166A (en) Robot hand-eye co-location method based on laser and single eye
CN103971479A (en) Forest fire positioning method based on camera calibration technology

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant