Camera calibration for endoscope navigation system
First Claim
Patent Images
1. A scope navigation apparatus comprising:
- a scope configured to be inserted into an object, the scope including at least one sensor;
a calibration device configured to calibrate the scope;
a calibration device sensor positioned in a fixed position in relation to the calibration device;
an image pickup device that records at least one image, the at least one image being an image of the calibration device;
an axis determiner that determines an optical axis of the image pickup device, a central axis of the at least one sensor being offset from the optical axis of the image pickup device;
a location determiner that senses a location of the at least one sensor and a location of the calibration device sensor; and
a processor that corrects the at least one image recorded by the image pickup device based upon the location of the at least one sensor and the location of the calibration device sensor, said processor being configured to compensate for the offset between the central axis of the at least one sensor and the optical axis of the image pickup device.
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Abstract
A scope navigation apparatus, method and a program embodied computer readable medium for navigating a scope end that is to be inserted into an object. The scope end includes at least one sensor that senses a spatial location of the scope end. An image pickup device records one or more images of a calibration device, which includes a sensor that senses a location of the calibration device. A processor calibrates the images recorded by the image pickup device and corrects for intrinsic and extrinsic parameters using a calibration matrix.
38 Citations
20 Claims
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1. A scope navigation apparatus comprising:
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a scope configured to be inserted into an object, the scope including at least one sensor; a calibration device configured to calibrate the scope; a calibration device sensor positioned in a fixed position in relation to the calibration device; an image pickup device that records at least one image, the at least one image being an image of the calibration device; an axis determiner that determines an optical axis of the image pickup device, a central axis of the at least one sensor being offset from the optical axis of the image pickup device; a location determiner that senses a location of the at least one sensor and a location of the calibration device sensor; and a processor that corrects the at least one image recorded by the image pickup device based upon the location of the at least one sensor and the location of the calibration device sensor, said processor being configured to compensate for the offset between the central axis of the at least one sensor and the optical axis of the image pickup device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for calibrating and correcting an image to be displayed, the method comprising:
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recording an image of a calibration device, the calibration device located in a fixed position in relation to at least one calibration device sensor; determining an optical axis of an image pickup device, the image pickup device including at least one sensor; detecting a location of the at the least one calibration device sensor and a location of the at least one sensor; determining a parameter value for calibrating the image pickup device; compensating an offset between a central axis of the at least one sensor and the optical axis; and calibrating the recorded image based on the parameter value. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A computer readable medium comprising:
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an image recording code segment that causes recording an image of a calibration device, the calibration device located in a fixed position in relation to at least one calibration device sensor; a determining code segment that causes determining an optical axis of an image pickup device, the image pickup device including at least one sensor; a detecting code segment that causes detecting a location of the at the least one sensor and a location of the at least one calibration device sensor; a parameter determining code segment that causes determining a parameter value for calibrating the image pickup device; a compensating code segment that causes compensating an offset between a central axis of the at least one sensor and the optical axis of the image pickup device; and a calibrating code segment that causes calibrating the image pickup device based on the parameter value. - View Dependent Claims (17, 18, 19, 20)
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Specification