Multi-Viewpoint Optical Positioning Algorithm Based on Optimal Reconstruction Accuracy

Can Ye; Bo Wu; Qiaoling Yang; Linjia Hao; Nan Zhang

doi:10.3788/LOP202158.1133001

Laser & Optoelectronics Progress, Volume. 58, Issue 11, 1133001(2021)

Multi-Viewpoint Optical Positioning Algorithm Based on Optimal Reconstruction Accuracy

Can Ye^1,2, Bo Wu^1,2, Qiaoling Yang^1,2, Linjia Hao^1,2, and Nan Zhang^1,2、*

Author Affiliations

¹School of Biomedical Engineering, Capital Medical University, Beijing 100069, China

²Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Capital Medical University, Beijing 100069, China

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Figures & Tables(8)

Fig. 1. Parallel stereo vision measurement accuracy analysis model

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Fig. 2. Parallel multi-viewpoint optical positioning system of our research group

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Fig. 3. In the optical positioning system of our research group, images collected from each viewpoint when different viewpoints are occluded. (a) Occlusion at viewpoint 1; (b) occlusion at viewpoint 2; (c) occlusion at viewpoint 3; (d) occlusion at viewpoint 4

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Fig. 4. Results of surgical instrument tracking

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Table 1. Occlusion of each view
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Table 1. Occlusion of each view
Viewpoint Video frame with occlusion
1 212-272
2 89，98，100，106，110，142，152
3 1-54，205，212，227，246
4 1-127

Table 2. Focus of each view
View table
Table 2. Focus of each view
Viewpoint Focus
1 6.009
2 6.027
3 6.003
4 6.053

Table 3. Baseline distance between different binocular viewpoints
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Table 3. Baseline distance between different binocular viewpoints
Binocular vision Baseline distance between viewpoints
1、2 119.5
1、3 249.6
1、4 369.5
2、3 130.2
2、4 250.1
3、4 120.0

Table 4. Total measurement errors of different binocular viewpoints

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Table 4. Total measurement errors of different binocular viewpoints

Frame No.	Average of total measurement errors of different binocular viewpoints						Reconstructed viewpoints
Frame No.	1、2	1、3	1、4	2、3	2、4	3、4	Reconstructed viewpoints
30	0.1133	—	—	—	—	—	1、2
60	0.1147	0.0532	—	0.1052	—	—	1、3
90	0.1150	0.0536	—	0.1060	—	—	1、3
120	0.1154	0.0538	—	0.1062	—	—	1、3
150	0.1169	0.0544	0.0363	0.1069	0.0547	0.1180	1、4
180	0.1204	0.0559	0.0373	0.1094	0.0559	0.1202	1、4
210	0.1247	0.0578	0.0384	0.1120	0.0574	0.1228	1、4
240	—	—	—	0.1209	0.0613	0.1304	2、4
270	—	—	—	0.1232	0.0634	0.1343	2、4

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Can Ye, Bo Wu, Qiaoling Yang, Linjia Hao, Nan Zhang. Multi-Viewpoint Optical Positioning Algorithm Based on Optimal Reconstruction Accuracy[J]. Laser & Optoelectronics Progress, 2021, 58(11): 1133001

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