CN107256575A - A kind of three-dimensional tongue based on binocular stereo vision is as method for reconstructing - Google Patents
A kind of three-dimensional tongue based on binocular stereo vision is as method for reconstructing Download PDFInfo
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Abstract
The present invention discloses a kind of three-dimensional tongue based on binocular stereo vision as method for reconstructing, including step one：Image obtains scaling board image pair and tongue image pair to collection；Step 2：Image preprocessing, meets the tongue image pair of baseline constraint, and initial characteristicses point is provided for linear increase；Step 3：Improved linear seed point increases Stereo Matching Algorithm, obtains disparity map；Step 4：Disparity map region of interesting extraction and filtering, obtain area-of-interest disparity map；Step 5：Point cloud is rebuild and Model Reconstruction, obtains tongue picture point cloud atlas and complete tongue model.Present invention has the advantages that tongue picture can be gathered within the time less than tremulous tongue and 0.1342mm reconstruction precision is realized, true ligulate shape and colouring information can be obtained simultaneously, and effective scientific basis is provided and for medical diagnosis for lingual diagnosis 3-D quantitative, the research that objectifies.
Description
Technical field
The present invention relates to Evolution of Tongue Inspection of TCM field, more particularly to a kind of three-dimensional tongue picture reconstruction side based on binocular stereo vision
Method.
Background technology
Lingual diagnosis is the important component of the traditional Chinese medical science four methods of diagnosis, the record for having lingual diagnosis in many traditional Chinese medicine works, during it is
One of important method of diagnosis and treatment is cured, the successive dynasties, famous doctor paid much attention to the research of lingual diagnosis, makes its constantly improve and is formed
Evolution of Tongue Inspection of TCM system.
Traditional Chinese medicine thinks " tongue is the marquis of the heart, and tongue is bright note of the ancient Chinese of stomach ", " have all interior persons must shape in outer ", the different zones of tongue body
Directly or indirectly it is associated with human five internal organs' six internal organs, the change of tongue picture can more quickly react disease development degree, objective anti-
Reflect the state of an illness.Doctor is the solution reader of this physiological change, by observing tongue picture, to understand in people in illnesses.Due to tongue picture
The physiological and pathological change of human body can be reflected, be a window for observing in vivo functionality change, therefore sent out in medical diagnosis on disease, early stage
Existing, deduction prognosis is all significant.
The existing certain history of Externalization of Application of Tongue Inspection of TCM, Quantitative study.Its development course is looked back, Research foundation is divided into two dimension
Tongue picture and three-dimensional tongue picture.The current lingual diagnosis that objectifies is based primarily upon two-dimentional tongue image, can obtain color, texture, form, moisturize,
Multiple physiologic informations such as tongue fur thin and thick, can reflect patient's pathologic condition, the Yue little Qiang of such as The 2nd Army Medical College to a certain extent
Deng the tongue color feature of liver cancer based on clinical summary, and it is formed and clinical meaning draws preliminary conclusion.As can be seen here, it is two-dimentional
Tongue picture objectifies to study has extremely important meaning for automation medical diagnosis on disease and early detection, has greatly promoted the complete of the traditional Chinese medical science
Nodularization develops.But it is due to two-dimentional tongue as the missing of depth information, the extraction that also result in part physiologic information is difficult, such as conduct
Two-dimentional tongue is split as the tongue body of analysis foundation, and current tongue body dividing method has the thresholding method based on color, Snakes, graph theory
Dividing method etc., old kind superfine people proposes a kind of improved graph theory dividing method, by multiresolution analysis and Graph-Based side
Method, which is combined, carries out tongue body segmentation, and Wei Yuke et al. proposes improved GrabCut methods, utilizes tongue of the quadtree decomposition to collection
Split at the beginning of body, then with gauss hybrid models parameter in the color average optimization GrabCut algorithms of similar area, finally realize tongue
Body is split.And three-dimensional tongue picture need to can only complete tongue body segmentation using depth information.Two-dimentional tongue picture can not reflect tongue surface simultaneously
The detailed information such as indentation, pricking method, slight crack, these structures also contains part physiological and pathological information, therefore constrain tongue picture to believe
What is ceased is comprehensive, hampers the correct diagnosis of doctor.In addition setting up three-dimensional tongue model has great benefit to multiple fields, such as
The Deformation Law of tongue is particularly significant for Head and neck tumour doctor and linguist during grasp human articulation, in addition in life
Greatly effect will be all played in terms of material resources, man-machine interaction, computer-assisted language learning, film making.Therefore, for
The research of three-dimensional tongue picture is very necessary and valuable, has become the study hotspot of current tongue reconstruction.
Because the disguise of tongue, for tongue as the research of three-dimensional reconstruction starts from the eighties in last century, evening research is started to walk less.Grind
The emphasis for the person of studying carefully is had nothing in common with each other.A part of researcher is to probe into ligulate shape and language pronouncing, the relation of expression, therefore research weight
Point is that the parametrization tongue model based on model is set up, and another part researcher's starting point is the medical science mark as Evolution of Tongue Inspection of TCM
Standardization is diagnosed, and pays attention to shape, color and texture, therefore research emphasis is the tongue that is combined based on image or image with model
Rebuild.Successively there are foreign scholar Andrew J.Lundberg, Engwall O, ligulate is rebuild with ultrasonoscopy, MRI image
Shape.Jiyong Ma, Mihai Daniel Ilie using 3 d modeling software and set up tongue model with reference to tongue body anatomic information,
The former controls tongue change in shape manually selecting 12 control points in middle sagittal plane, and the latter selects five controls according to geometric properties
It is processed, different letters and the ligulate shape of expression can be achieved.Zhixiang Chen propose novel muscle control on the basis of Deng
Tongue model processed, is divided into inherent and external muscle by lingualis meat, and deformation and motion are controlled respectively, it is modeled respectively, can be achieved certainly
Ligulate shape under right tongue motion and some basic languages, such as tongue body are crimped.Future library is model master control making mechanism.
The medical data that Chen Jiang are provided with three-dimensional MRI image rebuilds tongue geometrical model, and the Biological Strength of tongue is realized with FInite Element
Learn, obtained preferable effect.Research obtains good effect in visible language application field above, but is used as medical diagnosis
Lack the detailed information on tongue surface according to for, and need accurate complicated anatomic information.Domestic Liu Zhi is proposed based on many
The tongue of visual point image and FInite Element is rebuild, and is met the dynamic characteristic of true tongue but can not be differentiated the trickle knot such as the indentation on tongue surface
Structure.Lv Huijuan etc. proposes the tongue resurfacing based on stereo photometry, can differentiate tongue mesostructure, but experiment basis are
Based on static tongue model.Therefore need a kind of while meeting true tongue dynamic characteristic and high-resolution three-dimensional tongue picture reconstruction side
Method.
The content of the invention
The true tongue that the present invention exists to solve the existing three-dimensional tongue for the purpose of medical diagnosis as method for reconstructing is dynamic
The problem of characteristic does not get both with resolution ratio, discloses a kind of three-dimensional tongue based on binocular stereo vision as method for reconstructing, solves
The problem of dynamic characteristic and high-resolution that true tongue is rebuild do not get both, available for medical diagnosis.
To achieve these goals, the present invention uses following scheme：
A kind of three-dimensional tongue based on binocular stereo vision is as method for reconstructing, it is characterised in that：Comprise the following steps：
Step 1: image obtains scaling board image and tongue image pair to collection；
Step 2: image preprocessing, meets the tongue image pair of baseline constraint, initial characteristicses point is provided for linear increase；
Step 3: improved linear seed point increases Stereo Matching Algorithm, disparity map is obtained；
Step 4: disparity map region of interesting extraction and filtering, obtain area-of-interest disparity map；
Step 5: point cloud is rebuild and Model Reconstruction, tongue picture point cloud atlas and complete tongue model are obtained.
Further, the equipment that the step one is used has projecting apparatus, camera bellows, computer and two phases being placed in parallel
Machine；The camera and the projecting apparatus are placed in the camera bellows, the camera just to camera bellows side wall provided with tongue position
Hole and Lower jaw support；Concrete operations first control the camera to gather the scaling board image of different angles by the computer, and open
Projecting apparatus, then the tongue picture pair that the camera collection lolls under state is controlled by the computer.
Further, the camera is Canon's 700D cameras.
Further, the camera bellows is made up of milky acrylic material.
It is preferred that, the camera baseline length is 16cm, and focal length is 45mm；The camera just to camera bellows side wall with it is described
The distance of image center is 1.2m；The resolution ratio of the camera collection image is 1920x1280, and the camera shutter speed is
1/200s。
Further, the projecting apparatus is Newman PH06A micro projectors.
It is preferred that, the projecting apparatus and the tongue position pitch-row are from for 55cm.
Further, the scaling board image is no less than 20, and smooth is pasted onto on scaling board.
It is preferred that, the scaling board image is 63；63 uncalibrated images are the chequered with black and white pros that size is 3cm
Shape chessboard, laterally 9, longitudinal direction 7.
Further, the step 2 includes baseline correction and edge extracting.
Further, the baseline correction and edge extracting are specially：Based on matlab calibration tool case calibration systems, profit
With calibration result to the tongue image to baseline correction, the image of tongue image centering tongue body part, utilizes canny after interception correction
The edge feature of operator extraction tongue image pair.
Further, step 3 includes following four step (S1-S4)：
S1. the image that input is pre-processed by described image, interception tongue body region；
S2.Canny algorithms extract tongue body edges of regions feature；
S3. according to ρ under the constraint such as uniqueness, monotonicityδ(SSD) matching characteristic point, the δ selections are 2, linear increase
Threshold value selection is 0.1；
S4. from initial seed dot matrix, a pair of seed points are selected in order, first determine whether whether is point on the right side of seed point
For initial seed point, if not seed point, then calculate matching similitude and judge whether to meet matching condition.If it is,
Lower a pair of the seed points of selection.Until complete the linear increase of all initial seed points, dense described in tongue body part is so far obtained
Disparity map.
Further, the step 4 is specially：To the horizontal derivation of the disparity map, the disparity map derivative mutation is determined
Position, the right side parallax of the left side of left side mutated site, right side mutated site is set to 0, you can obtain area-of-interest, bilateral filter
Popin slides the disparity map.
It is preferred that, the parameter selection of the bilateral filtering smooth disparity figure is：Wave filter half a width of 4, spatial neighbor degree because
Son is 5, and brightness similarity factor is 0.1.
Further, the step 5 is according to the interesting part tongue body disparity map, according to vision range finding method reconstruction point
Cloud simultaneously pastes texture, and back is fitted using Geomagic Studio auto-mending functions, completes tongue model.
, can be in the time within 5 minutes the beneficial effects of the invention are as follows the three-dimensional rebuilding method based on binocular stereo vision
In true tongue resurfacing and tongue Model Reconstruction are completed with 0.1626mm reconstruction precision.Compared to up to a few hours with MRI, CT
Deng the parametrization tongue model reconstruction method based on medical image, reconstruction time is substantially reduced.Compared to Liu Zhi propose based on
The tongue reconstruction method of multi-view image and FInite Element, it is used three cameras, reduces reconstructed cost, improve reconstruction precision.
The tongue resurfacing based on stereo photometry is proposed compared to Lv Huijuan etc., the dynamic characteristic that true tongue is rebuild is met.Based on three-dimensional
Data extract three-dimensional feature, are that medical diagnosis on disease and early detection provide foundation with reference to two dimensional character.In addition three-dimensional tongue model is set up
Have great benefit to multiple fields, such as grasp human articulation during tongue Deformation Law for Head and neck tumour doctor with
And linguist is particularly significant, in addition in terms of biomethanics, man-machine interaction, computer-assisted language learning, film making
Greatly effect will all be played.
Brief description of the drawings
Fig. 1 is tongue of the present invention as method for reconstructing flow chart.
Fig. 2 is tongue of the present invention as reconstructing system structure chart.
Fig. 3 is pricking method tongue three-dimensional point cloud atlas of the present invention.
Fig. 4 is teeth-printed tongue three-dimensional point cloud atlas of the present invention.
Fig. 5 is the normal tongue three-dimensional point cloud atlas of the present invention.
Fig. 6 is the normal tongue model front view of the present invention.
Fig. 7 is the normal tongue model left view of the present invention.
In figure：1st, computer 2, USB data line 3, the first Canon 700D 4, the second Canon 700D 5, projecting apparatus 6, dark
Case 7, USB flash disk 8, tongue position hole 9, Lower jaw support 10, user
Embodiment
Below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present application is clearly and completely described, with reference to attached
The non-limiting example embodiment for showing and being described in detail in the following description in figure, the example for being more fully described below the disclosure is implemented
Example and their various features and Advantageous details.It should be noted that the feature shown in figure is not required to be drawn to scale.This
Application eliminates the description of known materials, component and technology, from without obscuring the example embodiment of the application.It is given
Example be only intended to the implementation for being conducive to understanding disclosure example embodiment, and further enable those skilled in the art real
Apply example embodiment.Thus, these examples are understood not to the limitation to the scope of embodiments herein.
Unless otherwise specifically defined, technical term or scientific terminology used in this application should be the application art
The ordinary meaning that the interior people with general technical ability is understood." first ", " second " and the similar word used in the disclosure
Any order, volume, area, size or importance are not offered as, and is used only to distinguish different parts.In addition,
In the application each embodiment, same or similar reference number represents same or similar component.
As shown in Figure 1-2.A kind of three-dimensional tongue based on binocular stereo vision is as method for reconstructing, and step includes：Step 1: tongue
Image is to collection；Step 2: image preprocessing, including：Baseline correction and edge extracting；Step 3: improved linear seed point
Increase Stereo Matching Algorithm；Step 4: disparity map region of interesting extraction and filtering；Step 5: point cloud is rebuild and Model Reconstruction.
First, tongue image is to collection：Tongue is as acquisition system is by two Canon being placed in parallel 700D cameras (i.e. the first Canons
700D3 and the second Canon 700D4), projecting apparatus 5, camera bellows 6 and computer 1 constitute.First Canon 700D and the second Canon 700D
It is connected respectively by USB data line 2 with computer 1.Camera bellows 6 enables collection environment to be relatively independent of external environment condition, as far as possible
Reduction ambient weather situation, the influence of ambient lighting, while also alloing collection environment control and adjust at any time, it is by milky white Asia
Gram force material is made, for uniform illumination, reduces reflective spot.Camera and projecting apparatus are placed on camera bellows by certain space position
In, camera just to camera bellows face on have the tongue position hole 8 and Lower jaw support 9 of adult's face size, the lower jaw of user 10 is placed in Lower jaw support 9
On, loll into tongue position hole 8 so that user 10 can be comfortable in test process and prevents influence of the external light source to tongue surface.Tongue
Surface belongs in stereoscopic vision intractable weak texture region and color is close, and efficient frontier only has tongue body edge, therefore utilizes
Projecting apparatus produces chequered with black and white striped to increase the characteristic point on tongue surface, functions simultaneously as lighting apparatus.Increase camera base length
Degree can improve scene point depth calculation precision but will also result in and blocks, therefore in the case where not blocking and consider the reality of camera
Size, it is 16cm to take baseline length, and scene point is 1.2m with image center distance.The camera of 45mm focal lengths can gather RGB,
High-resolution tongue image, while its high frame rate and adjustable exposure time solve the problems, such as tremulous tongue, image resolution ratio is
1920x1280, shutter speed 1/200s.Projecting apparatus 5 is Newman PH06A micro projectors, and projecting apparatus 5 is connected with USB flash disk 7, readable
Take the data of USB flash disk 7, resolution ratio 1280x800dpi, minimum projection is apart from 18cm.The dense and projecting apparatus and tongue of tongue striated surface
Distance and perspective view in striped it is dense relevant, projecting apparatus then brightness near from tongue causes by force tongue surface smooth, the remote then tongue table of distance
Noodles line poor definition, therefore best results when being 55cm through experimental projection instrument and tongue surface distance.Now black streaking accounts for 8 pictures
Element, fringe spacing is 16 pixels.Computer control camera collection opens projection more than the scaling board image of 20 different angles
The subject tongue picture that instrument collection lolls under state.
Tongue image is to gathering the tongue picture pair for the scaling board image of calibration system and for reconstruction.Image center distance is set
For 16cm, projecting apparatus and tongue position pitch-row are from being set to 55cm.Uncalibrated image is the chequered with black and white square chess that 63 sizes are 3cm
Disk, laterally 9, longitudinal direction 7, smooth is pasted onto on wood based panel as scaling board.Scaling board is by trained experimenter
Operation, achieves over the putting position of 20 angles, and each angle is no more than 45 °.According to the experience and custom of Evolution of Tongue Inspection of TCM, it is
Ensure to gather tongue picture pair under conditions of unification, the step of regulation collection and requirement to patient：
1st, require that patient must not feed in shooting the first two hour, it is to avoid diet causes shadow to tongue, coating colour and fine structure
Ring.
2nd, patient takes collection, does swallowing act, and saliva is blotted.
3rd, lower jaw is placed on the bracket of instrument, and forehead is withstood by frame, remains stationary.
4th, Xie Yue is quick proposes that (tongue body accounts for preceding the 2/3 of tongue to optimal tongue degree of exposing, and the root of the tongue accounts for rear the 1/3 of tongue, two for " herringbone circle "
Person is demarcated as " herringbone circle " back), and " herringbone circle " positioning meets the requirement of lingual diagnosis, doctor can be made all-sidedly and accurately to observe
Tongue picture, therefore the training that lolls is carried out to patient.Patient uses positive seat, in face of front, dehisces, naturally by outside tongue extending port,
Tongue body loosens, and lingual surface flattening, the tip of the tongue is slightly downward, dehisces as far as possible, fully to expose tongue body.
5th, projecting apparatus, computer control camera collection tongue picture pair are opened.
This step provides scaling board image pair for follow-up calibration work, and tongue image pair is provided to rebuild part.
2nd, image preprocessing：Baseline correction and edge extracting.Using in scaling board image obtained by upper step and Matlab
Binocular Stereo Vision System is demarcated in StereoCameraCalibration tool boxes.Because camera is installed and itself assembly error,
Its photocentre is not substantially parallel, thus according to demarcation parameters obtained to tongue picture to baseline correction.In order to ensure tongue body part edge
The accuracy extracted and matched, intercepts tongue body parts of images, and follow-up work is based on this image pair.Examined using the edge of function admirable
Survey technology canny operator extraction tongue body part edge features.This step provides the image pair for meeting baseline constraint for follow-up work,
Initial characteristicses point is provided for linear increase.
Utilize the StereoCameraCalibration calibration systems in scaling board image and matlab, it is desirable to every width figure
As calibrated error is respectively less than 1 pixel, uncalibrated image is otherwise resurveyed.Tongue is as the tongue body portion of centering after interception baseline correction
Divide, first allocation tongue body position, then intercept tongue body part, make two images in the same size as far as possible.The canny for extracting edge is calculated
Sub- threshold of sensitivity selection is 0.16, and gained edge feature width accounts for a pixel.
3rd, improved linear seed point increases Stereo Matching Algorithm：Due to the presence of binocular visual axis spacing, Same Scene point
The image existence position difference i.e. parallax formed on the retina of left and right, is the decisive information of brain perceptual object depth.It is double
Item stereo vision is, based on this principle, human eye to be replaced with two cameras, finds corresponding points of the space a little in two images, profit
Recover object surface depth information with vision range finding method.It can thus be appreciated that Stereo matching is the emphasis place of stereoscopic vision.Through excessive
The development in year, emerges a variety of solid matching methods.With reference to the characteristics of tongue surface texture is few, change in depth continuity is strong, herein
Using linear seed point growth algorithm.
Seed point growth algorithm proposes that its basic thought is from one group of initial seed in disparity space by Otto and Chau
Point sets out, and estimates in adjacent domain according to grey similarity and is increased until violating matching Uniqueness constraint.Match point phase
Least square difference algorithm (Sum of Squared Difference, SSD) is used like property criterion, supports window not have through experiment increase
It is improved matching accuracy and increases amount of calculation, therefore supports window to be sized to 3*3.
In order to solve anti-noise sex chromosome mosaicism, herein first using based on ρδ(n) function and SSD similarity measure function.This
Invention replaces n to obtain new Stereo matching similarity measure function ρ with SSDδ(SSD), δ selections are 2.It is better than through experiment effect
SSD algorithms.Tongue marginal surface characteristic point obtained by edge extracting is sparse and feature substantially, therefore edges matched characteristic point is simultaneously first
It is used as the long initial seed point linearly increased.During initial seed Point matching, because Edge Feature Points property is similar, there is mistake
The matching similitude of point is higher than the similitude correctly put.Region limitation is added herein, obtains left figure point to be matched and its Far Left
The distance of edge, finds match point in the range of respective distance of the right figure away from leftmost edge, substantially increases matching accuracy.Then
Edge Feature Points of the selection with accurately and reliably parallax are given birth to as initial seed point using the parallax d of initial seed point as region
Long basic parallax, because tongue surface is not definitely smooth, increases containing fine structures such as lingual papilla, indentation, therefore in next step
During expand matching disparity range, the gradient of disparity that the mankind can match is 2, therefore the parallax of region growing is expanded to d-2
To d+2, the matching similitude under five parallaxes is calculated respectively, under the constraint such as outer baseline, monotonicity, using the victor is a king algorithm
It is determined that final matching double points and its parallax, then given birth on horizontal scanning line using the match point that newly obtains as seed point
Long, until running into next initial seed point, then following a pair of initial seed points start to increase, so as to obtain whole tongue region domain
Disparity map.This multiple initial seed points in tongue surface effectively prevent the propagation of error matching points.
Stereo Matching Algorithm step of the present invention is：
1. image of the input by pretreatment, interception tongue body region.
2.Canny algorithms extract tongue body edges of regions feature.
3. according to ρ under the constraint such as uniqueness, monotonicityδ(SSD) matching characteristic point, δ selections are 2, linear increase threshold value
Select as 0.1.
4. from initial seed dot matrix, a pair of seed points are selected in order, first determine whether whether is point on the right side of seed point
For initial seed point, if not seed point, then calculate matching similitude and judge whether to meet matching condition.If it is,
Lower a pair of the seed points of selection.
The full null matrix for defining one and image formed objects is used as disparity map.Edges matched characteristic point first, by left figure
Edge Feature Points are stored in matrix.A left figure characteristic point is selected in order, from right figure leftmost edge point in right figure is mutually gone together
Start at abscissa to right figure penultimate pixel calculate respectively its be stored in Feature Points Matching similarity and by result it is similar
Matrix is spent, lateral separation of the left figure characteristic point to be matched according to tongue body leftmost edge is calculated, in the respective distance model of similarity matrix
Interior searching minimum value is enclosed, its coordinate value is obtained, its abscissa difference with characteristic point to be matched is calculated, this value is assigned to disparity map
In with characteristic point same coordinate to be matched point as this characteristic point parallax value.Next left figure edge feature is selected in order
Point, completes parallax value by above-mentioned steps and calculates, until completing all characteristic points, obtain initial seed point.
Range of linearity growth is carried out according to initial seed point.A pair of seeds are chosen from initial seed dot matrix in order
Point, it is d to remember its parallax, because tongue surface is not definitely smooth, is increased containing fine structures such as lingual papilla, indentation, therefore in next step
Expand matching disparity range in growth process, the gradient of disparity that the mankind can match is 2, therefore the parallax of region growing is expanded to d-
2 to d+2.The point on the right side of left figure characteristic point is chosen, the matching similitude that parallax is point at d-2 to d+2 is calculated respectively, in dullness
Property etc. under constraint, using the victor is a king, algorithm determines final matching double points and judges whether its Matching power flow is less than linear increase
Threshold value, this Point matching is completed if meeting, and parallax is assigned to the point of disparity map same coordinate position.Again using this matching double points as
New seed point is increased, until running into the next initial seed point of this journey, terminates to increase.Select next initial seed point
Above-mentioned same steps are performed, until completing the linear increase of all initial seed points, the dense parallax of tongue body part are so far obtained
Figure.
This step provides disparity map for three-dimensional reconstruction.
4th, disparity map region of interesting extraction and filtering part：The tongue body part of interception also includes the part corners of the mouth, and it does not belong to
Therefore need to remove in area-of-interest.The state that lolls sublingua surface and the corners of the mouth be not in same plane, and its parallax has different,
Therefore to the horizontal derivation of disparity map, two maximum positions of derivative are exactly tongue body left and right edges, by left and right edges in disparity map with
Outer parallax zero setting, you can remove corners of the mouth part.In order to obtain smoother depth map, therefore disparity map is filtered before reconstruction
Ripple.Present invention selection is with efficient edge holding-enhancing and suitable for the bilateral filtering algorithm of gray level image.
Corners of the mouth part is removed, it is necessary to laterally seek disparity map first derivative, find be more than in Jacobian matrix 0.8 point and its
Coordinate position, by the coordinate of target point by ordinate ascending order deposit in a matrix, first row storage ordinate, secondary series and after
Several columns are deposited the abscissa value under correspondence ordinate by ascending order, and often row has three numbers i.e. first to be ordinate in theory, the
2nd, three be respectively left and right side edge abscissa, but due to the influence of noise, occurs at left and right edges and multiple meets condition
Point, following exclusion work is done to coordinates matrix for this problem.Judge next line if this journey there are three numbers.If this journey
Have four numbers, judge second and the three, the 3rd and the 4th number size of the difference, the former be less than the latter, then remove the second number,
It is left margin abscissa to take the 3rd number, and the 4th number is right margin abscissa, if the former is more than the latter, removes the 3rd
Number, it is left margin abscissa to go the second number, and the 4th number is right margin abscissa；If this journey there are five numbers, is asked for
Three to five subtract the second to the absolute difference of the 4th number and are stored in matrix, if first and second difference is less than 3, the 3rd difference
Value is more than 10, and it is respectively left and right edge to take third and fourth number in former coordinates matrix, if first difference is more than 10, second,
Three differences be less than 3 or first and second difference be more than 10, the 3rd difference is less than 3, takes first and second number in former coordinates matrix to be respectively
Left and right edge, such as difference are all higher than 10, and it is respectively left and right edge to take second and third number in former coordinates matrix；If this journey
Previous number is taken as left hand edge, latter number is taken as right hand edge by number more than five numbers then maximum 2 points of absolute difference.Accordingly
It can select correct left and right edges point.
Bilateral filtering parameter is selected：Wave filter half a width of 4, the spatial neighbor degree factor is 5, and brightness similarity factor is
0.1。
This step obtains smooth tongue body part disparity map interested.
5th, point cloud is rebuild and Model Reconstruction part：Disparity map calculates three-dimensional coordinate with vision range finding method according to obtained by upper step
Tongue picture point cloud atlas is obtained, as in Figure 3-5, and texture stickup is done, makes its more sense of reality.Because the physiological structure of tongue, it is impossible to
The back image under the state of lolling is obtained, in order to obtain complete tongue model, utilizes reverse engineering software Geomagic Studio's
Auto-mending function completes back auto-mending, as shown in Figure 6,7.Threedimensional model is rotatable, scale comprehensive observation.
Specially：Number of colors in original image is reduced into 128, the color of the corresponding points in reconstruction point cloud is used as.
Cloud data is saved as into txt formatted files, Geomagic Studio softwares is imported and is repaiied using the curvature in its auto-mending function
The fitting for completing back is mended, complete tongue model is obtained.
This step obtains tongue picture point cloud atlas and complete tongue model.
The beneficial effects of the invention are as follows：Tongue picture can be gathered within the time less than tremulous tongue and realize 0.1626mm reconstruction
Precision, true ligulate shape and colouring information can be obtained simultaneously, for lingual diagnosis 3-D quantitative, objectify research provide effective science according to
According to and for medical diagnosis, the tongue for the purpose of medical diagnosis is met as three-dimensional reconstruction.
Embodiments of the invention are described in detail above, but the content is only presently preferred embodiments of the present invention,
It is not to be regarded as the practical range for limiting the present invention.All equivalent changes made according to the present patent application scope, improvement or group
Close etc., within the patent covering scope that all should still belong to the present invention.
Claims (10)
1. a kind of three-dimensional tongue based on binocular stereo vision is as method for reconstructing, it is characterised in that：Comprise the following steps：
Step 1: image obtains scaling board image and tongue image pair to collection；
Step 2: image preprocessing；
Step 3: improved linear seed point increases Stereo Matching Algorithm, disparity map is obtained；
Step 4: disparity map region of interesting extraction and filtering, obtain area-of-interest disparity map；
Step 5: point cloud is rebuild and Model Reconstruction.
2. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 1, it is characterised in that：The step
One equipment used has projecting apparatus, camera bellows, computer and two cameras being placed in parallel；The camera and the projecting apparatus are placed
In the camera bellows, the camera just to camera bellows side wall provided with tongue position hole and Lower jaw support；Concrete operations are first by described
Computer controls the camera to gather the scaling board image of different angles, and opens projecting apparatus, then controls institute by the computer
State the tongue picture pair that camera collection lolls under state；The projecting apparatus is Newman PH06A micro projectors；The camera is Canon
700D cameras；The camera bellows is preferably made up of milky acrylic material.
3. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 2, it is characterised in that：The camera
Just to the side wall of the camera bellows and the distance of the image center be projecting apparatus described in 1.2m with tongue position pitch-row from for
55cm。
4. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 2, it is characterised in that：The demarcation
Plate image is no less than 20, and smooth is pasted onto on scaling board.The scaling board image is 63；63 uncalibrated images are
Size is 3cm chequered with black and white square chessboard, laterally 9, longitudinal direction 7.
5. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 1, it is characterised in that：The step
Two include baseline correction and edge extracting.
6. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 5, it is characterised in that：The baseline
Correction and edge extracting are specially：Based on matlab calibration tool case calibration systems, using calibration result to the tongue image pair
Baseline correction, the image of tongue image centering tongue body part after interception correction is special using the edge of canny operator extraction tongue images pair
Levy.
7. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 1, it is characterised in that：Step three guarantees
Include following steps：
S1. the image that input is pre-processed by described image, interception tongue body region；
S2.Canny algorithms extract tongue body edges of regions feature；
S3. according to ρ under the constraint such as uniqueness, monotonicityδ(SSD) matching characteristic point, the δ selections are 2, linear increase threshold value
Select as 0.1；
S4. from initial seed dot matrix, a pair of seed points are selected in order, and whether first determine whether the point on the right side of seed point is just
Beginning seed point, if not seed point, then calculates matching similitude and judges whether to meet matching condition.If it is, selection
Lower a pair of seed points.Until completing the linear increase of all initial seed points, the dense parallax in tongue body part is so far obtained
Figure.
8. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 1, it is characterised in that：The step
Four are specially：To the horizontal derivation of the disparity map, the disparity map derivative mutated site is determined, by a left side for left side mutated site
Side, the right side parallax of right side mutated site are set to 0, you can obtain the smooth disparity map of area-of-interest, bilateral filtering.
9. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 8, it is characterised in that：It is described bilateral
The parameter of filtering disparity map is selected：Wave filter half a width of 4, the spatial neighbor degree factor is 5, and brightness similarity factor is
0.1。
10. the three-dimensional tongue based on binocular stereo vision is as method for reconstructing according to claim 1, it is characterised in that：The step
Rapid five according to the interesting part tongue body disparity map, according to vision range finding method reconstruction point cloud and pastes texture, utilizes
Geomagic Studio auto-mending functions are fitted back, complete tongue model.
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| CN108961203A (en) * | 2018-02-19 | 2018-12-07 | 江苏新时高温材料股份有限公司 | A kind of three-dimensional rebuilding method of fusion ultrasound and the hollow plate type ceramic film defect of machine vision technique |
| CN110349209A (en) * | 2019-04-28 | 2019-10-18 | 西安交通大学 | Vibrating spear localization method based on binocular vision |
| CN110751731A (en) * | 2019-10-16 | 2020-02-04 | 光沦科技(深圳)有限公司 | 3D reconstruction method and system for structured light |
| WO2022096105A1 (en) * | 2020-11-05 | 2022-05-12 | Huawei Technologies Co., Ltd. | 3d tongue reconstruction from single images |
| CN114515395A (en) * | 2022-02-11 | 2022-05-20 | 复旦大学附属眼耳鼻喉科医院 | Swallowing detection method, device, equipment and storage medium based on binocular vision |
| CN117649494A (en) * | 2024-01-29 | 2024-03-05 | 南京信息工程大学 | Reconstruction method and system of three-dimensional tongue body based on point cloud pixel matching |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108961203A (en) * | 2018-02-19 | 2018-12-07 | 江苏新时高温材料股份有限公司 | A kind of three-dimensional rebuilding method of fusion ultrasound and the hollow plate type ceramic film defect of machine vision technique |
| CN108961203B (en) * | 2018-02-19 | 2023-07-18 | 江苏新时高温材料股份有限公司 | Three-dimensional reconstruction method for defects of hollow plate type ceramic membrane by combining ultrasonic and machine vision technologies |
| CN110349209A (en) * | 2019-04-28 | 2019-10-18 | 西安交通大学 | Vibrating spear localization method based on binocular vision |
| CN110751731A (en) * | 2019-10-16 | 2020-02-04 | 光沦科技(深圳)有限公司 | 3D reconstruction method and system for structured light |
| CN110751731B (en) * | 2019-10-16 | 2023-03-24 | 光沦科技(深圳)有限公司 | 3D reconstruction method and system for structured light |
| WO2022096105A1 (en) * | 2020-11-05 | 2022-05-12 | Huawei Technologies Co., Ltd. | 3d tongue reconstruction from single images |
| CN114515395A (en) * | 2022-02-11 | 2022-05-20 | 复旦大学附属眼耳鼻喉科医院 | Swallowing detection method, device, equipment and storage medium based on binocular vision |
| CN114515395B (en) * | 2022-02-11 | 2022-11-29 | 复旦大学附属眼耳鼻喉科医院 | Swallowing detection method, device, equipment and storage medium based on binocular vision |
| CN117649494A (en) * | 2024-01-29 | 2024-03-05 | 南京信息工程大学 | Reconstruction method and system of three-dimensional tongue body based on point cloud pixel matching |
| CN117649494B (en) * | 2024-01-29 | 2024-04-19 | 南京信息工程大学 | Reconstruction method and system of three-dimensional tongue body based on point cloud pixel matching |
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