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公开(公告)号：US20190251711A1
公开(公告)日：2019-08-15
申请号：US16333612
申请日：2017-09-28
CPC分类号： G06T11/003 , G06T7/0014 , G06T7/0016 , G06T7/12 , G06T7/143 , G06T7/344 , G06T2200/24 , G06T2207/10081 , G06T2207/10088 , G06T2207/10121 , G06T2207/20076 , G06T2207/20221 , G06T2207/30056 , G06T2207/30096
摘要： In an image guidance method, a stream of cone-beam computed tomography (CBCT) images of an anatomical organ is acquire using a CBCT imaging device (34). For each CBCT image (44), the surface of the organ in the CBCT image is segmented to generate a segmented surface (70) of the anatomical organ in the CBCT image. Occluded shape reconstruction (66) using a statistical shape prior (68) may be used to reconstruct a missing or occluded surface portion. A pre-operative medical image (12) of the anatomical organ and the CBCT image are spatially registered by warping one of the images to the other of the images using point set registration of a segmented surface (30) of the organ in the preoperative medical image and the segmented surface of the organ in the CBCT image. A fused image (82) is displayed that combines the warped image and the other image.
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2.发明申请公开(公告)号：US20190236839A1
公开(公告)日：2019-08-01
申请号：US16265675
申请日：2019-02-01
申请人： Pointivo, Inc.
CPC分类号： G06T17/205 , G06T7/344 , G06T7/60 , G06T17/05 , G06T2200/04 , G06T2200/08 , G06T2200/24 , G06T2207/10028 , G06T2207/20081 , G06T2210/04
摘要： The disclosure relates to systems and processes for generating verified wireframes corresponding to at least part of a structure or element of interest can be generated from 2D images, 3D representations (e.g., a point cloud), or a combination thereof. The wireframe can include one or more features that correspond to a structural aspect of the structure or element of interest. The verification can comprise projecting or overlaying the generated wireframe over selected 2D images and/or a point cloud that incorporates the one or more features. The wireframe can be adjusted by a user and/or a computer to align the 2D images and/or 3D representations thereto, thereby generating a verified wireframe including at least a portion of the structure or element of interest. The verified wireframes can be used to generate wireframe models, measurement information, reports, construction estimates or the like.
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公开(公告)号：US20190124276A1
公开(公告)日：2019-04-25
申请号：US16227404
申请日：2018-12-20
申请人： GoPro, Inc.
IPC分类号： H04N5/341 , H04N5/262 , G06T3/00 , H04N5/232 , H04N5/225 , G06T5/50 , G06T5/00 , G06T7/33 , G06T3/40 , H04N5/247
CPC分类号： H04N5/3415 , G06T3/0068 , G06T3/0093 , G06T3/4038 , G06T5/006 , G06T5/50 , G06T7/344 , G06T2207/10004 , G06T2207/20128 , G06T2207/20221 , G06T2210/22 , H04N5/2252 , H04N5/2253 , H04N5/2257 , H04N5/2258 , H04N5/23216 , H04N5/23229 , H04N5/23232 , H04N5/23238 , H04N5/247 , H04N5/2624 , H04N5/2628
摘要： Multiple cameras are arranged in an array at a pitch, roll, and yaw that allow the cameras to have adjacent fields of view such that each camera is pointed inward relative to the array. The read window of an image sensor of each camera in a multi-camera array can be adjusted to minimize the overlap between adjacent fields of view, to maximize the correlation within the overlapping portions of the fields of view, and to correct for manufacturing and assembly tolerances. Images from cameras in a multi-camera array with adjacent fields of view can be manipulated using low-power warping and cropping techniques, and can be taped together to form a final image.
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4.发明申请公开(公告)号：US20190114739A1
公开(公告)日：2019-04-18
申请号：US15785239
申请日：2017-10-16
发明人： Xinting Gao , Shan Xu , Shimiao Li , Ying Zhou , Guansong Liu , Lu Chang
CPC分类号： G06T3/4038 , G06T7/344 , G06T2200/32 , G06T2207/10024 , H04N5/2258 , H04N5/23229 , H04N9/09
摘要： A multiple camera imaging system, comprising a first camera image sensor configured to obtain a first image of a scene from a first vantage perspective point; a second camera image sensor configured to obtain a second image of the scene from a second vantage perspective point; and an image signal processor (ISP), configured to process the first image and the second image by performing the following steps: producing a first monotone image from the first image, and a second monotone image from the second image; projecting the first monotone image to produce a first one-dimensional profile; and projecting the second monotone image to produce a second one-dimensional profile; extracting a matching information from the first and second one-dimensional profiles by matching the second one-dimensional profile to the first one dimensional profile; using the matching information produce a first processed two-dimensional image, and a second processed two-dimensional image that is aligned with the first processed two-dimensional image.
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公开(公告)号：US20190096092A1
公开(公告)日：2019-03-28
申请号：US16143437
申请日：2018-09-26
发明人： Wen Zhou , Wei Zhou , Long Zhang
CPC分类号： G06T7/85 , G06T7/344 , G06T7/37 , G06T7/74 , G06T7/80 , G06T2207/10012 , G06T2207/10028 , G06T2207/30196 , G06T2207/30204
摘要： The present invention provides a method and device for calibration, applied to the field of image processing. The method comprises: obtaining a first two-dimensional image of a calibration object with a marking point and a first depth map of the calibration object, obtaining calibrated three-dimensional model data of the calibration object, determining a first three-dimensional marking point in the first depth map corresponding to the marking point based on the marking point in the first two-dimensional image, determining a second three-dimensional marking point in the three-dimensional model data of the calibration object corresponding to the marking point based on the marking point in the first two-dimensional image, and determining a first matrix. By adoption of the method mentioned above, when the device for photographing the three-dimensional image is calibrated, it is simple and feasible, and the operation difficulty is small.
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公开(公告)号：US20180330514A1
公开(公告)日：2018-11-15
申请号：US15822157
申请日：2017-11-26
申请人： MANTISVISION LTD.
发明人： Vadim Kosoy , Dani Daniel
CPC分类号： G06T7/344 , G06T3/0068 , G06T7/30 , G06T7/40 , G06T17/00 , G06T19/20 , G06T2200/04 , G06T2207/10028 , H04N13/275
摘要： A sampling and weighting technique is presented. Given a 3D model that is composed out of n separated entities, a set of parameters is obtained for each entity. A weight is calculated for each entity, giving higher weight for entities corresponding to rarer parameters. Entities are assigned to components based on their corresponding parameters. Entities are sampled based on the weights or based on the components. A new 3D model is constructed from the sampled entities.
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公开(公告)号：US20180306587A1
公开(公告)日：2018-10-25
申请号：US15494341
申请日：2017-04-21
申请人： X Development LLC
发明人： Dirk Holz
CPC分类号： G01C21/206 , B66F9/063 , B66F9/0755 , B66F17/003 , G01S5/16 , G05D1/0234 , G05D1/0274 , G05D2201/0216 , G06T7/344 , G06T7/74 , G06T2207/30204 , G06T2207/30244 , G06T2207/30252
摘要： Example implementations relate to map generation and alignment. For instance, a computing system may receive and use sensor data indicative of positions of multiple markers positioned relative to a sensor within an environment to determine a pose of the sensor and also create a map that indicates the markers positions. The computing system may also receive and use subsequent sensor data indicative of distances from the sensor to surfaces in the environment and the determined pose of the sensor to determine an occupancy grid map that represents the surfaces within the environment. The computing system may then determine a transformation between the map of the markers and a design model of the environment that relates occupied cells in the occupancy grid map to sampled points from the design model, and provide the transformation between the map of the plurality of markers and the design model.
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8.发明申请公开(公告)号：US20180282132A1
公开(公告)日：2018-10-04
申请号：US15559671
申请日：2016-03-31
发明人： Heikki LAITASALMI , Lasse ERIKSSON
CPC分类号： B66C13/46 , B66C13/18 , B66C19/007 , G06T7/344 , G06T2200/04 , G06T2207/10028
摘要： A 3D point cloud is formed of the grippers of a load handling device in relation to a device which is moved horizontally above a load in the load handling device and to which the grippers are connected to be moved in the vertical direction. The grippers are positioned in relation to the horizontally movable device by comparing the formed 3D point cloud with at least one 3D model of the grippers.
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公开(公告)号：US20180235709A1
公开(公告)日：2018-08-23
申请号：US15752166
申请日：2016-08-11
IPC分类号： A61B34/20 , A61B5/00 , A61B5/01 , A61B5/053 , A61B5/055 , A61B6/03 , A61B8/08 , A61B34/35 , A61B5/06 , A61B90/00 , G06T7/33
CPC分类号： A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T7/12 , G06T7/33 , G06T7/344 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
摘要： A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.
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10.发明申请公开(公告)号：US20180189966A1
公开(公告)日：2018-07-05
申请号：US15570469
申请日：2015-05-07
发明人： Ali Kamen , Stefan Kluckner , Yao-jen Chang , Tommaso Mansi , Tiziano Passerini , Terrence Chen , Peter Mountney , Anton Schick
CPC分类号： G06T7/344 , A61B1/3132 , A61B5/00 , A61B5/0033 , A61B5/0084 , A61B5/06 , G06T15/04 , G06T17/20 , G06T2200/04 , G06T2200/08 , G06T2207/20076 , G06T2207/30056 , G06T2210/41 , G16H50/50
摘要： Systems and methods for model augmentation include receiving intra-operative imaging data of an anatomical object of interest at a deformed state. The intra-operative imaging data is stitched into an intra-operative model of the anatomical object of interest at the deformed state. The intra-operative model of the anatomical object of interest at the deformed state is registered with a pre-operative model of the anatomical object of interest at an initial state by deforming the pre-operative model of the anatomical object of interest at the initial state based on a biomechanical model. Texture information from the intra-operative model of the anatomical object of interest at the deformed state is mapped to the deformed pre-operative model to generate a deformed, texture-mapped pre-operative model of the anatomical object of interest.
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