| CPC G06T 7/73 (2017.01) [A61B 1/06 (2013.01); G06T 7/55 (2017.01); G06T 2207/10068 (2013.01); G06T 2207/30028 (2013.01)] | 13 Claims |
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1. A luminal structure calculation apparatus comprising:
at least one processor including hardware, wherein the at least one processor is configured to:
acquire picked-up images at a plurality of points in time including a plurality of feature points that are a same site of an object acquired by an image sensor provided in an insertion section inserted into a lumen serving as the object and three-dimensional disposition including information concerning at least a part of a position or a direction of the image sensor,
calculate a plurality of partial three-dimensional structures, which are parts of a three-dimensional structure of the lumen, including information concerning positions of the feature points based on the picked-up images at the plurality of points in time and the three-dimensional disposition,
determine, based on the three-dimensional disposition at a time when the respective partial three-dimensional structures are created, disposition of the plurality of partial three-dimensional structures, and
correct the disposition of the partial three-dimensional structures based on positions of the feature points common to the plurality of partial three-dimensional structures to calculate the three-dimensional structure of the lumen,
wherein the lumen includes a fixed portion fixed from an outside and a movable portion not fixed from the outside, and
when the feature points similar among the plurality of partial three-dimensional structures are extracted, the at least one processor is further configured to compare a difference between distances from the similar feature points to the fixed portion with a predetermined reference value to determine whether the similar feature points are the feature points common to the plurality of partial three-dimensional structures.
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