无线胶囊机器人自动调焦新方法ANewSenseforAutofocusingon.PDFVIP

Vol. 4 No.9/ Sep. 010 无线胶囊机器人自动调焦新方法 A New Sense for Autofocusing on Wireless Capsule Robot 秦文健 辜嘉 摘 要 通过自动调焦技术，能够高效率，快速和鲁棒的获取高质量清晰的图像，然而在无线胶囊机器人领域依然存在着 问题，而且目前自动调焦方法都是基于评价函数，需要多幅参考图像才能实现，并没有通用的方法适合各种环境。本文提 出一种基于计算机视觉技术的自动调焦方法，在各种应用环境中不仅可以获得清晰图像，还能得到图像的三维空间信息， 如深度信息等，从而可以为后期3D重建奠定基础。 关键词 无线胶囊机器人；计算机视觉；点扩散函数；自动调焦 ABSTRACT　This paper addresses the problem of Autofocusing for Wireless Capsule Robot. We present a new idea of applying computer vision technique to adjust the focus to obtain sharp images, which is also applied in other motion condition. This autofocusing method can be easily implemented and provide depth information roughly comparable to criterion functions. In comparison, an important characteristic of the method is its ability to not only benefit the autofocusing for Wireless Capsule Robot, but also make D modeling easily. KEYWORDS Wireless Capsule Robot; Computer Vision; Point Spread Function; Autofocusing 1 Introduction would be useful either for the purpose of diagnostics or for autonomous steering of the capsule, e.g. facing the significant advancement in the field of medical lumen or holding a given position against the natural Adevices was represented by the invention of bowel movements. Therefore, a real time image stream the wireless capsule endoscopy (WCE), a medical has to be processed for identification of visual clues that, procedure that has enabled, for the first time, a painless together with position information, can be used as high- diagnosis inside the gastrointestinal (GI) tract with bright level input to the locomotion c