KR20140045653A - Recognition appartus for noncontact marker, apparatus and method for image registration based on noncontact marker - Google Patents

Abstract

An apparatus for recognizing a non-contact marker comprises a light source which marks for at least one point of an object so that the point becomes at least one non-contact marker by radiating a light of a first wavelength band or a second wavelength band; a first camera for shooting a first image of the object including the non-contact marker in the first wavelength band; and a second camera for shooting a second image of the object including the non-contact marker in the second wavelength band. [Reference numerals] (100) Light source; (200) First camera; (300) Second camera; (400) Image matching apparatus; (600) Output apparatus

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a non-contact marker recognition apparatus, a non-contact marker-based image registration apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-contact marker recognition apparatus, an non-contact marker based image registration apparatus and a method.

Recently, with the development of surgical technique, it has become possible to reproduce the inside of the patient's body through the information gathered by CT, MRI and the like. The patient's internal body is modeled in three dimensions to provide information for the treatment plan, operation plan and procedure, and the location, shape, and insertion position of the implant, such as nerves or vertebrae, can be confirmed.

In this case, the body position can be displayed using various display methods (buttons, infrared emitters, inks, fluorescent materials, etc.) to identify specific body positions and different images can be matched to each other based on these displays . However, such a display method can cause infection due to contact with the patient, obstruction of the operator's view, and obstruction of the operation.

In addition, when a practitioner directly refers to a lattice on a patient's surgical site in order to perform a surgery, or when an arbitrary attachment or display means is used, infection due to contact with the patient, interference with the operator's view, Sometimes the work is interrupted.

Korea Patent No. 10-0542370

Some embodiments of the present invention allow the laser light source itself to be a non-contact marker so that the lasers can be painted on the body of the patient or the non-contact markers can be applied to the surgical site A non-contact marker-based image registration device, and a non-contact marker-based image registration device.

Further, in some embodiments of the present invention, a laser light source of a specific infrared wavelength band not visible to the naked eye is used as a non-contact marker, and repositioning is possible even when the position of the patient is changed during surgery, There is provided a contact marker recognition apparatus, a contactless marker-based image registration apparatus, and a method capable of minimizing the path of an infection without disturbing the field of view.

In addition, some embodiments of the present invention can reduce the amount of calculation in the perspective transformation of pattern recognition by tracking only a small number of non-contact markers without using the direction information of the edge direction, A contact marker recognition device, a non-contact marker based image registration device, and a method.

As a technical means for achieving the above technical object, the non-contact marker recognition apparatus according to the first aspect of the present invention is characterized in that at least one point of the object is irradiated with light of the first wavelength band or the second wavelength band, A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band, and a second camera for capturing the non-contact markers in the second wavelength band, And a second camera for capturing a second image of the object including the object.

According to a second aspect of the present invention, there is provided an apparatus for aligning an image based on non-contact markers, the method comprising: marking at least one point of an object by irradiating light of a first wavelength band or a second wavelength band, A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band, a second camera for capturing a second image of the object including the non-contact markers in the second wavelength band, 2 camera, and an image matching unit for perspectively transforming and matching the first image and the second image photographed by the first camera and the second camera.

The non-contact marker-based image matching method according to the third aspect of the present invention is a method of marking an object by irradiating light of a first wavelength band or a second wavelength band so that at least one point of the object becomes at least one non-contact marker, Photographing a first image of the object including the non-contact markers in the first wavelength band, taking a second image of the object including the non-contact markers in the second wavelength band, and And performing Perspective Transform on the photographed first image and the second image to match each other.

According to any one of the above-mentioned objects of the present invention, it is possible to identify a surgical site using an image marked with a non-contact marker without drawing a lattice on a patient's body or attaching a fluorescent substance- Non-contact marker recognition device that can track non-contact markers in real time by reducing calculation amount in perspective conversion of pattern recognition by tracking only a small number of non-contact markers without using vertex direction information, An image matching apparatus and method can be provided.

1 is a block diagram illustrating a non-contact marker based image matching apparatus according to an exemplary embodiment of the present invention.
2 is a block diagram illustrating a non-contact marker based image matching apparatus according to another embodiment of the present invention.
Fig. 3 is a view for explaining a light source and a wavelength distribution diagram of the non-contact markers of Figs. 1 and 2. Fig.
FIG. 4 is a view for explaining a first image and a second image of the non-contact markers of FIGS. 1 and 2. FIG.
Fig. 5 is a diagram for explaining the concept of perspective transformation executed in the image matching device of Figs. 1 and 2. Fig.
FIG. 6 is a view for explaining a screen output from the non-contact marker based image matching apparatus of FIGS. 1 and 2. FIG.
FIG. 7 is a flowchart illustrating a non-contact marker-based image matching method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the embodiments of the present invention in the drawings, parts not related to the description are omitted, and like parts are denoted by similar reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "including" an element, it is to be understood that the element may include other elements as well as other elements, And does not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of the steps, and each step may be performed differently from the stated order unless clearly specified in the context. have. That is, each of the steps may be performed in the same order as described, or may be performed substantially concurrently or in the reverse order.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating a non-contact marker based image matching apparatus according to an exemplary embodiment of the present invention. FIG. 2 is a block diagram illustrating a non-contact marker based image matching apparatus according to another exemplary embodiment of the present invention. to be. The light source 100, the first camera 200, the second camera 300, the image matching device 400, the optical device 500, and the output device 600 shown in FIGS. And therefore, the apparatus of the present application is not limited to those shown in Figs. 1 and 2. Fig.

The non-contact marker based image matching apparatus 1 of the present invention will be described with reference to FIG. 1 when a single wavelength is used, and FIG. 2 when multiple wavelengths are used. For convenience of description, the case of using a single wavelength and multiple wavelengths is divided, but the case of a single wavelength is not limited to the configuration of FIG. 1, and the case of multiple wavelengths should not be fixed to the configuration of FIG.

1, the light source 100, the first camera 200, and the second camera 300 may constitute a non-contact marker recognition device. The non-contact marker based image registration device 1 includes a light source 100 A first camera 200, a second camera 300, and an image matcher 400. The first camera 200 may include a first camera 200, a second camera 300,

The light source 100 may mark the at least one point of the object to be at least one non-contact marker by illuminating the light in the first wavelength band or the second wavelength band.

At this time, the light source 100 of the present invention is distinguished from a method of using a tanned region as a marker by directly tanning the skin with a laser. In other words, when used as a marker, the markers are left on the patient's body, which may cause the patient's aesthetic rejection and the possibility of secondary infection.

Therefore, unlike the tanning method, when the light source 100 irradiates light to an object, and the first camera 200 and the second camera 300 receive an image of a light-irradiated object, An indirect method of recognizing the light irradiated to the object as a marker through the algorithm of the image matching device 400 is used.

In this case, the first wavelength band or the second wavelength band may be a visible light wavelength or an infrared wavelength. For example, the light source 100 may be four as shown in FIG. 1, and an invisible light wavelength of 808 nm band of 50 mV may be used. At this time, since the invisible light wavelength can not be discriminated by the naked eye, it can be recognized and photographed by any one of the first camera 200 and the second camera 300, though it does not disturb the practitioner.

The light source 100 may be a laser light source. Further, the light source 100 may be a single wavelength light source of a visible light wavelength or an infrared light wavelength. Since the light source 100 recognizes the light source 100 differently from the marker of the fluorescent material, the excitation wavelength and the emission wavelength of the light source 100 are different from each other, Need not be considered. However, since the wavelength emitted by the light source 100 is absorbed by the body and a part thereof is emitted, a wavelength as much as the body absorbs can be considered.

The first camera 200 can take a first image of the object including the non-contact markers in the first wavelength band. At this time, the non-contact marker may be a visible light non-contact marker generated by the light source 100 and a visible light non-contact marker among the infrared non-contact marker. In addition, the first camera 200 can take a visible light non-contact marker among the non-contact markers generated by the light source 100. Also, for example, the first camera 200 may be a visible light area camera capable of photographing a visible light wavelength. At this time, the first camera 200 may include a color correction filter. For example, when the first camera 200 is a visible light region camera and the second camera 300 is an infrared region camera, a color correction filter is mounted to improve the separation rate from the second image captured in the infrared region can do.

The second camera 300 may capture a second image of the object including the non-contact markers in the second wavelength band. In this case, the non-contact markers may be visible light non-contact markers generated by the light source 100 and infrared non-contact markers among the infrared non-contact markers. In addition, the second camera 300 can photograph the infrared non-contact markers among the non-contact markers generated by the light source 100. Also, for example, the second camera 300 may be an infrared region camera capable of photographing an infrared wavelength. At this time, the second camera 300 may include an infrared ray pass filter. For example, when the second camera 300 is an infrared region camera and the first camera 200 is a visible light region camera, an infrared pass filter is provided to improve the separation rate from the first image photographed in the visible light region Can be mounted.

The image matching device 400 can perform perspective transformation of the first image and the second image captured by the first camera 200 and the second camera 300 to perform a perspective transformation. The image matching device 400 may perform a preprocessing process of binarizing and filtering the first image captured by the first camera 200 and the second image captured by the second camera 300. [ For example, unnecessary artifacts such as noise can be removed. At this time, the artifact may be a part that is not desired to be seen in all kinds of computer graphics including all the images appearing on the monitor. This may be a collection of stray pixels that are not part of the original image.

In addition, the image matching device 400 may perform a tracking process of detecting a boundary line of at least one non-contact marker and calculating a center moment. For example, the real-time tracking process may be able to re-position the patient's position during surgery. This eliminates an iterative process for edge extraction and direction information calculation, thereby reducing non-contact markers in real time because the amount of computation is reduced.

In general, the motion of the patient during surgery is scarcely generated. However, when the motion of the patient occurs due to internal or external factors during surgery, the change of the optical axis of the input image captured by the first camera 200 or the second camera 300 Therefore, re-positioning is required to re-align the optical axis.

In the image matching device 400 according to the present invention, since the marker tracking and the calculation of the center moment are performed in real time, the position matching can be performed automatically at a new position even when the positional change occurs due to the motion of the patient during surgery. Therefore, the problem of the change of the optical axis of the specific camera caused by the motion of the patient can be immediately responded to without the hardware adjustment of the camera itself.

Also, the image matching device 400 registers the center point of at least one non-contact marker of the first image photographed by the first camera 200 and the second image photographed by the second camera 300 as reference points, Perspective transformation can be performed to perform the matching process. At this time, since there is no complicated feature point extraction process, the amount of computation can be minimized. At this time, the center point can be updated in real time.

Finally, the image matching device 400 can set an image photographed in the visible light region as a base image and an image photographed in the infrared region as a target image, among the first image and the second image. At this time, matching is performed using a transformation matrix (movement, size, rotation) which is a result of perspective transformation.

The non-contact marker based image matching device 1 may further include an output device 600. At this time, the final position matching result can be displayed on the output device 600. [

Referring to FIG. 2, the light source 100, the first camera 200, the second camera 300, and the optical device 500 may constitute a non-contact marker recognition device, and may include a non-contact marker based image registration device 1 may include a light source 100, a first camera 200, a second camera 300, an image matching device 400, and an optical device 500.

The light source 100 may mark the at least one point of the object to be at least one non-contact marker by illuminating the light of the first wavelength band to the second wavelength band. At this time, the first wavelength band to the second wavelength band may be a visible light wavelength or an infrared wavelength. For example, the light source 100 may be four as shown in FIG. 1, and an invisible light wavelength of 808 nm band of 50 mV may be used. At this time, since the invisible light wavelength can not be discriminated by the naked eye, it can be recognized and photographed by any one of the first camera 200 and the second camera 300, though it does not disturb the practitioner.

The light source 100 may be a laser light source. In addition, the light source 100 may be a multi-wavelength light source of a visible light wavelength to an infrared light wavelength. Since the light source 100 recognizes the light source 100 differently from the marker of the fluorescent material, the excitation wavelength and the emission wavelength of the light source 100 are different from each other, Need not be considered. However, since the wavelength emitted by the light source 100 is absorbed by the body and a part thereof is emitted, a wavelength as much as the body absorbs can be considered.

The first camera 200 can take a first image of the object including the non-contact markers in the first wavelength band. At this time, the non-contact marker may be a visible light non-contact marker generated by the light source 100 and a visible light non-contact marker among the infrared non-contact marker. In addition, the first camera 200 can take a visible light non-contact marker among the non-contact markers generated by the light source 100. Also, for example, the first camera 200 may be a visible light area camera capable of photographing a visible light wavelength. At this time, the first camera 200 may include a color correction filter. For example, when the first camera 200 is a visible light region camera and the second camera 300 is an infrared region camera, a color correction filter is mounted to improve the separation rate from the second image captured in the infrared region can do.

The second camera 300 may capture a second image of the object including the non-contact markers in the second wavelength band. In this case, the non-contact markers may be visible light non-contact markers generated by the light source 100 and infrared non-contact markers among the infrared non-contact markers. In addition, the second camera 300 can photograph the infrared non-contact markers among the non-contact markers generated by the light source 100. Also, for example, the second camera 300 may be an infrared region camera capable of photographing an infrared wavelength. At this time, the second camera 300 may include an infrared ray pass filter. For example, when the second camera 300 is an infrared region camera and the first camera 200 is a visible light region camera, an infrared pass filter is provided to improve the separation rate from the first image photographed in the visible light region Can be mounted.

The optical device 500 may be provided to align the optical axes of the first camera 200 and the second camera 300. At this time, the optical device 500 may be a Dichroic mirror or a prism. At this time, the semi-transmissive surface may be a reflector formed of a thin layer having many different refractive indices. It may be a reflector that reflects light in a certain wavelength band and transmits light in another band. The reflector may be a reflector capable of adding or subtracting the wavelength range of the selectively reflected light by the material or the structure of the thickness.

The image matching device 400 can perform perspective transformation of the first image and the second image captured by the first camera 200 and the second camera 300 to perform a perspective transformation. The image matching device 400 may perform a preprocessing process of binarizing and filtering the first image captured by the first camera 200 and the second image captured by the second camera 300. [ For example, unnecessary artifacts such as noise can be removed. At this time, the artifact may be a part that is not desired to be seen in all kinds of computer graphics including all the images appearing on the monitor. This may be a collection of stray pixels that are not part of the original image. The image matching device 400 may further perform a preprocessing process of correcting the left and right inverted images through the optical device 500. [

In addition, the image matching device 400 may perform a tracking process of detecting a boundary line of at least one non-contact marker and calculating a center moment. For example, the real-time tracking process may be able to re-position the patient's position during surgery. This eliminates an iterative process for edge extraction and direction information calculation, thereby reducing non-contact markers in real time because the amount of computation is reduced.

Also, the image matching device 400 registers the center point of at least one non-contact marker of the first image photographed by the first camera 200 and the second image photographed by the second camera 300 as reference points, Perspective transformation can be performed to perform the matching process. At this time, since there is no complicated feature point extraction process, the amount of computation can be minimized. At this time, the center point can be updated in real time.

Finally, the image matching device 400 can set an image photographed in the visible light region as a base image and an image photographed in the infrared region as a target image, among the first image and the second image. At this time, matching is performed using a transformation matrix (movement, size, rotation) which is a result of perspective transformation.

The non-contact marker based image matching device 1 may further include an output device 600. At this time, the final position matching result can be displayed on the output device 600. [

Fig. 3 is a view for explaining a light source and a wavelength distribution diagram of the non-contact markers of Figs. 1 and 2. Fig. (a) shows a laser light source of 808 nm band, and (b) shows a photosensitivity according to the wavelength of a CCD (Charge Coupled Device) sensor in a visible light region camera. (b), it can be seen that an intensity graph is output in the form of an impulse at a wavelength of about 808 nm. At this time, although the visible light region is up to about 780 nm, the 808 nm region can be photographed with a visible light region camera, so that it can be photographed with a visible light region camera as a non-contact marker, have.

FIG. 4 is a view for explaining a first image and a second image of the non-contact markers of FIGS. 1 and 2. FIG. Referring to FIG. 4A, the image of the visible region camera (a) and the image of the infrared region camera (b) can be seen.

Even when a plurality of apparatuses are applied, the size and angle of an image input to the infrared region camera and the visible region region camera may differ. Particularly, since the difference in size and angle becomes larger depending on the distance, the difference between the two images may not always be constant. In addition, since each camera has different characteristics, it is not possible to match two images in real time using a fixed conversion formula due to differences in the refractive index of the lens, the degree of zoom, and the like.

Referring to FIG. 4B, there is shown an adjustment process used in a conventional system. That is, in the conventional general image system, in order to correct the distortion according to the distance, it is necessary to calibrate the distortion by calibrating the distances to the patient, calculating the matrix, and correcting distortion using artificial patterns such as chess board . There is also a method of minimizing distortion by installing a separate device such as a telecentric lens in hardware, but there is a restriction that the size of the subject must be smaller than the diameter of the lens. Therefore, this conventional approach is not applicable to the characteristics of the surgical environment in which shooting at various viewpoints and distances should be frequently performed in real time.

In the non-contact marker based image matching device 1 according to the embodiment of the present invention, since the camera and the lens can not have the same characteristics, the matching parameters are different when the distance and the angle are changed even if the same optical axis is aligned. When the frame is used, the problem that the registration error may occur is eliminated, the accuracy is always maintained regardless of the distance or the angle, and the initial calibration can be corrected through the image matching device.

In addition, the non-contact marker-based image matching apparatus 1 according to the embodiment of the present invention can eliminate the loss or weakening of a weak optical signal by using only one optical element without using a complicated optical system, The non-contact markers can be traced.

Fig. 5 is a diagram for explaining the concept of perspective transformation executed in the image matching device of Figs. 1 and 2. Fig.

First, in a linear algebra, a vector can be displayed in the form of a row vector or a column vector, and left and right in a row vector, and up and down in a column vector. At this time, operations such as movement, rotation, and size adjustment of an object are referred to as geometric transformation and transformation.

First, translational transformations move the rigid body so that vertices move by the same amount. Considering the two-dimensional movement, it is enough to add the moved value T to the x and y values. In graphics, however, these addition expressions are not used at all. Rotation, scaling, and so on are all represented as multiplications of the matrix, so the graphics hardware is also optimized for matrix multiplication. At this time, in order to move the polygon, only the vertices constituting the polygon are converted. By doing this, the operation speed of the motion conversion can be increased.

Second, the Rotation Transformation is how much it has rotated about the center axis. Third, Scaling Transformation is adjusted according to how much the original image is scaled down. At this time, if the magnification is larger than 1, it is enlarged, and when it is smaller, it is reduced. If all scales are the same, it is called uniform scaling, and if different, it is called differential scaling. At this time, each matrix and formula are not described in detail.

Since the perspective transformation according to the embodiment of the present invention excludes the process of extracting complex feature points, it is unnecessary to perform an iterative process for extracting an edge and calculating direction information, and it is possible to use a small number of markers such as four non- By tracking only the markers, finding the center point, and calculating and matching the transformation matrix, the computation amount can be minimized and is suitable for real-time application.

FIG. 6 is a view for explaining a screen output from the non-contact marker based image matching apparatus of FIGS. 1 and 2. FIG. (a) is a result of matching images taken in the visible light region, and (b) is a result of matching images taken in the infrared region.

the image of the visible light region of (a) is set as the base image and the infrared region of (b) is set as the target image so that the image of (b) ). ≪ / RTI > At this time, (a) and (b) are the result of pseudo color mapping.

Thus, even if the same image is photographed at different camera positions, the non-contact marker-based image registration device according to the present invention can obtain the same output image matched with each other. Even if the positional change occurs, Re-positioning is possible so that non-contact markers can be tracked in real time.

FIG. 7 is a flowchart illustrating a non-contact marker-based image matching method according to an embodiment of the present invention.

(Step S7100) such that at least one point of the object becomes at least one non-contact marker by irradiating light of the first wavelength band or the second wavelength band.

The first image of the object including the non-contact markers is photographed in the first wavelength band (S7200), and the second image of the object including the non-contact markers is photographed in the second wavelength band (S7300)

The photographed first image and the second image are perspective transformed and matched (S7400).

The order between the above-described steps (S7100 to S7400) is merely an example, but is not limited thereto. That is, the order between the above-described steps S7100 to S7400 may be mutually varied, and some of the steps may be executed simultaneously.

The non-contact marker based image matching method described with reference to FIG. 7 may also be implemented in the form of a recording medium including instructions executable by a computer such as a program module executed by a computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable medium may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes any information delivery media, including computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

Claims (16)

An apparatus for recognizing non-contact markers,
A light source for marking at least one point of the object to be at least one non-contact marker by irradiating the light in the first wavelength band or the second wavelength band,
A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band, and
A second camera for capturing a second image of the object including the non-contact markers in the second wavelength band,
Wherein the non-contact marker recognition device comprises:
An apparatus for recognizing non-contact markers,
A light source for marking at least one point of the object to be at least one non-contact marker by irradiating the light of the first wavelength band to the second wavelength band,
A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band,
A second camera for capturing a second image of the object including the non-contact markers in the second wavelength band, and
The optical system according to claim 1, wherein the optical axis of the first camera
Wherein the non-contact marker recognition device comprises:
The method according to claim 1,
Wherein the first wavelength band or the second wavelength band is a visible light wavelength or an infrared wavelength.
3. The method of claim 2,
Wherein the first wavelength band to the second wavelength band is a visible light wavelength to an infrared wavelength.
3. The method according to claim 1 or 2,
Wherein the light source is a laser light source.
The method according to claim 1,
Wherein the light source is a single wavelength light source having a visible light wavelength or an infrared light wavelength.
3. The method of claim 2,
Wherein the light source is a multi-wavelength light source of a visible light wavelength to an infrared light wavelength.
An apparatus for matching images,
A light source for marking at least one point of the object to be at least one non-contact marker by irradiating the light in the first wavelength band or the second wavelength band,
A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band,
A second camera for capturing a second image of the object including the non-contact markers in the second wavelength band,
And an image matching device for performing perspective transformation of the first image and the second image photographed by the first camera and the second camera,
Wherein the non-contact marker based image registration device comprises:
An apparatus for matching images,
A light source for marking at least one point of the object to be at least one non-contact marker by irradiating the light of the first wavelength band to the second wavelength band,
A first camera for capturing a first image of the object including the non-contact markers in the first wavelength band,
A second camera for capturing a second image of the object including the non-contact markers in the second wavelength band,
An optic for matching the optical axes of the first camera and the second camera, and
And an image matching device for performing perspective transformation of the first image and the second image photographed by the first camera and the second camera,
Wherein the non-contact marker based image registration device comprises:
10. The method of claim 9,
Wherein the optical unit is a Dichroic mirror or a prism.
10. The method according to claim 8 or 9,
Wherein the image matching unit performs a preprocessing process of binarizing and filtering the first image and the second image.
10. The method of claim 9,
Wherein the image matching unit performs a preprocessing process of binarizing and filtering the first and second images and correcting the left and right inverted images of the first and second images through the optical unit. Based image registration device.
10. The method according to claim 8 or 9,
Wherein the image matching unit performs a real-time tracking process of detecting a boundary line of the at least one non-contact marker and calculating a center moment thereof.
10. The method according to claim 8 or 9,
Wherein the image matching unit registers a center point of at least one non-contact marker of the first and second images as a reference point and performs a matching process of applying perspective transformation.
14. The method of claim 13,
Wherein the image matching unit sets an image photographed in a visible light region of the first image and a second image as a base image and an image photographed in an infrared region as a target image.
A method for matching images,
Marking the at least one point of the object to be at least one non-contact marker by illuminating the light in the first wavelength band or the second wavelength band,
Taking a first image of the object including the non-contact markers in the first wavelength band,
Capturing a second image of the object including the non-contact markers in the second wavelength band; and
A step of perspectively transforming the photographed first image and the second image,
Based marker based image matching method.

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