EP3576051A1 - Système de poursuite optique, et procédé de calcul de posture et d'emplacement de partie marqueur dans un système de poursuite optique - Google Patents

Système de poursuite optique, et procédé de calcul de posture et d'emplacement de partie marqueur dans un système de poursuite optique Download PDF

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EP3576051A1
EP3576051A1 EP19182768.2A EP19182768A EP3576051A1 EP 3576051 A1 EP3576051 A1 EP 3576051A1 EP 19182768 A EP19182768 A EP 19182768A EP 3576051 A1 EP3576051 A1 EP 3576051A1
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Prior art keywords
coordinate
matrix
pattern
conversion
image forming
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EP19182768.2A
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German (de)
English (en)
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EP3576051B1 (fr
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Hyun Ki Lee
You Seong Chae
Min Young Kim
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Koh Young Technology Inc
Industry Academic Cooperation Foundation of KNU
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Koh Young Technology Inc
Industry Academic Cooperation Foundation of KNU
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10056—Microscopic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Definitions

  • the present invention relates to an optical tracking system and a method for calculating the posture and location of a marker part of the optical tracking system. More particularly, the present invention relates to an optical tracking system and a method for calculating the posture and location of a marker part of the optical tracking system by using pattern information.
  • an optical tracking system is used to track the position of a predetermined object.
  • the optical tracking system may be utilized to track a target in real time in equipment, such as a surgical robot.
  • the optical tracking system generally includes a plurality of markers attached to a target and image forming units for forming images by using light emitted by the markers, and mathematically calculates information acquired from the image forming units to thereby obtain position information or the like.
  • the conventional optical tracking system includes a plurality of markers, which increases the size of the equipment, and may be thus inappropriate in the case of tracking that requires fine precision.
  • an aspect of the present invention is to provide an optical tracking system that can track markers accurately and easily while simplifying the markers.
  • Another aspect of the present invention is to provide a method of calculating the posture and location of a marker part of an optical tracking system that can be applied to the optical tracking system above.
  • An optical tracking system may include: a marker part that is configured to include a pattern that has particular information and a first lens that is spaced apart from the pattern and has a first focal length; a first image forming part that is configured to include a second lens that has a second focal length and a first image forming unit that is spaced apart from the second lens and on which a first image of the pattern is formed by the first lens and the second lens; a second image forming part that is configured to include a third lens that has a third focal length and a second image forming unit that is spaced apart from the third lens and on which a second image of the pattern is formed by the first lens and the third lens; and a processing part that is configured to determine a posture of the marker part from a first coordinate conversion formula between a coordinate on a pattern surface of the pattern and a first pixel coordinate on the first image of the pattern and from a second coordinate conversion formula between the coordinate on the pattern surface of the pattern and a second pixel coordinate on the
  • the processing part may acquire: the first conversion matrix that converts a first coordinate corresponding to a coordinate on the pattern surface of the pattern to a second coordinate corresponding to a three-dimensional coordinate for the first lens of the marker part; the second conversion matrix that converts a third coordinate corresponding to a three-dimensional coordinate of the second coordinate for the second lens to a fourth coordinate corresponding to the first pixel coordinate on the first image of the pattern of the first image forming part; the third conversion matrix that is the same as the first conversion matrix and converts a fifth coordinate corresponding to a coordinate on the pattern surface of the pattern to a sixth coordinate corresponding to a three-dimensional coordinate for the first lens of the marker part; and the fourth conversion matrix that converts a seventh coordinate corresponding to a three-dimensional coordinate of the sixth coordinate for the third lens to an eighth coordinate corresponding to the second pixel coordinate on the second image of the pattern of the second image forming part, wherein the first coordinate conversion formula is defined to convert the first coordinate to the fourth coordinate while including the first conversion matrix and the second conversion matrix,
  • the processing part may acquire the first conversion matrix and the third conversion matrix by acquiring calibration values of u c , v c , and f b from three or more photographed images, and may acquire the second conversion matrix and the fourth conversion matrix by acquiring calibration values of f c , pw, and ph by using the acquired data.
  • the processing part may acquire a plurality of pieces of data on the first coordinate and the fourth coordinate and a plurality of pieces of data on the fifth coordinate and the eighth coordinate, and may acquire the first posture definition matrix by the following equation to which the plurality of pieces of the acquired data are applied,
  • LW i f c pw lu i f c pw lv i f c pw f b 0 0 0 0 lu i ⁇ ⁇ lu c ⁇ u i lu i ⁇ ⁇ lu c ⁇ v i lu i ⁇ ⁇ lu c ⁇ f b 0
  • the processing part may determine the location of the marker part from the third coordinate conversion formula for the second coordinate and the fourth coordinate and from the fourth coordinate conversion formula for the sixth coordinate and the eighth coordinate, and may track the marker part by using the determined location of the marker part.
  • 0 X Y Z 1 wherein ⁇ (u' 1 ,v' 1 ) denotes the fourth coordinate, (X,Y,Z) denotes the second coordinate, [A L ] denotes the second conversion matrix, [I] denotes an identity matrix in a 3x3 form, [0] denotes a zero-matrix in a 3x1 form, and s denotes a proportional constant ⁇ , and the fourth coordinate conversion formula may be defined by the following equation, s u ⁇ 2 u ⁇ 2 1 A R R LR
  • the processing part may: acquire a first central coordinate and a second central coordinate, each of which is the center of a field of view of the pattern that is photographed in the first and second image forming units, respectively; calibrate the location conversion matrix between the first image forming part and the second image forming part by using the acquired central coordinates; and acquire the location of the marker part by using the calibrated location conversion matrix.
  • the processing part may acquire a scale factor by measuring the marker part at two or more locations, and may calibrate the location conversion matrix between the first image forming part and the second image forming part by using the acquired scale factor together with the acquired central coordinates.
  • a method for calculating a posture and a location of a marker part of an optical tracking system which includes a marker part that includes a pattern that has particular information and a first lens that is spaced apart from the pattern and has a first focal length, a first image forming part that includes a second lens that has a second focal length and a first image forming unit that is spaced apart from the second lens and on which a first image of the pattern is formed by the first lens and the second lens, and a second image forming part that includes a third lens that has a third focal length and a second image forming unit that is spaced apart from the third lens and on which a second image of the pattern is formed by the first lens and the third lens, and which calculates the posture of the marker part for tracking the marker part.
  • the method for calculating the posture and the location of the marker part of the optical tracking system may include: acquiring a first conversion matrix that converts a first coordinate corresponding to a coordinate on a pattern surface of the pattern to a second coordinate corresponding to a three-dimensional coordinate for the first lens of the marker part, the second conversion matrix that converts a third coordinate corresponding to a three-dimensional coordinates of the second coordinate for the second lens to a fourth coordinate corresponding to a first pixel coordinate on the first image of the pattern of the first image forming part, the third conversion matrix that is the same as the first conversion matrix and converts a fifth coordinate corresponding to a coordinate on the pattern surface of the pattern to a sixth coordinate corresponding to a three-dimensional coordinate for the first lens of the marker part, and the fourth conversion matrix that converts a seventh coordinate corresponding to a three-dimensional coordinate of the sixth coordinate for the third lens to an eighth coordinate corresponding to a second pixel coordinate on the second image of the pattern of the second image forming part; and acquiring a posture definition matrix for
  • the method for calculating the posture and the location of the marker part of the optical tracking system may further include: acquiring a first central coordinate and a second central coordinate, each of which is the center of a field of view of the pattern that is photographed in the first and second image forming units, respectively; calibrating the location conversion matrix between the first image forming part and the second image forming part by using the acquired central coordinates; and acquiring the location of the marker part by using the calibrated location conversion matrix.
  • the method for calculating the posture and location of a marker part of an optical tracking system may further include acquiring a scale factor by measuring the marker part at two or more locations before calibrating the location conversion matrix, wherein the location conversion matrix between the first image forming part and the second image forming part may be calibrated by using the acquired scale factor together with the acquired data in the calibrating of the location conversion matrix.
  • the marker part in the optical tracking system for tracking a marker part, can be miniaturized while including a pattern of particular information to enable the tracking, and the posture and the location of the marker part can be determined more accurately by modeling the optical system of the marker part and the image forming part with the coordinate conversion formula and by configuring the optical system in stereo. Therefore, it is possible to accurately track the marker part by a simpler and easier method.
  • the location of the marker part can be determined more accurately by modeling the marker part in a stereo structure, which has been miniaturized while including the pattern of particular information, it is possible to accurately track the marker part by a simpler and easier method.
  • first or second may be used to describe various elements, the elements are not limited to the terms. The terms above will be used only to distinguish one element from other elements. For example, the first element may be named as the second element without departing from the scope of the present invention, and vice versa.
  • FIG. 1 is a conceptual diagram illustrating an optical tracking system, according to an embodiment of the present invention.
  • the optical tracking system 100 includes a marker part 110, an image forming part 120, and a processing part 130.
  • the marker part 110 includes a pattern 112 and a first lens 114.
  • the pattern 112 has particular information.
  • the particular information of the pattern may be recognized by the image forming part 120, which will be described later, for tracking, and may include one-dimensional patterns, such as bar codes, or two-dimensional patterns, such as QR codes.
  • the first lens 114 is spaced apart from the pattern 112, and has a first focal length.
  • the distance between the first lens 114 and the pattern 112 may be the same as the first focal length of the first lens 114 in order for the image forming part 120, which will be described later, to form an image of the pattern 112 and to track the pattern 112 from a distance.
  • a bundle of rays with respect to the pattern 112, which pass through the first lens 114 may be parallel.
  • the first lens 114 for example, may perform a similar function as an object lens of a microscope.
  • the marker part 110 may not include a light source. In this case, the marker part 110 may be utilized as a passive marker that uses light located outside of the marker part 110. On the other hand, the marker part 110 may include a light source. In this case, the marker part 110 may be utilized as an active marker that uses its own light.
  • the image forming part 120 includes a second lens 122 and an image forming unit 124.
  • the second lens 122 has a second focal length.
  • the second lens 114 may perform a similar function as an eyepiece of a microscope.
  • the image forming unit 124 is spaced apart from the second lens 122 and the image of the pattern 112 is formed on the image forming unit 124 by the first lens 114 and the second lens 122.
  • the distance between the image forming unit 124 and the second lens 122 may be the same as the second focal length of the second lens 122 in order to form an image for a bundle of rays with respect to the pattern 112, which pass through the first lens 114 to be parallel.
  • the image forming unit 124 may include an image sensor, such as a CCD (charge coupled device), a CMOS (complementary metal-oxide semiconductor), or the like.
  • the processing part 130 determines the posture of the marker part 110 from a coordinate conversion formula between the coordinate on the pattern surface of the pattern 112 and a pixel coordinate on the image of the pattern 112.
  • the processing part 130 tracks the marker part 110 by using the determined posture of the marker part 110.
  • the processing part 130 may include a computer, or more specifically, may include a central processing unit (CPU).
  • FIG. 2 is a flowchart schematically showing a problem-solving process that is necessary for the processing part of the optical tracking system of FIG. 1 in determining the posture of the marker part.
  • the system modeling is conducted with respect to the optical tracking system 100, which has the configuration as described above (S100).
  • the coordinate conversion formula may be configured by modeling the coordinate conversion according to the optical system of the optical tracking system 100.
  • the modeling of the coordinate conversion according to the optical system of the optical tracking system 100 may be made by each optical system of the marker part 110 and the image forming part 120 and by a relationship therebetween.
  • the first and second conversion matrices which will be described later, are calibrated (S200).
  • the first conversion matrix converts the first coordinate to the second coordinate
  • the second conversion matrix converts the third coordinate to the fourth coordinate
  • the coordinate conversion formula acquired as a result of the system modeling is determined as the equation of various parameters of the optical systems of the marker part 110 and the image forming part 120 shown in FIG. 1 , the parameters may not be accurately acquired or values thereof may vary with the mechanical arrangement state. Therefore, a more accurate system modeling can be made by calibrating the first conversion matrix and the second conversion matrix.
  • the posture refers to the direction in which the marker part 110 faces
  • the posture definition matrix provides information about the posture of the marker part 110 so that roll, pitch, and yaw of the marker part 110 may be recognized from the posture definition matrix.
  • FIG. 3 is a flowchart illustrating a process of system modeling in the problem-solving process of FIG. 2
  • FIG. 4 is a conceptual diagram for explaining the process of system modeling in FIG. 3 .
  • equations for three straight lines are acquired according to optical paths between the marker part 110 and the image forming part 120 (S110).
  • the central point of the first lens 114 is referred to as the first central point A and the central point of the second lens 122 is referred to as the second central point O, while point B refers to a certain point on the pattern 112.
  • a ray with respect to a certain point B passes straight through the first central point A of the first lens 114, and the ray that has passed through the first central point A reaches the second lens 122 at point D. Then, the ray is refracted by the second lens 122 at the point D to then form an image on the image forming unit 124 at point E.
  • a ray passes straight through the first central point A of the first lens 114 and the second central point O of the second lens 122 to then meet the extension line of the line segment DE at point C.
  • the linear equation for the line segment AO (or the line segment AC), the linear equation for the line segment AD, and the linear equation for the line segment DC are defined as L1, L2, and L3, respectively, as shown in FIG. 4 .
  • the coordinate of the first central point A is configured as (X,Y,Z), and the coordinate of the second central point O is configured as the origin (0,0,0). Since the coordinate of the second central point O of the second lens 122 is configured as the origin (0,0,0), the three-dimensional local coordinate system for the second lens 122 is the same as the world coordinate system.
  • the coordinate of a certain point (corresponding to the point B) on the pattern 112 is configured as (u,v), and the coordinate of the central point of the pattern 112 is configured as (u c ,v c ).
  • the coordinate of a pixel of the image (corresponding to the point E) of the pattern 112, which is formed on the image forming unit 124, is configured as (u',v').
  • the coordinates (u,v) and (u c ,v c ), for example, may be configured based on the left upper side of pattern 112, and the coordinate (u',v'), for example, may be configured based on the left upper side of the image of pattern 112.
  • the z-axis coordinate of the image forming unit 124 may be -f c .
  • the equations of the three straight lines may be acquired in sequence by using information above.
  • the equation of the straight line L1 is acquired from the line segment AO, and the position of the point C is acquired from the same.
  • the equation of the straight line L2 is acquired from the line segment AB, and the position of the point D is acquired from the same.
  • the equation of the straight line L3 is acquired from the line segment DC.
  • the posture definition matrix for defining the posture of the marker part 110 is defined as a 3 ⁇ 3 matrix [R] and the components of the matrix [R] are defined as r 11 , r 12 , r 13 , r 21 , r 22 , r 23 , r 31 , r 32 , and r 33 , respectively
  • the world coordinate of the point B may be determined as (r 11 u+r 12 v+r 13 f b +X, r 21 u+r 22 v+r 23 f b +Y, r 31 u+r 32 v+r 33 f b +Z) that is converted from the pattern coordinate (u,v) of the point B based on the matrix [R] and the focal length f b of the first lens 114.
  • the position of the point E (the world coordinate of the point E) may be acquired from the equation of the straight line L3 obtained above so that the pixel coordinate (u',v') of the point E may be obtained from the same.
  • the pixel coordinate (u',v') of the point E may be expressed as the coordinate (u,v) on the pattern of the point B, the relational equation between the pattern 112 and the image of the pattern corresponding to the point E may be determined.
  • Equation 1 The relational equation may be expressed as a matrix equation as shown in Equation 1 below, and such a matrix equation for the coordinate conversion may be configured as the coordinate conversion formula.
  • [C] refers to the first conversion matrix
  • [A] refers to the second conversion matrix
  • [R] refers to the posture definition matrix
  • (u c ,v c ) denotes the coordinate of the center of the pattern on the pattern surface
  • f b denotes the first focal length
  • f c denotes the second focal length
  • pw denotes the width of a pixel of the image of the pattern
  • ph denotes the height of a pixel of the image of the pattern
  • the coordinate conversion formula is made by the product of the first and second conversion matrices, which are described in FIG. 1 , and the posture definition matrix.
  • the coordinate conversion formula is conceptually expressed as [A][R][C], which is the product of the first conversion matrix [C] for converting the first coordinate to the second coordinate, the posture definition matrix [R] for converting the second coordinate to the third coordinate, and the second conversion matrix [A] for converting the third coordinate to the fourth coordinate.
  • the calibration is carried out first with respect to the second conversion matrix, and is then carried out with respect to the first conversion matrix.
  • FIG. 5 is a flowchart illustrating a process of calibrating the second conversion matrix in the problem-solving process of FIG. 2 .
  • a matrix [B] and a matrix [H] are defined to facilitate the mathematical analysis for the calibration (S210).
  • the matrix [B] may be defined by using the second conversion matrix [A] as shown in Equation 2
  • the matrix [H] may be defined by using the first conversion matrix [C], the second conversion matrix [A], and the posture definition matrix [R] as shown in Equation 3.
  • Equation 4 is obtained by multiplying both sides of Equation 3 by A -1 .
  • a ⁇ 1 h 1 h 2 h 3 r 1 r 2 T
  • the matrix [B] may be defined as shown in Equation 5 by using the orthonormality of the posture definition matrix [R] corresponding to a rotation matrix.
  • ⁇ -f c /pw
  • ⁇ -f c /ph
  • f c refers to the focal length of the second lens 122 of the image forming part 120
  • Pw and ph refer to the width and the height of a pixel, respectively.
  • Equation 6 Column vectors b and v ij are defined as shown in Equation 6 by using non-zero components of the matrix [B].
  • b B 11 B 22 B 13 B 23 B 33 T
  • v ij h i 1 h j 1 , h i 2 h j 2 , h i 3 h j 1 + h i 1 h j 3 , h i 3 h j 2 + h i 2 h j 3 , h i 3 h j 3 T
  • Equation 7 may be acquired by using the orthonormality of the matrix [R] with respect to Equation 6.
  • values of the matrix [B] are obtained by applying data on three or more images to the matrix [H] (S230).
  • the column vector b may be obtained by using a method such as singular value decomposition (SVD). Once the column vector b is obtained, all components of the matrix [B] may be recognized.
  • SVD singular value decomposition
  • v' c , ⁇ , ⁇ , and u' c may be obtained through Equation 8 ( ⁇ and ⁇ are expressed as parameters).
  • Equation 9 all components of the matrix [A] may be obtained from Equation 9.
  • the calibration of the first conversion matrix [C] is made by using the second conversion matrix [A] that has been previously calibrated.
  • FIG. 6 is a flowchart illustrating a process of calibrating the first conversion matrix in the problem-solving process of FIG. 2 .
  • the matrix [R] is obtained by putting the calibrated matrix [A] in the equation on matrix [H] (S250).
  • Equation 10 is acquired by putting the second conversion matrix [A] of Equation 9 in Equation 3 and by calculating [R][C] of Equation 1.
  • [R] [r1 r2 r3] in Equation 10
  • [R] may be obtained for each column vector component from Equation 11.
  • r 1 A ⁇ 1 h 1
  • r 2 A ⁇ 1 h 2
  • r 3 r 1 ⁇ r 3
  • the product of the matrix [A] and the matrix [R] is defined as the matrix [HK] to then be applied to the coordinate conversion formula of Equation 1 to have the components of the matrix [HK] and the matrix [C].
  • the matrix [HK] may be obtained by using the matrix [A] that is acquired in Equation 9 and the matrix [R] that is acquired in Equation 11, and may be applied to the coordinate conversion formula of Equation 1 in order to thereby acquire Equation 12, which comprises of the components of the matrix [HK] and the matrix [C].
  • Equation 12 comprises of the components of the matrix [HK] and the matrix [C].
  • the matrix [AA], the matrix [BB], and the matrix [CC] may be defined as shown in Equation 13 by using the matrix [HK].
  • FIG. 7 is a flowchart illustrating an example of a process for acquiring a posture definition matrix in problem-solving process of FIG. 2 .
  • Equation 14 may be acquired by configuring the same as an equation.
  • u ⁇ i v ⁇ i 1 ⁇ u ⁇ i v ⁇ i 1 0 ⁇ 1 v ⁇ i 1 0 ⁇ u ⁇ i ⁇ v ⁇ 1 u ⁇ 1 0
  • a R C u i v i 1 0
  • the matrix [H] is acquired by using such a method as singular value decomposition (SVD) (S320a).
  • SVD singular value decomposition
  • 0 0 0 u 1 v 1 ⁇ 1 u 1 v ⁇ 1 v 1 v ⁇ 1 v ⁇ 1 u 1 v 1 1 0 0 0 u 1 u ⁇ 1 v 1 u ⁇ 1 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 0 0 u 1 u ⁇ 1 u ⁇ 1 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 0 0 0 u n v n ⁇ 1 u n v ⁇ n v ⁇ n v ⁇ n v ⁇ n u ⁇ n H 1 H 2 H 3 H 4 H 5 H 6 H 7 H 8 H 9 0
  • Equation 15 Using a method such as singular value decomposition (SVD), 2n equations of Equation 15 are acquired.
  • SVD singular value decomposition
  • the posture definition matrix may be obtained by other methods.
  • FIG. 8 is a flowchart illustrating another example of a process for acquiring a posture definition matrix in problem-solving process of FIG. 2 .
  • Equation 14 the equation with respect to each component r 11 , r 12 , r 13 , r 21 , r 22 , r 23 , r 31 , r 32 , or r 33 of the posture definition matrix [R] is made from Equation 14 in order to thereby acquire Equation 16.
  • the matrix [R] is obtained by using a method such as singular value decomposition (SVD) (S330b).
  • SVD singular value decomposition
  • Equation 16 2n equations of Equation 16 are acquired by using a method such as singular value decomposition (SVD).
  • SVD singular value decomposition
  • the posture of the marker part 110 may be calculated by applying the system modeling process and the method for acquiring the posture definition matrix [R] described above to the optical tracking system 100 shown in FIG. 1 .
  • FIG. 9 is a flowchart illustrating a method of calculating the posture of the marker part of the optical tracking system, according to an embodiment of the present invention.
  • the processing part 130 calibrates the first and second conversion matrices from three or more images (S510).
  • the calibration may be substantially the same as operation S200 described in FIG. 2 and operations S210 to S280 described in detail in FIGS. 5 and 6 .
  • the processing part 130 may calibrate the first and second conversion matrices by using only the final equation for the calibration as in operations S230 and S280 among the operations above.
  • the posture definition matrix is acquired from the coordinate conversion formula that contains the first and second conversion matrices (S520).
  • the acquisition of the posture definition matrix may be substantially the same as operation S300 described in FIG. 2 , operations S310 to S330a, and operations S310 to S330b described in detail in FIGS. 7 and 8 .
  • the processing part 130 may acquire the posture definition matrix by using only the final equation for the acquisition of the posture definition matrix as in operation S320a and S320b among the operations above.
  • the processing part 130 may acquire the first conversion matrix for converting the first coordinate to the second coordinate and the second conversion matrix for converting the third coordinate to the fourth coordinate through the calibration in advance, and may acquire the posture definition matrix for defining the posture of the marker part 110 from the coordinate conversion formula.
  • the posture of the marker part 110 may be recognized.
  • the roll, pitch, and yaw of the marker part 110 may be recognized from the posture definition matrix.
  • the marker part can be miniaturized while including a pattern of particular information to enable the tracking, and the posture of the marker part can be determined by modeling the optical system of the marker part and the image forming part with the coordinate conversion formula. Therefore, it is possible to accurately track the marker part by a simpler and easier method.
  • FIG. 10 is a conceptual diagram illustrating an optical tracking system, according to another embodiment of the present invention.
  • the optical tracking system 1000 includes a marker part 1110, a first image forming part 1120a, a second image forming part 1120b, and a processing part 1130.
  • the optical tracking system 1000 illustrated in FIG. 10 is substantially identical to the optical tracking system 100 illustrated in FIG. 1 , except that a stereo structure including two image forming parts is applied and the processing part 1130 determines the posture by using two image forming parts, so the duplicate description thereof will be omitted.
  • the marker part 1110 includes a pattern 1112 and a first lens 1114, and is substantially the same as the marker part 110 illustrated in FIG. 1 .
  • the first image forming part 1120a includes: a second lens that has a second focal length; and a first image forming unit that is spaced apart from the second lens and on which the first image of the pattern is formed by the first lens and the second lens.
  • the second image forming part 1120b includes: a third lens that has a third focal length; and a second image forming unit that is spaced apart from the third lens and on which the second image of the pattern is formed by the first lens and the third lens.
  • Each of the first image forming part 1120a and the second image forming part 1120b is substantially the same as the image forming part 120 shown in FIG. 1 .
  • the processing part 1130 determines the posture of the marker part 1110 from: the first coordinate conversion formula between the coordinate on the pattern surface of the pattern 1112 and the first pixel coordinate on the first image of the pattern 1112; and the second coordinate conversion formula between the coordinate on the pattern surface of the pattern 1112 and the second pixel coordinate on the second image of the pattern 1112.
  • the second coordinate conversion formula includes a rotation conversion between the first pixel coordinate and the second pixel coordinate on the second image.
  • the processing part 1130 tracks the marker part 1110 by using the determined posture of the marker part 1110.
  • FIG. 11 is a flowchart schematically showing a problem-solving process that is necessary for the processing part of the optical tracking system of FIG. 10 to determine the posture of the marker part.
  • the system modeling is conducted with respect to the optical tracking system 1000 that has the configuration as described above (S1100).
  • the coordinate conversion formula may be configured by modeling the coordinate conversion according to the optical system of the optical tracking system 1000.
  • the modeling of the coordinate conversion according to the optical system of the optical tracking system 1000 may be made by each optical system of the marker part 1110 and the first and second image forming parts 1120a and 1120b and by a relationship therebetween.
  • the first conversion matrix converts the first coordinate to the second coordinate
  • the second conversion matrix converts the third coordinate to the fourth coordinate
  • the third conversion matrix converts the fifth coordinate to the sixth coordinate
  • the fourth conversion matrix converts the seventh coordinate to the eighth coordinate
  • the coordinate conversion formula that is acquired as a result of the system modeling is determined as an equation of various parameters of the optical systems of the marker part 1110 and the image forming part 1120 shown in FIG. 10 , the parameters may not be accurately acquired or values thereof may vary with the mechanical arrangement state. Therefore, the more accurate system modeling can be made by calibrating the first conversion matrix and the second conversion matrix.
  • the posture definition matrix provides information about the posture of the marker part 1110 so that the roll, pitch, and yaw of the marker part 1110 may be recognized from the posture definition matrix.
  • Equation 1 may be independently applied to the first image forming part 1120a and/or the second image forming part 1120b.
  • Equation 17 may be acquired as a result of the system modeling.
  • L and 1 are applied to the variables for the first image forming part 1120a
  • R and r are applied to the variables for the second image forming part 1120b.
  • (lu,lv) denotes the first coordinate.
  • (lu',lv') denotes the fourth coordinate.
  • [C] denotes the first conversion matrix.
  • [Al] denotes the second conversion matrix.
  • [RL] denotes the first posture definition matrix.
  • (ru,rv) denotes the fifth coordinate.
  • (ru',rv') denotes the eighth coordinate.
  • [C] denotes the third conversion matrix that is the same as the first conversion matrix.
  • [Ar] denotes the fourth conversion matrix.
  • [RR] denotes the second posture definition matrix.
  • the matrix [RR] may be expressed as a matrix [RLR][RL].
  • [RLR] indicates the matrix that converts the three-dimensional local coordinate for the first image forming part 1120a to the three-dimensional local coordinate for the second image forming part 1120b, and may be a matrix for defining the posture of the first image forming part 1120a with respect to the second image forming part 1120b.
  • FIG. 12 is a flowchart illustrating an operation of calibrating conversion matrixes in the problem-solving process of FIG. 11 .
  • calibrating conversion matrixes is basically the same as the operation that is described in FIGS. 5 and 6 above.
  • [Al] is calibrated by applying operations S210 to S240 to the first image forming part 1120a (S1210a).
  • [RL] is acquired by applying operation S250 to the first image forming part 1120a (S1220a).
  • [Ar] is calibrated by applying operations S210 to S240 to the second image forming part 1120b (S1210b).
  • [RR] is acquired by applying operation S250 to the second image forming part 1120b (S1220b).
  • [C] is calibrated in a similar manner as described in FIGS. 5 and 6 by using [Al], [RL], [Ar], and [RR] that are independently acquired according to the method described in FIGS. 5 and 6 .
  • This operation corresponds to operation S260 that is described in FIG. 6 , and thus, Equation 18 is acquired, which is comprised of the components of the matrixes [HKl], the matrix [HKr], and the matrix [C].
  • AA 2 HK l 2 1 ⁇ HK l 3 1 lv ⁇ i HK l 2 2 ⁇ HK l 3 2 lv ⁇ i ⁇ HK l 2 3 + HK l 3 3 lv ⁇ i ⁇ HK l 1 1 + HK l 3 1 lu ⁇ i ⁇ HK l 1 2 + HK l 3 2 lu ⁇ i HK l 1 3 ⁇ HK l 3 3 lu ⁇ i HK r 2 1 ⁇ HK r 3 1 rv ⁇ i HK r 2 2 ⁇ HK r 3 2 rv ⁇ i ⁇ HK r 2 3 + HK r 3 3 rv ⁇ i ⁇ HK r 1 1 + HK r 3 1 ru ⁇ i ⁇ HK r 1 2 + HK r 3 2 ru ⁇ i HK r 1 3 ⁇ HK r 3 3 ru ⁇ i HK r 1
  • FIG. 13 is a flowchart illustrating an example of a process of acquiring a posture definition matrix in the problem-solving process of FIG. 11 .
  • the operation of acquiring the posture definition matrix is basically the same as the operation described in FIG. 8 above, except that it uses more data as a stereo structure.
  • R L r 11 r 12 r 13 r 21 r 22 r 23 r 31 r 32 r 33 f c pw u 1 f c pw v 1 f c pw f b 0 0 u 1 ⁇ ⁇ u c ⁇ u 1 u 1 ⁇ ⁇ u c ⁇ v 1 u 1 ⁇ ⁇ u c ⁇ f b 0 0 0 f c ph u 1 f c ph v 1 fc ph v 1 v 1 ⁇ ⁇ v c ⁇ u 1 v 1 ⁇ ⁇ v c ⁇ v 1 v 1 ⁇ ⁇ v c ⁇ f b ⁇ f c pw u n f c pw v n f c pw f b 0 0 u n ⁇ u c ⁇
  • R LR r ⁇ 11 r ⁇ 12 r ⁇ 13 r ⁇ 21 r ⁇ 22 r ⁇ 23 r ⁇ 31 r ⁇ 32 r ⁇ 33 A 1 r ⁇ 11 + B 1 r ⁇ 31 C 1 r ⁇ 11 + D 1 r ⁇ 31 E 1 r ⁇ 11 + F 1 r ⁇ 31 A 1 r ⁇ 12 + B 1 r ⁇ 32 C 1 r ⁇ 12 + D 1 r ⁇ 302 E 1 r ⁇ 12 + F 1 r ⁇ 32 A 1 r ⁇ 13 + B 1 r ⁇ 33 C 1 r ⁇ 33 + D 1 r ⁇ 33 E 1 r ⁇ 13 + F 1 r ⁇ 33 A 2 r ⁇ 11 + B 2 r ⁇ 31 C 2 r ⁇ 11 + D 2 r ⁇ 31 E 2 r ⁇ 11 + F 2 r ⁇ 31 A 2 r ⁇ 12 + B 2 r ⁇ 32 C 2 r ⁇ 12 + D 2 r ⁇ 302 E 2 r ⁇ 12 + F 2 r ⁇ 32 A 2 r ⁇ 13 + B 2 r ⁇ 33 C 2 r ⁇
  • Equation 22 is acquired.
  • LW 1 RW 1 ⁇ LW n RW n r 11 r 12 r 13 r 21 r 22 r 23 r 31 r 32 r 33 0
  • LW 1 f c pw lu i f c pw lv i f c pw f b 0 0 lu i ⁇ ⁇ lu c ⁇ u i lu i ⁇ ⁇ lu c ⁇ v i lu i ⁇ ⁇ lu c ⁇ f b 0 0 0 f c ph lu i f c ph lv i f c ph f b lv i ⁇ ⁇ lv c ⁇ u i i i ⁇ u i ⁇
  • the matrix [RL] is acquired by using such a method as singular value decomposition (SVD) (S1340).
  • Equation 22 a total of 4n equations are obtained for r11 ⁇ r33. Thus, they are acquired by using such a method as singular value decomposition (SVD).
  • SVD singular value decomposition
  • Equation 22 which contains 4n equations, contains more equations than the method described in FIGS. 1 to 9 , a more accurate result for the matrix [RL] can be obtained. Thus, it is possible to make a more accurate posture measurement of the marker part 1110.
  • FIG. 14 is a flowchart illustrating a method of calculating the posture of the marker part of an optical tracking system, according to another embodiment of the present invention.
  • the processing part 1130 calibrates the first, second, third, and fourth conversion matrixes from three or more images (S1510).
  • the calibration may be substantially the same as operation S1200 described in FIG. 11 and operations S1210a and S1210b to S1280 described in detail in FIG 12 .
  • the processing part 1130 may calibrate the first and second conversion matrixes by using only the final equation for the calibration as in operations S1210a, S1220a, S1210b, S1220b, and S1280 among the operations above.
  • the posture definition matrix is acquired from the first and second coordinate conversion formulas that contain the first, second, third, and the fourth conversion matrixes (S1520).
  • the acquisition of the posture definition matrix may be substantially the same as operation S1300 described in FIG. 11 and operations S1310 to S1340 described in detail in FIG 13 .
  • the processing part 1130 may acquire the posture definition matrix by using only the final equation for the posture definition matrix as in operations S1330 and S1340 among the operations above.
  • the processing part 1130 may acquire: the first conversion matrix for converting the first coordinate to the second coordinate; the second conversion matrix for converting the third coordinate to the fourth coordinate; the third conversion matrix for converting the fifth coordinate to the sixth coordinate; and the fourth conversion matrix for converting the seventh coordinate to the eighth coordinate through the calibration in advance, and may acquire the posture definition matrix for defining the posture of the marker part 1110 from the first and second coordinate conversion formulas.
  • the posture of the marker part 1110 may be recognized.
  • the roll, pitch, and yaw of the marker part 1110 may be recognized from the posture definition matrix.
  • the marker part in the optical tracking system for tracking a marker part, can be miniaturized while including a pattern of particular information to enable the tracking, and the posture of the marker part can be determined more accurately by modeling the optical systems of the marker part and the image forming part with the coordinate conversion formula while applying a stereo structure thereto. Therefore, it is possible to accurately track the marker part by a simpler and easier method.
  • the optical tracking system 1000 as described above may determine the location of the marker part 1110, as well as the posture of the marker part 1110.
  • FIG. 15 is a flowchart schematically showing a problem-solving process that is necessary for the processing part of the optical tracking system of FIG. 10 to determine the location of the marker part.
  • the system modeling of the optical tracking system 1000 that has the configuration described above is performed (S2100).
  • the system modeling is performed so as to include the second coordinate (equal to the sixth coordinate) corresponding to the coordinate of the center of the first lens 1114 (see FIG. 10 ) of the marker part 1110 (see FIG. 10 ) in order to acquire the location of the marker part 1110.
  • the location conversion matrix [T] refers to a matrix that converts the location of the first image forming part 1120a (see FIG. 10 ) to the location of the second image forming part 1120b (see FIG. 10 ) according to the separation of the first image forming part 1120a and the second image forming part 1120b.
  • the three-dimensional coordinate of the center of the first lens 1114 of the marker part 1110 are acquired.
  • FIG. 16 is a conceptual diagram for explaining the process of system modeling in the problem-solving process of FIG. 15 .
  • the third coordinate conversion formula between the second coordinate (P2) corresponding to the coordinate of the center of the first lens 1114 of the marker part 1110 and the fourth coordinate (P4) corresponding to the first pixel coordinate on the first image of the pattern 1112 of the first image forming part 1120a is configured.
  • the third coordinate conversion formula may be expressed as a matrix equation as shown in Equation 23.
  • s u ⁇ 1 v ⁇ 1 1 A L I
  • (u',v') denotes the fourth coordinate (P4).
  • (X,Y,Z) denotes the second coordinate (P2).
  • [AL] denotes the second conversion matrix.
  • [I] denotes an identity matrix in a 3x3 form.
  • [0] denotes a zero-matrix in a 3x1 form.
  • a rotation conversion portion of the fourth coordinate (P4) appears as an identity matrix, and a location conversion portion thereof appears as a zero-matrix.
  • P4 a rotation conversion portion of the fourth coordinate
  • the fourth coordinate conversion formula between the sixth coordinate (P6) ⁇ equal to the second coordinate (P2) ⁇ corresponding to the coordinate of the center of the first lens 1114 of the marker part 1110 and the eighth coordinate (P8) corresponding to the second pixel coordinate on the second image of the pattern 1112 of the second image forming part 1120b is configured.
  • the fourth coordinate conversion formula is configured so as to include the location conversion matrix [T] between the first image forming part 1120a and the second image forming part 1120b.
  • (u'2,v'2) denotes the eighth coordinate (P8).
  • (X,Y,Z) denotes the sixth coordinate (P6) ⁇ equal to the second coordinate (P2) ⁇ .
  • [A R ] denotes the fourth conversion matrix.
  • [R LR ] denotes a matrix that has a 3x3 form and defines the posture of the first image forming part 1120a with respect to the second image forming part 1120b as described in FIG. 11 or the like.
  • [T] denotes a location conversion matrix that has a 3x1 form and converts the location of the first image forming part 1120a to the location of the second image forming part 1120b. As shown in FIG.
  • the second coordinate (P2) ⁇ equal to the sixth coordinate (P6) ⁇ i.e., the location of the marker part 1110 may be acquired.
  • FIG. 17 is a flowchart illustrating a process of calibrating the location conversion matrix in the problem-solving process of FIG. 15 .
  • the first central coordinate the second central coordinate are acquired, which are photographed in the first and second image forming units 1124a and 1124b, respectively (S2210).
  • each of the first and second central coordinates refers to the center of a field of view that appears when photographing the pattern 1112 in the first and second image forming units 1124a and 1124b, respectively, and a plurality of central coordinates may be acquired.
  • a fundamental matrix [F] is calculated by using the first and second acquired central coordinates (S2220).
  • the fundamental matrix may be expressed as Equation 25.
  • the subscript j represents the order of data that is obtained when acquiring a plurality of central coordinates.
  • Equation 26 may be obtained by organizing Equation 25 with respect to the components of the fundamental matrix [F].
  • fundamental matrix [F] for example, may be acquired by applying such a method as singular value decomposition (SVD) to eight or more points.
  • SVD singular value decomposition
  • an essential matrix [E] is calculated by using the obtained fundamental matrix [F] (S2230).
  • Equation 27 A R T FA L
  • Equation 27 Since the essential matrix [E] that is calculated from Equation 27 is expressed as the product of a location conversion and a rotation conversion, when it is organized as shown in Equation 28, the matrix [t]x corresponding to the location conversion component may be obtained.
  • the matrix [t]x may be the same as the location conversion matrix, the location conversion matrix may be calculated by multiplying a scale factor, if necessary.
  • the scale factor may be acquired by measuring a marker from at least two locations. For example, it may be calculated by moving and disposing the marker to at least two marker stages of which the separation distance is given and by measuring the same.
  • the location conversion matrix [T] is acquired by using the acquired essential matrix [E] and the scale factor (S2250).
  • the location conversion matrix [T] may be calculated by multiplying the matrix (tx,ty,tz)T, which is a 3x1 matrix having the components of tx, ty, and tz among the components of the acquired matrix [t]X, by the scale factor.
  • FIG. 18 is a flowchart illustrating an example of a process of acquiring the location of a marker part in the problem-solving process of FIG. 15 .
  • the first equation is acquired from the first location conversion formula with respect to the first image forming part 1120a (S2310).
  • Equation 23 that is the first location conversion formula is defined as shown in Equation 29.
  • s u ⁇ 1 v ⁇ 1 1 A L I
  • 0 X Y Z 1 m 1 _ 11 m 1 _ 12 m 1 _ 13 m 1 _ 14 m 1 _ 21 m 1 _ 22 m 1 _ 23 m 1 _ 24 m 1 _ 31 m 1 _ 32 m 1 _ 33 m 1 _ 34 X Y Z 1
  • Equation 30 corresponding to the first equation may be acquired.
  • the second equation is acquired from the second location conversion formula with respect to the second image forming unit 1120b (S2320).
  • Equation 24 that is the second location conversion formula is defined as shown in Equation 31.
  • s u ⁇ 1 v ⁇ 1 1 A R R LR
  • T X Y Z 1 m 2 _ 11 m 2 _ 12 m 2 _ 13 m 2 _ 14 m 2 _ 21 m 2 _ 22 m 2 _ 23 m 2 _ 24 m 2 _ 31 m 2 _ 32 m 2 _ 33 m 2 _ 34 X Y Z 1
  • Equation 31 The same operation as the operation S2310 of acquiring the first equation is applied to Equation 31 in order to thereby acquire the second equation.
  • Equation 30 corresponding to the first equation includes two equations, and likewise, the second equation also includes two equations. Therefore, a total of four equations may be acquired to correspond to two image forming units.
  • the location of the marker part 1110 is acquired from the first and second equations and the location conversion matrix [T] (S2330).
  • the calibrated location conversion matrix [T] may be applied to the first and the second equations in order to thereby acquire the three-dimensional coordinate of the center of the first lens 1114 of the marker part 1110.
  • FIG. 19 is a flowchart illustrating another example of a process of acquiring the location of a marker part in the problem-solving process of FIG. 15 .
  • the third equation is acquired from the first pattern coordinate conversion formula with respect to the first image forming unit 1120a (S2350).
  • the first pattern coordinate conversion formula is configured, which is transformed from the first location conversion formula, as shown in Equation 32.
  • s u ⁇ v ⁇ 1 A R
  • Equation 33 may be acquired by organizing Equation 32 as an equation.
  • the fourth equation is acquired from the second pattern coordinate conversion formula with respect to the second image forming unit 1120b (S2360).
  • the present operation is substantially the same as the operation S2350 of acquiring the third equation, except that the target is not the first image forming unit 1120a but the second imaging forming unit 1120b.
  • Equation 33 corresponding to the third equation includes two equations, and likewise, the fourth equation also includes two equations. Therefore, a total of four equations may be acquired to correspond to two image forming units.
  • the location of the marker part 1110 is acquired from the third and fourth equations and the location conversion matrix [T] (S2370).
  • the calibrated location conversion matrix [T] may be applied to the third and fourth equations in order to thereby acquire the three-dimensional coordinate of the center of the first lens 1114 of the marker part 1110.
  • FIG. 20 is a flowchart illustrating a method of calculating the location of the marker part of the optical tracking system, according to an embodiment of the present invention.
  • a plurality of coordinate values are acquired by photographing of the first and second image forming units 1124a and 1124b (S2510).
  • the acquisition of the coordinate values is substantially the same as operation S2210 of acquiring the first central coordinate and the second central coordinate described in FIG. 17 , and, for example, eight coordinate values are acquired.
  • the acquisition of the scale factor is substantially the same as operation S2240 described in FIG. 17 .
  • the location conversion matrix is calibrated by using the acquired coordinate values and scale factor (S2530).
  • the calibration may be substantially the same as operation S2200 described in FIG. 15 and operation S2250 described in detail in FIG 17 .
  • the processing part 1130 may calibrate the location conversion matrix by using only the final equation for the calibration.
  • the location of the marker part 1110 is acquired by using the calibrated location conversion matrix (S2540).
  • the acquisition of the location of the marker part 1110 may be substantially the same as operation S2300 described in FIG. 15 , operations S2310 to S2330 described in detail in FIG 18 , or operations S2350 to S2370 described in detail in FIG 19 .
  • the processing part 1130 may use only the final equation for the location acquisition as in operation S2330 or S2370 among the operations above.
  • the location of the marker part can be determined more accurately by modeling the marker part by applying a stereo structure, which is miniaturized while including a pattern of particular information, it is possible to accurately track the marker part by a simpler and easier method.
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ANONYMOUS: "Progress in Optomechatronic Technologies | Springer for Research & Development", 28 October 2013 (2013-10-28), pages 1 - 6, XP055414058, Retrieved from the Internet <URL:https://rd.springer.com/book/10.1007/978-3-319-05711-8> [retrieved on 20171010] *
CHAE YOU SEONG ET AL: "Optical coordinate tracking system using afocal optics for image-guided surgery", INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, SPRINGER, DE, vol. 10, no. 2, 5 June 2014 (2014-06-05), pages 231 - 241, XP035434662, ISSN: 1861-6410, [retrieved on 20140605], DOI: 10.1007/S11548-014-1082-0 *

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EP3576051B1 (fr) 2021-03-24
KR101613418B1 (ko) 2016-04-21
JP6357251B2 (ja) 2018-07-11
US10109066B2 (en) 2018-10-23
US20170200278A1 (en) 2017-07-13
WO2015183050A1 (fr) 2015-12-03
CN113240732A (zh) 2021-08-10
EP3151196A4 (fr) 2017-11-22
CN106415663A (zh) 2017-02-15
JP2017525937A (ja) 2017-09-07
EP3151196A1 (fr) 2017-04-05
KR20150138501A (ko) 2015-12-10
EP3151196B1 (fr) 2019-08-14
CN106415663B (zh) 2020-11-10

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