基于计算机视觉的人体内腔三维重建技术综述

医生通过内窥镜观察的人体内腔显示为二维图像，不能立体地展现内腔环境中病灶、血管及邻近组织的关系，而内腔三维重建及可视化技术能够清晰、全面地展现病灶及其他组织的三维形态，更好地辅助医生进行精准的手术判断。将人体内腔环境中的三维重建技术分为主动式测量方法与被动式测量方法，分类综述基于结构光、飞行时间、双目立体视觉、单目视觉的内腔三维重建技术及发展现状。针对同时定位与地图构建的内腔三维重建法，分析对比内腔环境下的特征点检测与匹配的发展、方法及特点，并对人体内腔三维重建的难点和未来发展趋势进行展望。

Overview of 3D Human Lumen Reconstruction Technology Based on Computer Vision

The human lumen images observed by the doctor through the endoscope is shown in a two-dimensional style, and fail to present the three-dimensional relationships between the lesions, blood vessels and adjacent tissues in the human lumen.The three-dimensional human lumen reconstruction technology and visualization methods can clearly and comprehensively display the three-dimensional images of lesions and tissues, assisting doctors in precise operations.In this paper, the three-dimensional reconstruction technologies for human lumen are divided into the active measurement methods and passive measurement methods.On this basis, this paper summarizes the reconstruction technologies based on structured light, Time Of Flight(TOF), binocular stereo vision, and monocular vision in order, and discusses their development.Then focusing on the reconstruction technology using Simultaneous Localization and Mapping(SLAM), the paper analyzes and compares the development, methods and characteristics of the feature point detection and matching in human lumen.Finally, the difficulties and future development trends of the three-dimensional human lumen reconstruction technology are prospected.