METHOD AND SYSTEM FOR ESTIMATING 3D CAMERA POSE BASED ON 2D IMAGE FEATURES AND APPLICATION THEREOF
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United States of America
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Issued Date -
Feb 6, 2025
app pub date -
Jul 31, 2024
filing date -
Jul 31, 2024
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Abstract
Method and system for estimating 3D camera pose based on 2D features. 3D virtual camera poses are generated, each of which is used to determine a perspective to project a 3D model of a target organ to create a 2D image of the target organ. 2D features are extracted from each 2D image and paired with the corresponding 3D virtual camera pose to represent a mapping. A 2D feature-camera pose mapping model is obtained based on the pairs. Input 2D features extracted from a real-time 2D image of the target organ are used to map, via the 2D feature-camera pose mapping model, to a 3D pose estimate of a laparoscopic camera, which is then refined to derive an estimated 3D camera pose of the laparoscopic camera via differential rendering of the 3D model with respect to the 3D pose estimate.
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