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	Pipeline architecture and parallel computation-based real-time stereovision tracking system for surgical navigation
	Zhou, Ping1,2; Liu, Yue1; Wang, Yongtian1
刊名	Ieee transactions on instrumentation and measurement
	2010-05-01
卷号	59期号:5页码:1240-1250
关键词	Parallel processing Pipeline processing Real time systems Stereovision Tracking
ISSN号	0018-9456
DOI	10.1109/tim.2010.2044074
通讯作者	Zhou, ping(savagezp@hotmail.com)
英文摘要	This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. multiple stages of pipeline in field-programmable gate array (fpga) are developed to recognize the targets in both left and right image planes and to give each target a unique label. the pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. a parallel distortion correction method is proposed and implemented in a dual-core dsp. a suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core dsp. the proposed tracking system can track the 3-d coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. the accuracy of the proposed system can reach the scale of 0.37 mm rms along the x- and y-directions and 0.45 mm rms along the depth direction (the depth is from 0.8 to 0.45 m). the performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000276416100030
内容类型	期刊论文
URI标识	http://www.corc.org.cn/handle/1471x/2427916
专题	半导体研究所
通讯作者	Zhou, Ping
作者单位	1.Beijing Inst Technol, Ctr Res Optoelect Informat Technol & Color Engn, Beijing 100081, Peoples R China 2.Chinese Acad Sci, Inst Semicond, Beijing 100083, Peoples R China
推荐引用方式 GB/T 7714	Zhou, Ping,Liu, Yue,Wang, Yongtian. Pipeline architecture and parallel computation-based real-time stereovision tracking system for surgical navigation[J]. Ieee transactions on instrumentation and measurement,2010,59(5):1240-1250.
APA	Zhou, Ping,Liu, Yue,&Wang, Yongtian.(2010).Pipeline architecture and parallel computation-based real-time stereovision tracking system for surgical navigation.Ieee transactions on instrumentation and measurement,59(5),1240-1250.
MLA	Zhou, Ping,et al."Pipeline architecture and parallel computation-based real-time stereovision tracking system for surgical navigation".Ieee transactions on instrumentation and measurement 59.5(2010):1240-1250.

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