WO2005091649A1 - 単一の撮像装置で連続取得したビデオ映像による立体表示方法 - Google Patents
単一の撮像装置で連続取得したビデオ映像による立体表示方法 Download PDFInfo
- Publication number
- WO2005091649A1 WO2005091649A1 PCT/JP2005/005095 JP2005005095W WO2005091649A1 WO 2005091649 A1 WO2005091649 A1 WO 2005091649A1 JP 2005005095 W JP2005005095 W JP 2005005095W WO 2005091649 A1 WO2005091649 A1 WO 2005091649A1
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- image
- stereoscopic
- frame
- imaging device
- display method
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
Definitions
- the present invention relates to a stereoscopic display method using video images continuously acquired by a single imaging device, for example, a method of automatically extracting and displaying an image pair suitable for stereoscopic vision from a monocular flexible endoscope video image.
- the present invention relates to a three-dimensional display method using video images continuously acquired by a single imaging device that can be used for a video camera.
- Patent Document 1 A method has been proposed for converting a two-dimensional image output from a VTR, a video camera, or the like, or transmitted by TV broadcasting, to a stereoscopic image.
- the invention described in Patent Document 1 is one of them, and uses the concept of a motion vector to associate it with the gaze direction.
- Non-Patent Document 1 gives a detailed description of the same concept (optical flow) as the motion vector.
- Patent Document 2 relates to an endoscope system and a recording medium in which a control program for detecting depth information of an endoscope image is recorded.
- the information corresponding to motion parallax is obtained from the movement of the endoscope obtained by the position and direction sensors attached to the endoscope itself and the change in the corresponding position of the endoscope image that changes accordingly. Is calculated We have proposed an endoscope system that can obtain depth information even with a single eye by obtaining the information from a computer.
- Patent Document 1 Japanese Patent Application Laid-Open No. 7-274209
- Patent Document 2 Japanese Patent Application Laid-Open No. 2000-210248
- Non-Patent Document 1 Naoya Ota, "Detection of Moving Belt with Reliability Index", Computer Vision, 90, IPSJ Symposium, Vol. 90, No. 2, pp. 21-30, 1 990
- Patent Document 2 shows a monocular rigid endoscope as an example of an endoscope.
- an endoscope is not suitable for diagnosis of a human stomach wall or the like.
- An object of the present invention is to provide a stereoscopic display method using video images continuously acquired by a single imaging device, for example, an endoscopic examination of the upper gastrointestinal tract (stomach, esophagus, etc.) and the lower gastrointestinal tract (rectum, large intestine, etc.).
- An object of the present invention is to provide a method for enabling stereoscopic diagnosis using a flexible endoscope camera.
- a further detailed object of the present invention is to provide a high-quality stereoscopic image which enables the diagnosis to be performed in real time and with sufficient power.
- a stereoscopic display method using video images continuously acquired by a single imaging device is a stereoscopic display method using video images acquired continuously by a single imaging device.
- An imaging device capable of continuously acquiring video images
- an operation system capable of continuously changing the field of view of the imaging device
- a monitor displaying a video output of the imaging device
- one or more stereoscopic image forming conditions One or more stereoscopic image forming conditions.
- An operation memory for storing the stereoscopic image forming conditions, input means for inputting the selection of the stereoscopic image forming conditions and displaying a desired stereoscopic image, and forming a stereoscopic image before and after the time point specified by the input means.
- a system is constituted by a CPU connected and controlled, and the arithmetic means includes: A step of preparing constants K and L for determining a search range of an instruction and a frame according to the stereoscopic image forming condition; (b) setting a search range of a frame t and a frame s; (D) a step of determining whether or not a stereoscopic image forming condition is satisfied; and (e) a moving direction when the condition is satisfied in the determining step.
- a stereoscopic display method using a video image of a monocular flexible endoscope according to claim 2 of the present invention is a stereoscopic display method using a video image continuously acquired by a single imaging device, and a video image is continuously acquired.
- Input means for inputting the selection of the stereoscopic image forming conditions and specifying a time point at which a desired stereoscopic image is displayed; and a left image (frame t) forming a stereoscopic image before and after the time point specified by the input means.
- a stereoscopic display method using a video image of a monocular flexible endoscope according to claim 3 according to the present invention is a stereoscopic display method using a video image continuously acquired by a single imaging device according to claim 2.
- the selected stereoscopic image forming condition is that an average moving vector which is an average value of the direction of the moving vector is obtained, and a ratio of a moving vector within a predetermined limit is predetermined from the direction. On the condition that the ratio exceeds the specified ratio.
- a stereoscopic display method using a video image of a monocular flexible endoscope according to claim 4 according to the present invention is the stereoscopic display method using video images continuously acquired by a single imaging device according to claim 2,
- the obtained stereoscopic image formation conditions are as follows: the image is divided into four by horizontal and vertical lines passing through the center of the image, the average movement vector in each partial image is obtained, and these average movement vectors and the center of the entire image are calculated.
- the condition is that the average value of the four corners between the straight line connecting the center of the partial image and the straight line is equal to or larger than a predetermined angle.
- a stereoscopic display method using video images continuously acquired by a single imaging device can be realized.
- Stereoscopic diagnosis can be performed using an endoscope camera.
- the frame is selected by the optical flow, and it is not necessary to specify the direction and position of the flexible endoscope camera by other means.
- FIG. 1 is a block diagram showing an embodiment of an apparatus for performing a method according to the present invention.
- FIG. 2 is a schematic diagram for explaining the principle of calculating a stereoscopic image forming condition used in the method according to the present invention.
- FIG. 3 is a flowchart for explaining an embodiment of the method according to the present invention.
- Body lumen e.g stomach
- FIG. 1 is a block diagram showing an embodiment of an apparatus for implementing a method according to the present invention.
- a video image obtained from the monocular flexible endoscope camera 10 is used to move the image content (that is, the camera moving direction) between any two frames (frame and frame s) separated by several frames. In the opposite direction).
- the image content that is, the camera moving direction
- frame and frame s frames separated by several frames.
- any existing estimation method can be used for estimating the moving direction
- a local cross-correlation of an image known as an optical flow is used.
- the forward / backward component and the rotational component in the moving direction of the monocular flexible endoscope camera 10 are small, it is regarded as a translational motion almost perpendicular to the optical axis of the camera (this is called a stereoscopic image forming condition). Take out only those to be processed.
- Two images of a pair of frames in which the direction of the translational movement is substantially horizontal are sent to a display device capable of stereoscopic display, and stereoscopically displayed. If the direction of the translational motion is not nearly horizontal, the two images are rotated and displayed on a stereoscopic display device so that the direction is horizontal.
- the display 3 for 3D display is used in the method according to the present invention.
- the above-mentioned frame t is issued by a physician while operating the endoscope in the body of the subject by any means. It selects a pair of frames s and performs real-time stereoscopic display. Book The stem can be displayed stereoscopically on video images recorded from a monocular flexible endoscope after the fact.
- FIG. 2 is a schematic diagram for explaining the principle of calculating the stereoscopic image forming conditions used in the method according to the present invention.
- the optical flow is a vector group (hereinafter, each vector is referred to as a movement vector) indicating to which point each point in the image at the previous time has moved in the image at the later time. Assuming that the imaging target of the endoscope is stationary, the optical flow represents the movement of the endoscope camera itself. For that,
- the force of movement at each point includes the one with a large error. When viewed as a whole, many forces have a small error.
- the optical flow is a group of radial movement vectors emanating from a certain point (to a certain point). That is, in these cases, the direction of the motion vector extends in almost every direction.
- the movement vector group of the optical flow is a rotational movement about the intersection of the optical axis and the image plane. Again, the direction of the movement vector extends in all directions.
- the motion of the camera is a composition of the above motion components. The purpose is to select only pairs of frames from which the main component is the translation component (2) and the others can be ignored.
- Method 1 an average value in the direction of the movement vector is obtained, and the average value is determined as the movement direction of the entire image (referred to as an average movement vector). From this direction, if the movement vector within a certain limit (for example, soil 10 °) is more than a certain percentage (for example, 30./.) Of the whole, it is determined that the translation component is main (Fig. 2A).
- a certain limit for example, soil 10 °
- a certain percentage for example, 30./.
- Method 2 Divide the image into 4 parts by horizontal and vertical lines passing through the center of the image, and calculate the average movement vector in each partial image. If the average value of the four angles between the average movement vector and the straight line connecting the center of the entire image and the center of the partial image is equal to or greater than a certain angle (for example, 75 °), the translational component is dominant. (Fig. 2B).
- a certain angle for example, 75 °
- FIG. 1 is a block diagram showing an embodiment of an apparatus for performing the method according to the present invention.
- the monocular flexible endoscope camera 10 is inserted into the body (eg, stomach) cavity 14 from the mouth, and the tip of the camera is moved by the doctor 13 operating the camera operating means 7.
- the body eg, stomach
- the tip of the camera is moved by the doctor 13 operating the camera operating means 7.
- an example of the movement of the distal end of the monocular flexible endoscope camera 10 is shown by enlarging the reference numerals 10a and 10b.
- the configurations of the monocular flexible endoscope camera 10 and the operating means 7 and the like are not different from those conventionally used.
- Video from camera 10 is connected to monitor 1 and frame memory 2 via camera interface lb.
- the camera 10 described above is connected to the system bus 5 via a camera interface lb, and the 3D display means 3 is connected via an interface 3a.
- the CPU 4, the input means 6 for instructing the point at which the doctor 13 wants to perform stereoscopic viewing, and the memory 8 are further connected.
- the doctor 13 wishes to obtain stereoscopic information in relation to the image displayed on the monitor (2D) 1, the doctor 13 inputs the instruction to the input means 6 or the camera operation means 7. Input by operating buttons and the like.
- the input means 6 is also used to input selection of stereoscopic image forming conditions.
- FIG. 3 is a flowchart for explaining an embodiment of the method according to the present invention.
- the above-described system is activated by a doctor's instruction through the input means 6 or the like.
- the camera 10 displays the image on the monitor while moving for a certain time, and records the image in the frame memory.
- the operator When the doctor wants to obtain stereoscopic information related to the image displayed on the monitor (2D) 1, the operator operates the input means 6 or the operation button provided along with the camera operation means 7 to operate the operation button. input. Thereby, the first frame t is determined.
- the movement vector is calculated from the images of frame t and frame s.
- Step 107 The calculation result of the above step is determined to determine whether or not the pair is capable of forming a stereo image.
- An average moving direction is determined from a number of moving vectors.
- a stereo display is provided.
- step 111 (step 111), (step 112)
- step 106 When the judgment is not satisfied in the step 106 and when it is judged that the result is not satisfactory in the step 110, another pair is selected in relation to the t and s, and the steps 103 to 105 are performed. Perform other operations in other sets.
- the procedure is ended, and the doctor has an instruction at the time of the next stereoscopic display.
- a flexible endoscopic camera used for endoscopic examination of the upper gastrointestinal tract (stomach, esophagus, etc.) and lower gastrointestinal tract (rectum, large intestine, etc.) Visual diagnosis is possible.
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Closed-Circuit Television Systems (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
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JP2006511266A JP4487077B2 (ja) | 2004-03-22 | 2005-03-22 | 単一の撮像装置で連続取得したビデオ映像による立体表示方法 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007260138A (ja) * | 2006-03-28 | 2007-10-11 | National Univ Corp Shizuoka Univ | 単一のビデオカメラの映像からの静止画立体表示方法 |
JP2010239564A (ja) * | 2009-03-31 | 2010-10-21 | Casio Computer Co Ltd | 撮像装置、撮像制御方法、及びプログラム |
CN106308730A (zh) * | 2016-11-14 | 2017-01-11 | 中国科学院深圳先进技术研究院 | 一种腹腔镜系统 |
CN110351531A (zh) * | 2019-08-08 | 2019-10-18 | 杭州阿启视科技有限公司 | 视频大数据云平台视频质量诊断服务方法 |
CN112351722A (zh) * | 2018-07-11 | 2021-02-09 | 奥林巴斯株式会社 | 内窥镜系统、内窥镜的校准方法以及内窥镜的控制装置 |
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JPH08205199A (ja) * | 1995-01-27 | 1996-08-09 | Sanyo Electric Co Ltd | 立体画像変換方法および立体画像表示装置 |
JP2001016609A (ja) * | 1999-06-05 | 2001-01-19 | Soft Foo Deii:Kk | Mpegデータを用いた立体映像生成装置及び方法 |
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- 2005-03-22 WO PCT/JP2005/005095 patent/WO2005091649A1/ja active Application Filing
- 2005-03-22 JP JP2006511266A patent/JP4487077B2/ja active Active
Patent Citations (2)
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JPH08205199A (ja) * | 1995-01-27 | 1996-08-09 | Sanyo Electric Co Ltd | 立体画像変換方法および立体画像表示装置 |
JP2001016609A (ja) * | 1999-06-05 | 2001-01-19 | Soft Foo Deii:Kk | Mpegデータを用いた立体映像生成装置及び方法 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007260138A (ja) * | 2006-03-28 | 2007-10-11 | National Univ Corp Shizuoka Univ | 単一のビデオカメラの映像からの静止画立体表示方法 |
JP2010239564A (ja) * | 2009-03-31 | 2010-10-21 | Casio Computer Co Ltd | 撮像装置、撮像制御方法、及びプログラム |
US8441518B2 (en) | 2009-03-31 | 2013-05-14 | Casio Computer Co., Ltd. | Imaging apparatus, imaging control method, and recording medium |
CN106308730A (zh) * | 2016-11-14 | 2017-01-11 | 中国科学院深圳先进技术研究院 | 一种腹腔镜系统 |
CN112351722A (zh) * | 2018-07-11 | 2021-02-09 | 奥林巴斯株式会社 | 内窥镜系统、内窥镜的校准方法以及内窥镜的控制装置 |
JPWO2020012576A1 (ja) * | 2018-07-11 | 2021-08-02 | オリンパス株式会社 | 内視鏡システム、内視鏡のキャリブレーション方法および内視鏡の制御装置 |
JP7135087B2 (ja) | 2018-07-11 | 2022-09-12 | オリンパス株式会社 | 内視鏡システムおよび内視鏡の制御装置 |
CN110351531A (zh) * | 2019-08-08 | 2019-10-18 | 杭州阿启视科技有限公司 | 视频大数据云平台视频质量诊断服务方法 |
CN110351531B (zh) * | 2019-08-08 | 2021-08-17 | 杭州阿启视科技有限公司 | 视频大数据云平台视频质量诊断服务方法 |
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JP4487077B2 (ja) | 2010-06-23 |
JPWO2005091649A1 (ja) | 2008-02-07 |
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