Robust sparse image matching for robotic surgery
First Claim
1. A system comprising:
- a source of a first image and a second image; and
a processor coupled to the source and configured to identify selected points of interest of the first image and selectively match the selected points of interest to the second image by computing a plurality of image offsets using a plurality of image processing methods and using one of the plurality of image offsets according at least partially to a confidence score of one of the plurality of image offsets.
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Abstract
Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
188 Citations
29 Claims
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1. A system comprising:
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a source of a first image and a second image; and a processor coupled to the source and configured to identify selected points of interest of the first image and selectively match the selected points of interest to the second image by computing a plurality of image offsets using a plurality of image processing methods and using one of the plurality of image offsets according at least partially to a confidence score of one of the plurality of image offsets. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A system comprising:
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a source of a first image and a second image; and a processor coupled to the source and configured to identify selected points of interest of the first image for matching to the second image, determine a region of the first image for each of the selected points of interest, match each region of the first image to a second image to determine a confidence score for a matched region of the second image, identify a feature of the first image for each of the regions with a low confidence score, match each feature of the first image to the second image to determine a confidence score for a matched feature of the second image, and determine a matched point of interest of the second image for each point of interest in response to a location of the matched region when the confidence score for the region is high and to a location of the matched feature when the confidence score for the feature is high. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29)
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Specification