CN106618450B - A kind of method of three mesh stereo endoscope self-calibration - Google Patents
A kind of method of three mesh stereo endoscope self-calibration Download PDFInfo
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- CN106618450B CN106618450B CN201611040901.9A CN201611040901A CN106618450B CN 106618450 B CN106618450 B CN 106618450B CN 201611040901 A CN201611040901 A CN 201611040901A CN 106618450 B CN106618450 B CN 106618450B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00188—Optical arrangements with focusing or zooming features
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
Abstract
The invention discloses a kind of three mesh stereo endoscopes, can not be demarcated to stereo endoscope by extrinsic calibration template during normal use；Specifically, initial alignment is carried out first with three scope cameras of scaling board pair, obtains it and corresponds to initial alignment parameter；Secondly, in the case where ensureing that two camera parameters are constant, an other camera is zoomed in and out or focus adjustment, obtain three images that three camera synchronizations take after adjusting, characteristic point detection and matching operation are carried out to the overlapping region of three images, Feature Points Matching result based on three images, three-dimensional coordinate of the characteristic point in specified coordinate system is found out by 3D reconstruct, using gained characteristic point three-dimensional coordinate and gained characteristic point camera correspondence image to be calibrated pixel coordinate information, calibration for cameras is treated again to be demarcated, obtain the new parameter of camera to be calibrated.
Description
Technical field
The invention belongs to endoscopic technique fields, more specifically, are related to a kind of three mesh stereo endoscope self-calibration
Method.
Background technology
Minimally invasive and noninvasive surgical operation is one of most important development trend in contemporary clinical medicine, with traditional operation phase
Than it can greatly improve the quality of operation, reduce the wound of operative site, mitigate the pain of patient, shorten postoperative rehabilitation
Time, this also becomes its important support as an international research hotspot.
Traditional stereo endoscope is made of two camera lenses, that is, binocular camera, general to use process
For：, according to requiring to set focal length, calibrated reference is being recycled to demarcate stereo endoscope, then using preceding elder generation first
It is stretched into tissue by small wound again to shoot, due to the fixed reason of endoscope focal length so that in shooting process
In often can only obtain clearly image with the tissue to be shot at a distance from by changing endoscope, and these actions
Will greatly increase endoscopic catheters occur in intervention procedure conduit winding and it is unexpected contact human body vitals it is general
Rate, and if be taken through and adjust this operation of focal length of endoscope and obtain desired clearly tissue image, can lose
The calibrating parameters of endoscope are lost, and calibrating parameters are the important parameters of stereo endoscope, in the course of surgery, only combine calibration
Parameter could get the three-dimensional information of region of interest by stereo endoscope, and by gained three-dimensional information, doctor is to phase of performing the operation
Closing position has an accurate positioning, is conducive to the correct implementation of operation；Simultaneously in detection process, calibrating parameters it is important
Property it is also indispensable, by the calibrating parameters of stereo endoscope and acquired tissue image, it is restructural go out linked groups' table
The three-dimensional information in face, and then the true form and size of pathological tissues can be recognized there are one more accurate, contribute to doctor
Diagnosis to patient's state of an illness.
Currently, need not refer to calibration object in the case of, by self-calibrating method can with the inside for getting camera
Parameter, common self-calibrating method include：Based on the self-calibrating methods such as absolute quadric and plane at infinity, but these are passed
The stated accuracy of system self-calibrating method is not high, and robustness insufficient [1] (Meng Xiaoqiao, Hu Zhanyi, " camera self-calibration method
Research and progress ", automates journal, 0254-4156), so this method fails to meet actual demand.
In order to obtain accurate endoscope calibration information, then can only be utilized in external environment by taking out endoscope
Calibrated reference re-starts calibration, and for this solution, this considerably increases the complexities of operation, for
The stereo endoscope used when surgical procedure is executed, this operation absolutely not allows.If can get in real time its compared with
For accurate camera parameter, then during can effectively avoiding stereo endoscope use some it is unnecessary operate, together
When also reduce the complexity of operation, reduce the additional pain brought to patient and dangerous.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of sides of three mesh stereo endoscope self-calibration
Method, to realize the real-time calibration in the real-time use of stereo endoscope after Parameters variation.
For achieving the above object, a kind of three mesh stereo endoscopes of the present invention, which is characterized in that including：It is fixed on same
The light of three independent electronic scopes of one tubular device and the multiple LED compositions being uniformly looped around around three independent electronic scopes
Source and a USB interface for three mesh stereo endoscopes to be connected with computer；
The position of three independent electronic scopes is relatively fixed, and is evenly distributed in tubular device, three independent electricals
The camera lens of sub- scope is located at tubular device front end, and imaging unit, three independent electronics are collectively formed with the light source of multiple LED compositions
The tail portion of scope is located at tubular device rear end, and the rotation there are one separately adjustable focal length is gathered around in the tail portion of each independent electronic scope
Button, when some video image dendoscope zooms in and out or when focusing operation, then three mesh stereo endoscope parameters change, then when three
After mesh stereo endoscope completes initial alignment, other two unadjusted video image dendoscope can obtain image and carry out self-calibration；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then gathered by the knob of tail portion
Then coke is imaged under the cooperation of light source by three video image dendoscopes, transmitted finally by the signal wire being connected on USB interface
To computer.
Wherein, the method for video image dendoscope progress self-calibration is：
(1), three mesh stereo endoscopes initialize
Before use, being demarcated using three mesh stereo endoscope of calibrating template pair, the initial alignment parameter of each scope is obtained
Matrix Aa、Ab、AcWith distortion factor vector K1、K2、K3And transformational relation [the R between each scope camera coordinates systemab Tab]、
[Rac Tac]、[Rbc Tbc]；
Wherein, the common version of parameter matrix is：α, β be respectively camera in the x and y direction
Focal length, γ is obliquity factor, (u0 v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K
=[k1 k2 k3 k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is right camera coordinate system to left side
The spin matrix of camera coordinates system, T are translation vector of the right camera coordinate system to left camera coordinate system；
(2), when a certain video image dendoscope zooms in and out or focusing operation, first get parms known video image dendoscope with wait marking
Video image dendoscope is determined in the image of synchronization, the distortion factor k of the middle each video image dendoscope of gained of recycle step (1)1, k2, k3, k4
Distortion correction is carried out to gained image, feature extraction then is carried out to the image after correction, obtains the characteristic point in each image, then
Feature Points Matching is carried out, n group characteristic points are finally chosen from the characteristic point of equal successful match in three images；
(3), according to the n group characteristic point construction solution lines chosen in transformational relation between each coordinate system in step (1) and step (2)
Property equation group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations constructed is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively characteristic point correspondence has carried out initial alignment video image dendoscope B and C pairs
Answer the homogeneous coordinates of the pixel at image midpoint；Rbc、TbcAnd Rab、TabThe respectively camera coordinates system of video image dendoscope C is to B cameras
Spin matrix, translational movement of the spin matrix, translational movement and B camera coordinates systems of coordinate system to A camera coordinates systems；[Xb Yb Zb]T
[Xc Yc Zc]TRespectively characteristic point corresponds to three-dimensional coordinate in B, C camera coordinates system；[Xa Ya Za 1]T、[Xb Yb Zb 1]T
[Xc Yc Zc 1]TThe respectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1
Ya1 Za1]T......[Xan Yan Zan]T；
(4), the pixel coordinate [u of characteristic point in n video image dendoscope correspondence images to be calibrated is utilizeda1 va1]T......[uan
van]TWith three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan
Zan]T, in conjunction with the relationship between the twoBuild following linear equation：
The linear equation is solved using least square method, obtains the inner parameter matrix of video image dendoscope to be calibrated, it is then sharp
With nonlinear optimization algorithm, distortion factor is introduced, internal parameter matrix is modified, the new abnormal of video image dendoscope to be calibrated is obtained
Variable coefficient, to complete the self-calibration of video image dendoscope to be calibrated.
What the goal of the invention of the present invention was realized in：
Three mesh stereo endoscopes of one kind of the invention, can during normal use not by extrinsic calibration template to solid
Endoscope is demarcated；Specifically, initial alignment is carried out first with three scope cameras of scaling board pair, obtains it and corresponds to initial alignment
Parameter；Secondly, in the case where ensureing that two camera parameters are constant, an other camera is zoomed in and out or focus adjustment, acquisition are adjusted
Three images that three camera synchronizations take after section carry out characteristic point detection and matching to the overlapping region of three images
Operation, the Feature Points Matching based on three images by 3D reconstruct as a result, find out three-dimensional seat of the characteristic point in specified coordinate system
Mark, using gained characteristic point three-dimensional coordinate and gained characteristic point camera correspondence image to be calibrated pixel coordinate information, then
It treats calibration for cameras to be demarcated, obtains the new parameter of camera to be calibrated.
Meanwhile a kind of method of three mesh stereo endoscope self-calibration of the present invention also has the advantages that：
(1), in actual use, the function of obtaining scope calibrating parameters online may be implemented in the present invention, without
Endoscope is taken out from patient's body and is demarcated.
(2), invention introduces this operations of initial alignment, and since initial alignment is obtained by calibrated reference
, i.e., its initial alignment parameters precision is reliable, and using the initial alignment parameter of the endoscope of acquisition as to interior after Parameters variation
Mirror carries out the basis of new calibration, so the present invention is more accurate relative to existing self-calibrating method result.
Description of the drawings
Fig. 1 is a kind of three mesh stereo endoscope structural schematic diagrams of the invention；
Fig. 2 is a kind of three mesh stereo endoscope camera lens distribution schematic diagrams of the invention；
Fig. 3 is a kind of functional block diagram of three mesh stereo endoscope of the present invention；
Fig. 4 is a kind of self-calibration flow chart of three mesh stereo endoscope of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described below in conjunction with the accompanying drawings, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate the main contents of the present invention, these descriptions will be ignored herein.
Embodiment
Fig. 1 is a kind of three mesh stereo endoscope structural schematic diagrams of the invention.
In the present embodiment, former as the composition of three mesh stereo endoscopes using the Medical endoscope of three super eye 5mm specifications
Part, imaging sensor therein are CMOS optical sensors.
As shown in Figure 1, the present invention three mesh stereo endoscopes of one kind, including：It is fixed on three independences of same tubular device
The light source of video image dendoscope and the multiple LED compositions being uniformly looped around around three independent electronic scopes and one are for by three
The USB interface that mesh stereo endoscope is connected with computer；
As shown in Fig. 2, the position of three independent electronic scopes is relatively fixed, it is evenly distributed in tubular device, three solely
The camera lens of vertical video image dendoscope is located at tubular device front end, and imaging unit, three independences are collectively formed with the light source of multiple LED compositions
The tail portion of video image dendoscope is located at tubular device rear end, and the tail portion of each independent electronic scope gathers around that there are one separately adjustable focal lengths
Knob, when some video image dendoscope zooms in and out or when focusing operation, then three mesh stereo endoscope parameters change, then when
After three mesh stereo endoscopes complete initial alignment, other two unadjusted video image dendoscope can obtain image and carry out self-calibration；
As shown in Figure 1,1 in figure is camera lens part, it is made of with light source three independent scopes, 2,3,4 be respectively three
The focus adjustment knob of a video image dendoscope；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then gathered by the knob of tail portion
Then coke is imaged under the cooperation of light source by three video image dendoscopes, image-forming principle is as shown in figure 3, finally by being connected to
Signal wire on USB interface is sent to computer.
In actual diagnosis and treatment process, change scope camera parameter because needing in real time, therefore, three mesh stereo endoscopes need
Real-time self-calibration is carried out when camera parameter changes, the method for carrying out self-calibration to video image dendoscope below is：
(1), three mesh stereo endoscopes initialize
Before use, being demarcated using three mesh stereo endoscope of calibrating template pair, the initial alignment parameter of each scope is obtained
Matrix Aa、Ab、AcWith distortion factor vector K1、K2、K3And transformational relation [the R between each scope camera coordinates systemab Tab]、
[Rac Tac]、[Rbc Tbc], in the present embodiment, calibrating template selects gridiron pattern scaling board；
Wherein, the common version of parameter matrix is：α, β be respectively camera in the x and y direction
Focal length, γ are obliquity factor, (u0v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K=
[k1k2k3k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is that right camera coordinate system is sat to left camera
The spin matrix of system is marked, T is translation vector of the right camera coordinate system to left camera coordinate system；
Wherein, distortion factor corresponds to model and is:
xu- x=(k1x(x2+y2)+k2x(x2+y2)2)+(2k3xy+k4(3x2+y2))
yu- y=(k1y(x2+y2)+k2y(x2+y2)2)+(k3(x2+3y2)+2k4xy)
Wherein, (xu yu) and (x y) indicate ideal respectively and have without distortion and actually distortion.
(2), when a certain video image dendoscope zooms in and out or focusing operation, first get parms known video image dendoscope with wait marking
Video image dendoscope is determined in the image of synchronization, the distortion factor k of the middle each scope of gained of recycle step (1)1, k2, k3, k4To institute
It obtains image and carries out distortion correction, feature extraction then is carried out to the image after correction, obtains the characteristic point in each image, then carry out
Feature Points Matching finally chooses n group characteristic points from the characteristic point of equal successful match in three images；
In the present embodiment, using Scale invariant features transform algorithm SIFT, video image dendoscope correspondence image a to be calibrated is obtained
With the characteristic matching point set X of any one parameter known electronic scope correspondence image bab, obtain wait for respectively with SIFT algorithms again
Demarcate the matching point set X of video image dendoscope correspondence image a and another parameter known electronic scope correspondence image cacWith parameter known to it is single
The matching point set X of sub- scope correspondence image b and parameter known electronic scope correspondence image cbc, such as Xab、XacWith XbcIn certain point
It is same point, then judges that this point is the match point of three images to get to the matching point set of three images, match point is concentrated
With group number n >=3.
(3), according to the n group characteristic point construction solution lines chosen in transformational relation between each coordinate system in step (1) and step (2)
Property equation group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations constructed is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively characteristic point correspondence has carried out initial alignment video image dendoscope B and C pairs
Answer the homogeneous coordinates of the pixel at image midpoint；Rbc、TbcAnd Rab、TabThe respectively camera coordinates system of video image dendoscope C is to B cameras
Spin matrix, translational movement of the spin matrix, translational movement and B camera coordinates systems of coordinate system to A camera coordinates systems；[Xb Yb Zb]T
[Xc Yc Zc]TRespectively characteristic point corresponds to three-dimensional coordinate in B, C camera coordinates system；[Xa Ya Za 1]T、[Xb Yb Zb 1]T
[Xc Yc Zc 1]TThe respectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1
Ya1 Za1]T......[Xan Yan Zan]T；
(4), the pixel coordinate [u of characteristic point in n video image dendoscope correspondence images to be calibrated is utilizeda1 va1]T......[uan
van]TWith three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan
Zan]T, in conjunction with the relationship between the twoHave above-mentioned it is found that a match point and its correspondence
Two linear equations can be obtained in three-dimensional coordinate, and there are 5 unknown parameters, i.e., at least need 3 match points that can just obtain one
Unique solution, thus to three interior mirror unit correspondence images implement the match point group number that matching operations obtain need to meet n >=3 this
Part.Therefore when there is n match point, you can obtain following equation and build following linear equation：
The linear equation is solved using least square method, obtains the inner parameter matrix of video image dendoscope to be calibrated, it is then sharp
With nonlinear optimization algorithm, distortion factor is introduced, internal parameter matrix is modified, the new abnormal of video image dendoscope to be calibrated is obtained
Variable coefficient, to complete the self-calibration of video image dendoscope to be calibrated.
Wherein, the model that nonlinear optimization algorithm uses for：
Wherein, K is distortion factor, and A is inner parameter matrix, miIth feature point, which corresponds to, in expression n group characteristic points waits marking
Determine the actual pixels coordinate of video image dendoscope correspondence image, MiBe ith feature point in scope camera coordinates system to be matched three
Dimension coordinate, m (K, A, Mi) it is point MiThe pixel coordinate of subpoint in video image dendoscope correspondence image to be calibrated.
Although the illustrative specific implementation mode of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific implementation mode, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
Claims (3)
1. a kind of method of three mesh stereo endoscope self-calibration, which is characterized in that include the following steps：
(1), three mesh stereo endoscopes initialize
Before use, being demarcated using three mesh stereo endoscope of calibrating template pair, the initial alignment parameter matrix of each scope is obtained
Aa、Ab、AcWith distortion factor vector K1、K2、K3And transformational relation [the R between each scope camera coordinates systemab Tab]、[Rac
Tac]、[Rbc Tbc]；
Wherein, the common version of parameter matrix is：α, β are respectively the coke of camera in the x and y direction
Away from γ is obliquity factor, (u0 v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K=[k1
k2 k3 k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is that right camera coordinate system is sat to left camera
The spin matrix of system is marked, T is translation vector of the right camera coordinate system to left camera coordinate system；
(2), when a certain video image dendoscope zooms in and out or focusing operation, first get parms known video image dendoscope and electricity to be calibrated
Sub- scope is in the image of synchronization, the distortion factor k of the middle each video image dendoscope of gained of recycle step (1)1, k2, k3, k4To institute
It obtains image and carries out distortion correction, feature extraction then is carried out to the image after correction, obtains the characteristic point in each image, then carry out
Feature Points Matching finally chooses n group characteristic points from the characteristic point of equal successful match in three images；
(3), linearly square according to the n group characteristic points construction solution chosen in transformational relation between each coordinate system in step (1) and step (2)
Journey group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations constructed is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively characteristic point correspondence has carried out initial alignment video image dendoscope B and C corresponding diagram
As the homogeneous coordinates of the pixel at midpoint；Rbc、TbcAnd Rab、TabThe respectively camera coordinates system of video image dendoscope C is to B camera coordinates
Spin matrix, translational movement of the spin matrix, translational movement and B camera coordinates systems of system to A camera coordinates systems；[Xb Yb Zb]T[Xc
Yc Zc]TRespectively characteristic point corresponds to three-dimensional coordinate in B, C camera coordinates system；[Xa Ya Za 1]T、[Xb Yb Zb 1]T[Xc
Yc Zc 1]TThe respectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1 Ya1
Za1]T......[Xan Yan Zan]T；
(4), the pixel coordinate [u of characteristic point in n video image dendoscope correspondence images to be calibrated is utilizeda1 va1]T......[uan van]T
With three-dimensional coordinate [X of the n groups characteristic point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan Zan]T, knot
Close the relationship between the twoBuild following linear equation：
The linear equation is solved using least square method, obtains the inner parameter matrix of video image dendoscope to be calibrated, is then utilized non-
Linear optimization algorithm introduces distortion factor, is modified to internal parameter matrix, obtains the new distortion system of video image dendoscope to be calibrated
Number, to complete the self-calibration of video image dendoscope to be calibrated；
Wherein, the structure of the three mesh stereo endoscopes includes：It is fixed on three independent electronic scopes of same tubular device
Uniformly be looped around multiple LED compositions around three independent electronic scopes light source and one for will be in three mesh solids
The USB interface that sight glass is connected with computer；
The position of three independent electronic scopes is relatively fixed, and is evenly distributed in tubular device, in three independent electronics
The camera lens of mirror is located at tubular device front end, and imaging unit, three independent electronic scopes are collectively formed with the light source of multiple LED compositions
Tail portion be located at tubular device rear end, and the knob there are one separately adjustable focal length is gathered around in the tail portion of each independent electronic scope, when
Some video image dendoscope zooms in and out or when focusing operation, then three mesh stereo endoscope parameters change, then when three mesh are vertical
After internal sight glass completes initial alignment, other two unadjusted video image dendoscope can obtain image and carry out self-calibration；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then be focused by the knob of tail portion, so
It is imaged afterwards by three video image dendoscopes under the cooperation of light source, electricity is sent to finally by the signal wire being connected on USB interface
Brain.
2. a kind of method of three mesh stereo endoscope self-calibration according to claim 1, which is characterized in that the step
(2) in, the value of n meets n >=3.
3. a kind of method of three mesh stereo endoscope self-calibration according to claim 1, which is characterized in that the step
(4) in, model that nonlinear optimization algorithm uses for：
Wherein, K is distortion factor, and A is inner parameter matrix, miIndicate that ith feature point corresponds to electricity to be calibrated in n group characteristic points
The actual pixels coordinate of sub- scope correspondence image, MiBe ith feature point in scope camera coordinates system to be matched three-dimensional sits
Mark, m (K, A, Mi) it is point MiThe pixel coordinate of subpoint in camera correspondence image to be calibrated.
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| CN111150366A (en) * | 2020-01-14 | 2020-05-15 | 张厚玉 | Novel internal medicine clinical examination device and display method |
| CN111780673B (en) * | 2020-06-17 | 2022-05-31 | 杭州海康威视数字技术股份有限公司 | Distance measurement method, device and equipment |
| CN114296230A (en) * | 2021-12-03 | 2022-04-08 | 青岛奥美克医疗科技有限公司 | Double-lens calibration focusing method, three-dimensional image adapter and endoscope system |
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