WO2005008283B1 - Method for 3d-reconstruction of images acquired by means of laser radar, and endoscopic apparatus using such method - Google Patents

Method for 3d-reconstruction of images acquired by means of laser radar, and endoscopic apparatus using such method

Info

Publication number
WO2005008283B1
WO2005008283B1 PCT/IT2004/000379 IT2004000379W WO2005008283B1 WO 2005008283 B1 WO2005008283 B1 WO 2005008283B1 IT 2004000379 W IT2004000379 W IT 2004000379W WO 2005008283 B1 WO2005008283 B1 WO 2005008283B1
Authority
WO
WIPO (PCT)
Prior art keywords
sub
points
point
detected
reference system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IT2004/000379
Other languages
French (fr)
Other versions
WO2005008283A1 (en
Inventor
Marcello Marzoli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2005008283A1 publication Critical patent/WO2005008283A1/en
Publication of WO2005008283B1 publication Critical patent/WO2005008283B1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30028—Colon; Small intestine

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Graphics (AREA)
  • Software Systems (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Image Processing (AREA)
  • Endoscopes (AREA)

Abstract

The invention refers to a method for 3D-reconstruction of, particularly endoscopic, images having: aim direction of a scanning signal, distance between the scanning head and detected point, intensity 1 of the signal reflected by the point, and characterised in that it comprises the following steps: A, subdividing the set of points detected along time in a plurality of sub-sets ordered in time; B, for each sub-set, calculating a reference surface approximating the same, and a reference system, and projecting the sub-set points onto such surface; C, for each sub-set, determining zone of overlap with one or more preceding sub-sets, on the basis of the comparison of the intensities 1 for a plurality of points; D, positioning the reference surfaces so that the overlap zones coincide; E, returning to the coordinates of the detected points of each sub-set with respect to its own reference system. The invention further concerns an endoscopic apparatus using the method according to the invention.

Claims

36AMENDED CLAIMS [received by the International Bureau on 09 February 2005 (09.02.05); original claim 1 amended; remaining claims unchanged (1 page)]
1. Method for 3D-reconstruction of surface images of objects, in particular endoscopic images, acquired by an apparatus comprising a detection electro-magnetic or electro-optical device, a scanning head connected to the detection device, the detection device detecting a set of points and being capable to supply a set of information per detected point comprising the aim direction of a scanning signal, the distance between the scanning head and the point, and the intensity / of the signal reflected by said point, the method being characterised in that it comprises the following steps: A. subdividing the set of points detected as a function of time in a plurality of sub-sets ordered in time; B. for each sub-set of points according to step A, calculating a reference surface approximating the sub-set, and choosing a reference system, and projecting the sub-set points onto the reference surface along with calculating the coordinates of the points due to projection; C. for each sub-set of points, determining possible zone of overlap between the sub-set and one or more sub-sets preceding in time, determination being based on the comparison of the intensities / for one or more points; D. in the case when overlap zones are found in step C, positioning the reference surfaces of overlapping sub-sets so that the overlap zones coincide; E. returning to the coordinates of the detected points of each sub-set with respect to its own reference system, starting from the point coordinates obtained with the projection of step-B.
2. Method according to claim 1 , characterised in that step B comprises sub-step: B.1 calculating a reference surface, choosing a type of surface from a predetermined set of surface types and adjusting it on the surface formed by the sub-set of points.
3. Method according to claim 1 or 2, characterised in that step B comprises sub-steps: B-2 choosing a reference system and a reference axis not lying on such surface and passing through the origin of the reference system,
PCT/IT2004/000379 2003-07-23 2004-07-09 Method for 3d-reconstruction of images acquired by means of laser radar, and endoscopic apparatus using such method Ceased WO2005008283A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITRM2003A000360 2003-07-23
IT000360A ITRM20030360A1 (en) 2003-07-23 2003-07-23 PROCEDURE OF THREE-DIMENSIONAL RECONSTRUCTION OF IMAGES

Publications (2)

Publication Number Publication Date
WO2005008283A1 WO2005008283A1 (en) 2005-01-27
WO2005008283B1 true WO2005008283B1 (en) 2005-03-24

Family

ID=29765930

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2004/000379 Ceased WO2005008283A1 (en) 2003-07-23 2004-07-09 Method for 3d-reconstruction of images acquired by means of laser radar, and endoscopic apparatus using such method

Country Status (2)

Country Link
IT (1) ITRM20030360A1 (en)
WO (1) WO2005008283A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE519184T1 (en) * 2008-05-20 2011-08-15 Oticon As DEVICE AND METHOD FOR REPRESENTING A SCANNED SURFACE
CN109499010B (en) * 2018-12-21 2021-06-08 苏州雷泰医疗科技有限公司 Radiotherapy assistant system and method based on infrared and visible light 3D reconstruction
CN113256795B (en) * 2021-05-31 2023-10-03 中国科学院长春光学精密机械与物理研究所 An endoscopic three-dimensional detection method
CN113925441B (en) * 2021-12-17 2022-05-03 极限人工智能有限公司 Imaging method and imaging system based on endoscope
CN118470171B (en) * 2024-05-21 2025-02-11 华中科技大学 A method and system for generating local anomalies of point cloud data

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5459605A (en) * 1992-12-17 1995-10-17 Paul S. Kempf 3-D endoscope apparatus
JP3869005B2 (en) * 1995-06-22 2007-01-17 ３ディブイ・システムズ・リミテッド Telecentric stereoscopic camera and method

Also Published As

Publication number Publication date
WO2005008283A1 (en) 2005-01-27
ITRM20030360A0 (en) 2003-07-23
ITRM20030360A1 (en) 2005-01-24

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