CPC A61B 6/102 (2013.01) [A61B 6/0407 (2013.01); A61B 6/547 (2013.01); G06T 11/008 (2013.01); G06T 15/08 (2013.01); A61B 6/032 (2013.01); G06T 2210/21 (2013.01); G06T 2210/56 (2013.01)] | 10 Claims |
1. A method for generating an object 3D point cloud in a medical imaging system, wherein the medical imaging system comprises:
a depth camera;
a table for carrying an object; and
a scanning device coupled to the table and the depth camera, the scanning device having a scanning space allowing the table to enter therein,
the method comprising:
generating a global 3D point cloud, wherein the global 3D point cloud includes an 3D point cloud of the object and a surrounding environment thereof;
extracting a valid 3D point cloud in a valid region where the table is located from the global 3D point cloud based on a current height of the table and boundary information of the table obtained from real-time position information from the medical imaging system, wherein a bottom surface of the valid region is a carrying surface of the table, and the object 3D point cloud is comprised in the valid 3D point cloud;
reducing noise from the valid 3D point cloud by deleting points in a noise class; and
removing an environment 3D point cloud of the surrounding environment from the valid 3D point cloud to obtain the object 3D point cloud, wherein the surrounding environment comprises at least part of the table.
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