Abstract:
A method for separating and estimating multiple motion parameters in an X-ray angiogram image. The method includes: determining a cardiac motion signal cycle and a variation frame sequence of translational motion according to an angiogram image sequence, tracing structure feature points of vessels in the angiogram image sequence whereby obtaining a motion sequence, processing the motion sequence via multivariable optimization and Fourier frequency-domain filtering, separating an optimum translational motion curve, a cardiac motion curve, a respiratory motion curve and a high-frequency motion curve according to the variation frame sequence of translational motion, a cycle of the cardiac motion signal, a range of a respiratory motion signal cycle, and a range of a high-frequency motion signal cycle.
Abstract:
A method for extracting motion parameters from angiography images using a multi-parameter model. The method includes: 1) extracting I vascular structural feature points automatically from a medical image of an angiography image sequence, and auto-tracking the feature points respectively in the angiography image sequence to obtain a tracking sequence of each feature point; 2) performing a discrete Fourier transformation on the tracking sequence of each feature point to obtain a discrete Fourier transformation result; initializing an iterative parameter, and obtaining amplitude range and frequency range of each frequency point of the discrete Fourier transformation result; 3) performing a Fourier transformation on a tracking sequence of each frequency point in the amplitude range and the frequency range thereof to obtain Fourier transformation results; and 4) performing an inverse Fourier transformation on the Fourier transformation results, and obtaining an estimated minimum mean square error of each frequency point.
Abstract:
The present invention discloses a multi-sensor merging based super-close distance autonomous navigation apparatus and method. The apparatus includes a sensor subsystem, an information merging subsystem, a sensor scanning structure, and an orientation guiding structure, wherein a visible light imaging sensor and an infrared imaging sensor are combined together, and data are acquired by combining a passive measurement mode composed of an optical imaging sensor and an active measurement mode composed of a laser distance measuring sensor. Autonomous navigation is divided into three stages, that is, a remote distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor and a binocular infrared imaging sensor are combined, a close distance stage, implemented by adopting a navigation mode where a binocular visible light imaging sensor, a binocular infrared imaging sensor and a laser distance measuring sensor array are combined, and an ultra-close distance stage, implemented by adopting a navigation mode of a laser distance measuring sensor array. Through the present invention, the field of view and the exploration range are widened, the problem of shielding existing in passive measurement is effectively solved, the precision of data measurement is ensured, and the navigation efficiency and the safety and reliability of navigation are improved.