Multi-viewpoint optical positioning algorithm based on minimizing reconstruction error
Can Ye, Yu Wang, Yibin Song, Linjia Hao, Bo Wu, Nan Zhang
Abstract
The obvious drawback of optical positioning based on binocular vision is the light occlusion. A multi-viewpoint optical positioning algorithm based on minimizing reconstruction error is proposed to realize mutual compensation optical tracking from the multi-viewpoint. Firstly, coordinate conversion model is used to obtain the conversion matrix between the spatial coordinate system of all possible binocular viewpoints and the reference coordinate system, so as to realize the unification of multi-viewpoint coordinate. Then, the parallel stereo vision measurement accuracy analysis model is established. Finally, the overall error of the reconstruction of different viewpoints is calculated in the multi-viewpoint measurement, and the binocular viewpoint with the smallest reconstruction error and no occlusion is selected to reconstruct the three-dimensional coordinates of markers. Two experiments are performed to verify the proposed algorithm, which show that the proposed algorithm is feasible to select the optimal reconstruction view and track surgical instruments continuously when occlusion exists.