A FAST 2D-3D IMAGE REGISTRATION METHOD WITH APPLICATION TO CONTINUOUSLY GUIDED ENDOSCOPY

摘要

A novel framework for fast and continuous registration between two imaging modalities is disclosed The approach includes computing or captupng a set of reference images complete with corresponding depth maps and image gradients The collection of these images and depth maps constitutes the reference source Given one frame from this video feed, and starting from an initial guess of viewpoint, the real-time video frame is warped to the nearest viewing site of the reference source An image difference is computed between the warped video frame and the reference image The viewpoint is updated via a Gauss-Newton parameter update and certain of the steps are repeated for each frame until the viewpoint converges or the next video frame becomes available The final viewpoint gives an estimate of the relative rotation and translation between the camera at that particular video frame and the reference source.