| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系 === 104 === This paper is based on the results of Mr. Ming-Jyun Yu’s master thesis from our laborotary in 2015 titled “Markers Based 3D Position Estimation for Rod Shaped Object Using 2D Image and Its Application In Endoscopic MIS Instrument Tracking” which features fast and accurate estimation of the six 3D position parameters using just a single 2D image through a set of deterministic formulars (equations). In this thesis, we completed four research goals. Firstly, we extend the original formular for one particular pose to formulars for any pose. Secondly, we select the colors of the two rings as well as the RGB thresholds for fast and accurate ring shape extraction from the 2D image by analyzing a large amount of laparoscopic images. Thirdly, we propose an algorithm with a 2D laparoscopic image as the input and the corresponding six (6) 3D pose parameters as the output. We aslo verify the correctness of the proposed formulars and algorithm by conducting extensive experiments to measure (by human observers) and estimate (by proposed algorithm) the six 3D parameters and analyze their differences for various poses. The results of analysis can be used for further accuracy improvements for the propsed method. Finally, we demonstrate the possibility of sychronizing the motion of a real rod-shaped body and its Unity3D based 3D model for further application in Augmented Reality. The six 3D pose parameters of a real rod-shaped body is estimated by the proposed system and transmitted to drive its 3D model in the remote. Compared to other existing MIS pose estimation methods, the proposed Double-Ring marker based algorithm is accurate and computationally very efficient.
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