TY - GEN
T1 - Multiple infrared markers based real-time stereo vision positioning system for surgical navigation
AU - Zhou, Ping
AU - Liu, Yue
AU - Wang, Yongtian
PY - 2009
Y1 - 2009
N2 - This paper studies the development of a real-time stereo vision system to position multiple infrared markers attached to a surgical instrument. A parallel pipeline algorithm in FPGA is developed to recognize the markers in both image planes and give each of them a unique label; the pipeline architecture includes smoothing filter, thresholding, connected component labeling, and centroid extraction. A distortion correction and stereo triangulation method is proposed to position the markers in space, which is carried out by a cross computation mechanism in a dual-core DSP. The proposed system can recognize the 3D coordinates of four infrared markers with a delay of 8.67ms. Furthermore, it is capable of positioning 80 infrared markers at most without frame dropping. The performance of the proposed system can meet the requirements of applications such as surgical navigation which needs high real time capability.
AB - This paper studies the development of a real-time stereo vision system to position multiple infrared markers attached to a surgical instrument. A parallel pipeline algorithm in FPGA is developed to recognize the markers in both image planes and give each of them a unique label; the pipeline architecture includes smoothing filter, thresholding, connected component labeling, and centroid extraction. A distortion correction and stereo triangulation method is proposed to position the markers in space, which is carried out by a cross computation mechanism in a dual-core DSP. The proposed system can recognize the 3D coordinates of four infrared markers with a delay of 8.67ms. Furthermore, it is capable of positioning 80 infrared markers at most without frame dropping. The performance of the proposed system can meet the requirements of applications such as surgical navigation which needs high real time capability.
KW - Multiple infrared markers
KW - Real-time positioning
KW - Stereo vision
KW - Surgical navigation
UR - http://www.scopus.com/inward/record.url?scp=70450046040&partnerID=8YFLogxK
U2 - 10.1109/IMTC.2009.5168538
DO - 10.1109/IMTC.2009.5168538
M3 - Conference contribution
AN - SCOPUS:70450046040
SN - 9781424433537
T3 - 2009 IEEE Intrumentation and Measurement Technology Conference, I2MTC 2009
SP - 692
EP - 696
BT - 2009 IEEE Intrumentation and Measurement Technology Conference, I2MTC 2009
T2 - 2009 IEEE Intrumentation and Measurement Technology Conference, I2MTC 2009
Y2 - 5 May 2009 through 7 May 2009
ER -