CN106510626A - Human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision - Google Patents
Human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision Download PDFInfo
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- CN106510626A CN106510626A CN201610980034.0A CN201610980034A CN106510626A CN 106510626 A CN106510626 A CN 106510626A CN 201610980034 A CN201610980034 A CN 201610980034A CN 106510626 A CN106510626 A CN 106510626A
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- 210000003462 vein Anatomy 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 3
- 239000012535 impurity Substances 0.000 claims description 3
- 210000001367 artery Anatomy 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- QPGIGKMACFTHAH-UHFFFAOYSA-L NIR-4 dye Chemical compound [K+].[K+].[O-]S(=O)(=O)CCCCN1C2=CC=C(C(O)=O)C=C2C(C)(C)C1=CC=CC=CC1=[N+](CCCCS([O-])(=O)=O)C2=CC=C(S([O-])(=O)=O)C=C2C1(C)C QPGIGKMACFTHAH-UHFFFAOYSA-L 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 239000000049 pigment Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0073—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by tomography, i.e. reconstruction of 3D images from 2D projections
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision. The device comprises two infrared cameras, two filters, near-infrared light sources, USB data lines, a synchronous triggering module and a computer. The two infrared cameras are arranged in parallel and connected with the computer through the USB data lines. The synchronous triggering module is connected with the two infrared cameras and the computer. Lenses of the two infrared cameras are located downwards and located on the same horizontal plane. The two filters are correspondingly arranged on the incident light sides of the two lenses. The brightness of the near-infrared light sources is adjustable, and the near-infrared light sources are arranged below the two infrared cameras. The problem that due to the fact that patient veins are not salient, the failure rate in clinical vein puncture is high is solved.
Description
Technical field
The invention belongs to medical supplementary instrument, and in particular to a kind of human body shallow-layer vein based on binocular stereo vision is three-dimensional
Reconstructing device and method.
Background technology
Vein infrared imaging is played an important role in medical treatment auxiliary and living things feature recognition.In terms of medical treatment, vein
Imaging technique has obtained quick development.There is related data to show：Adult normal carries out the success rate of venipuncture first
73%；Before when children are carried out with venipuncture, the mortality of 2 times is 58%；For majority, in venipuncture during
The probability of " dropped stitch " is 23-28%, as human body shallow-layer hypodermis is more, can be received such as in venipuncture procedure：Blood vessel depth
The impact of the factors such as degree, fat deposit thickness, skin pigment content so that lack experience or even veteran medical personnel
Easily there is the relatively low phenomenon of success rate when puncturing.In biometric identity identification field, the back of the hand medium sized vein image contain compared with
Many recognizable features, therefore, for being compared to traditional identification mode, hand vein recognition have noncontact, uniqueness,
The advantages such as live body are distinguished, this causes which safer compared with other RMs.So, human body shallow-layer Venography Techniques can
Play a significant role in above-mentioned aspects, especially in the medical field, with very broad development prospect.
The content of the invention
It is an object of the invention to provide a kind of human body shallow-layer vein three-dimensional reconstruction apparatus and side based on binocular stereo vision
Method, to solve as patient's vein is not highlighted, the higher problem of mortality in caused clinical vein puncture.
Human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision of the present invention, including two infrared taken the photograph
Camera, two filter plates, near-infrared light source, USB data line, synchronous trigger module and computers；
Two thermal cameras be arranged in parallel, and are connected with computer by USB data line respectively；
Synchronous trigger module is connected with two thermal cameras, computers respectively；
The camera lens of two infrared photographies down and is located in same level；
Two filter plates are correspondingly arranged at the incident ray side of two camera lenses respectively；
The brightness of near-infrared light source is adjustable, and which is arranged on the lower section of two thermal cameras.
The camera lens adopts 6mm fixed focus lens；
The distance between the near-infrared light source and camera lens D1 is 120mm～180mm.
The near-infrared light source adopts 850nm infrared light supplies；The filter plate adopts 850nm filter plates.
A kind of human body shallow-layer vein three-dimensional rebuilding method based on binocular stereo vision of the present invention, using the present invention
The described human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision, its method are comprised the following steps：
Two thermal cameras on the table, are fixed by step one, near-infrared horizontal positioned using fixed mount, will filter
Wave plate is arranged in camera lens, or is arranged on outside camera lens by support, enters rower to two thermal cameras using electronic calibration plate
Fixed and orientation, the electronic calibration plate are that the scaling board for demarcating pattern is shown using electronic curtain；
Step 2, the top that reference object is positioned over near-infrared light source, and with light source directly contact, and reference object be in two
The midline position of platform thermal camera；
Step 3, using two thermal cameras gathering the image of reference object and be sent to computer, when image is gathered,
Two thermal cameras triggering collection image simultaneously is controlled by synchronous trigger module；
Step 4, computer are processed to image and three-dimensional reconstruction, and the mode indexed using two dimensional image point coordinates is to three-dimensional
Data are extracted, and are comprised the following steps that：
（1）Image enhaucament and adaptive threshold binary conversion treatment are carried out to two dimensional image；
（2）Calculate all pixels point three-dimensional coordinate in double thermal camera overlapping regions；
（3）The vein extracted with two dimensional image is index, carries out space coordinate conversion to three-dimensional data so as on depth direction
Projection overlap with two dimensional image, then obtain the cloud data of vein；
（4）Isolated point operation is removed to vein cloud data, to remove removal of impurities spot noise, grid process is then carried out；
（5）Delaunay Triangulation algorithm process is used to three dimensional point cloud, cloud data trigonometric ratio is formed by the process
Vein model, rather than shown in the form of point off density cloud；
The 3-D view of step 5, output human body shallow-layer vein, and the depth information of vein is represented using different colours, by meter
Calculation machine carries out Three-dimensional Display to vein.
Beneficial effects of the present invention：
（1）Near-infrared light source is respectively at the both sides of acquisition target with video camera, effectively prevent because of skin surface topography and line
Reflections affect of the reason to light source, it is possible to increase image quality；
（2）For object be human body shallow static arteries and veins region, range of application is wider；
（3）The brightness of near-infrared light source is adjustable, can be applied to different crowd, it is to avoid cannot use because fat deposit is thicker；
（4）Electronic calibration plate is make use of to carry out camera calibration, the electronic calibration plate shown based on electronic equipment screen is compared
In traditionally on paper scaling board, with flexibility is strong, high precision, wide adaptability, low cost advantage.
In sum, the present invention is solved and is not highlighted due to patient's vein, caused clinical vein puncture in mortality compared with
High problem.
Description of the drawings
Fig. 1 is the structural representation of the present invention（Except computer and synchronous trigger module）；
Fig. 2 is the structural representation of electronic calibration plate in the present invention；
Fig. 3 is wherein one thermal camera acquired image in the present invention；
Fig. 4 is another thermal camera acquired image in the present invention；
The 3-D view of the human body shallow-layer vein that Fig. 5 is exported by the present invention；
In figure：1st, thermal camera, 2, camera lens, 3, filter plate, 4, near-infrared light source, 5, workbench, 6, fixed mount, 7, support,
8th, electronic calibration plate.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision as shown in Figure 1, including two infrared taken the photograph
1, two filter plates 3 of camera, near-infrared light source 4, USB data line, synchronous trigger module and computer.Two thermal cameras 1
It is arranged in parallel, and is connected with computer by USB data line respectively, acquired image is transferred to into computer.It is synchronous to trigger
Module is connected with two thermal cameras 1, computer respectively, and synchronous trigger module receives the control instruction of computer, control two
1 synchronous acquisition view data of platform thermal camera.The camera lens 2 of two thermal cameras 1 down and is located in same level.
Two filter plates 3 are correspondingly arranged at the incident ray side of two camera lenses 2 respectively.The brightness of near-infrared light source 4 is adjustable, its setting
In the lower section of two thermal cameras 1.
In the present embodiment, video camera 1 is configured to：Using the infrared cmos image sensor of Mt9m001 types of ON, differentiate
Rate is 1280*720, and frame per second is 30FPS heads, and the 6mm that arranged in pairs or groups fixes burnt section camera lens.Near-infrared light source 4 adopts 850nm infrared lights
Source, you can launch the infrared light that wavelength is 850nm.Which is made up of 12 2W infrared LED lamp beads, and which lights per LEDs lamp bead
Angle is 120 °, and the light source point third gear is adjustable, respectively 6W, 12W and 24W.Filter plate 3 adopts 850nm filter plates, may filter that ripple
Light wave outside a length of 850nm.
As shown in Figures 1 to 5, using the human body shallow-layer vein three-dimensional reconstruction based on binocular stereo vision of the present invention
The process that device carries out human body shallow-layer vein three-dimensional reconstruction is as follows：
Step one, first near-infrared 4 are lain in a horizontal plane on workbench 5, then using fixed mount 6 by two infrared photographies
Machine 1 is fixed, and filter plate 3 is arranged in camera lens 2, or is arranged on outside camera lens 2 by support 7.When two thermal cameras 1 are fixed
After good, following condition need to be met：
（1）Two camera lenses 2 down and are located in same level.
（2）The distance between the optical axis of two camera lenses 2 D2 can be according to camera lens and the determination of camera sensor target surface size, this reality
Apply in example, the distance between optical axis of two camera lenses 2 D2 is 50mm, there are enough effective overlay regions to meet two video cameras 1
Domain and parallax.
（3）The distance between near-infrared light source 4 and camera lens 2 D1 is 120mm～180mm.
In said structure design, two thermal cameras 1 can provide about 180 in 120mm～180mm image-forming ranges
Effective overlapping region of mm～200mm, with wider three-dimensional reconstruction region.
Demarcated and oriented using 8 pairs of two thermal cameras 1 of electronic calibration plate.Electronic calibration plate 8 is by electronic curtain
The scaling board for demarcating pattern is shown, here is justified using the solid black of a diameter of 5mm, and background is the calibration graph of white, is compared
Compared with checker scaling board, the pixel count for participating in angle point or center of circle calculating is more, and precision is higher.Calibration process is to solve for calibration maps
As in, the central coordinate of circle of all solid black circles, solves thermal camera 1 by the central coordinate of circle of more than 3 different angular images
Intrinsic parameter and outer parameter.Wherein, in image captured by two thermal cameras 1, each central coordinate of circle is carried out by SIFT algorithms
Match somebody with somebody.The present invention adopts Zhang Shi standardizations, calibration process meet following condition：
（1）Shoot picture number and at least ensure two thermal cameras while shooting has the image of 3 different angles.
（2）Two 1 each shooting images of thermal camera must include the round dot of all solid blacks circle.
（3）Camera site should spread all over each position in the thermal camera visual field as far as possible, accurately abnormal to calculate
Variate.
（4）Shooting angle answers multiple rotary, to calculate more accurate directional data.
Step 2, by reference object（Such as：Palm）Be positioned over the top of near-infrared light source 4, and with light source directly contact,
And midline position of the reference object in two video cameras 1.
Step 3, using two thermal cameras 1 come shooting image, and by image transmitting to computer.Collection palm figure
During piece, the nuance caused to avoid palm from rocking, in the form of hardware trigger, is touched simultaneously to two thermal cameras 1
Send out and adopt picture.As 850nm filter plates are provided between reference object and camera lens, the ambient light of unnecessary wavelength can be filtered out
Line, so as to improve image quality.
Step 4, computer are processed to image and three-dimensional reconstruction, and acquired data are all pictures in overlapping region
Three-dimensional coordinate of the vegetarian refreshments under world coordinate system, therefore it is critical only that for vein imaging is solved accurately to extract from all data
Go out the three-dimensional coordinate of vein blood vessel, and the process to cloud data.Here, the mode pair indexed using two dimensional image point coordinates
Three-dimensional data is extracted.Comprise the following steps that：
（1）Image enhaucament and adaptive threshold binary conversion treatment are carried out to two dimensional image.
（2）Calculate all pixels point three-dimensional coordinate in double thermal camera overlapping regions.
（3）The vein extracted with two dimensional image is index, carries out space coordinate conversion to three-dimensional data so as to depth side
Projection upwards is overlapped with two dimensional image, then obtains the cloud data of vein.
（4）Isolated point operation is removed to vein cloud data, to remove removal of impurities spot noise, grid process is then carried out,
To solve the rough problem in vein border.
（5）Delaunay Triangulation algorithm process is used to three dimensional point cloud.The process by cloud data trigonometric ratio,
Vein model can be formed, rather than is shown in the form of point off density cloud.
The 3-D view of step 5, output human body shallow-layer vein, and the depth information of vein is represented using different colours, make
Obtain image more vivid, Three-dimensional Display is carried out to vein by computer.Resulting vein three dimensional point cloud information can be made
Use for clinical treatment auxiliary, also can be used as authentication.
Claims (4)
1. a kind of human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision, it is characterised in that：It is infrared including two
Video camera（1）, two filter plates（3）, near-infrared light source（4）, USB data line, synchronous trigger module and computer；
Two thermal cameras（1）It is arranged in parallel, and is connected with computer by USB data line respectively；
Synchronous trigger module respectively with two thermal cameras（1）, computer connection；
The camera lens of two infrared photographies（2）Down and in same level；
Two filter plates（3）Two camera lenses are correspondingly arranged at respectively（2）Incident ray side；
Near-infrared light source（4）Brightness it is adjustable, which is arranged on two thermal cameras（1）Lower section.
2. human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision according to claim 1, its feature exist
In：The camera lens（2）Using 6mm fixed focus lens；
The near-infrared light source（4）With camera lens（2）The distance between D1 be 120mm～180mm.
3. human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision according to claim 1 and 2, its feature
It is：The near-infrared light source（4）Using 850nm infrared light supplies；The filter plate（3）Using 850nm filter plates.
4. a kind of human body shallow-layer vein three-dimensional rebuilding method based on binocular stereo vision, it is characterised in that：Will using such as right
1 to 3 arbitrary described human body shallow-layer vein three-dimensional reconstruction apparatus based on binocular stereo vision, its method are asked to include following step
Suddenly：
Step one, near-infrared（4）Lie in a horizontal plane in workbench（5）On, using fixed mount（6）By two thermal cameras
（1）It is fixed, by filter plate（3）Installed in camera lens（2）It is interior, or pass through support（7）Installed in camera lens（2）Outward, using electronic calibration
Plate（8）To two thermal cameras（1）Demarcated and oriented, the electronic calibration plate（8）It is to show to mark using electronic curtain
Determine the scaling board of pattern；
Step 2, reference object is positioned over into near-infrared light source（4）Top, and with light source directly contact, and at reference object
In two thermal cameras（1）Midline position；
Step 3, using two thermal cameras（1）To gather the image of reference object and be sent to computer, in collection image
When, two thermal cameras are controlled by synchronous trigger module（1）While triggering collection image；
Step 4, computer are processed to image and three-dimensional reconstruction, and the mode indexed using two dimensional image point coordinates is to three-dimensional
Data are extracted, and are comprised the following steps that：
Image enhaucament and adaptive threshold binary conversion treatment are carried out to two dimensional image；
Calculate double thermal cameras（1）All pixels point three-dimensional coordinate in overlapping region；
The vein extracted with two dimensional image is index, carries out space coordinate conversion to three-dimensional data so as on depth direction
Projection is overlapped with two dimensional image, then obtains the cloud data of vein；
Isolated point operation is removed to vein cloud data, to remove removal of impurities spot noise, grid process is then carried out；
Delaunay Triangulation algorithm process is used to three dimensional point cloud, cloud data trigonometric ratio is formed quiet by the process
Arteries and veins model, rather than shown in the form of point off density cloud；
The 3-D view of step 5, output human body shallow-layer vein, and the depth information of vein is represented using different colours, by meter
Calculation machine carries out Three-dimensional Display to vein.
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| CN201610980034.0A CN106510626A (en) | 2016-11-08 | 2016-11-08 | Human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision |
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| CN201610980034.0A CN106510626A (en) | 2016-11-08 | 2016-11-08 | Human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108703745A (en) * | 2018-06-07 | 2018-10-26 | 中国计量大学 | Vein developing method based on structure light and vein imaging system |
| CN109543591A (en) * | 2018-11-19 | 2019-03-29 | 珠海格力电器股份有限公司 | A kind of method and apparatus of three-dimensional finger venous collection |
| CN111553322A (en) * | 2020-05-21 | 2020-08-18 | 山东交通学院 | Binocular principle-based hand vein depth detection device and detection method |
| CN111685711A (en) * | 2020-05-25 | 2020-09-22 | 中国科学院苏州生物医学工程技术研究所 | Medical endoscope three-dimensional imaging system based on 3D camera |
| CN112697065A (en) * | 2021-01-25 | 2021-04-23 | 东南大学 | Three-dimensional shape reconstruction method based on camera array |
| WO2022041128A1 (en) * | 2020-08-28 | 2022-03-03 | 中国科学院深圳先进技术研究院 | Automatic calibration method and system for multiple cameras |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108703745A (en) * | 2018-06-07 | 2018-10-26 | 中国计量大学 | Vein developing method based on structure light and vein imaging system |
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