The present invention provides a three-dimensional visualization method for single-lens endoscope, which utilizes the volume image to establish the virtual three-dimensional models of organs and then employs image alignment to combine the virtual three-dimensional models with the two-dimensional image captured by the endoscope to find the transformation relation between the corresponded two-dimensional image and the virtual three-dimensional models it uses the camera posture to measure and position the camera coordinates in the virtual three-dimensional models and utilizes the image feature points of the endoscope to match and update the camera coordinates, and calculates the depth map for the image of the virtual three-dimensional models and calculates the disparity map based on the depth map to form the three-dimensional image with left and right images. Thus, the existing single-lens endoscope system may generate three-dimensional images to solve the problem of existing single-lens endoscope system incapable of providing three-dimensional images.本發明係一種單鏡頭內視鏡立體視覺化方法,係利用體積影像建立器官的虛擬三維模型,再透過影像對位結合該虛擬三維模型與內視鏡拍攝的二維影像,以找出其相對的二維影像與虛擬三維模型之間的轉換關係,並以相機姿態估測定位虛擬三維模型中的相機座標,利用內視鏡影像特徵點匹配更新相機座標,在虛擬三維模型的影像中計算出深度地圖,並以深度地圖計算視差圖,以形成具有左右影像的立體影像,藉此以現有單鏡頭內視鏡系統即可產生三維影像,解決現有單鏡頭內視鏡系統無法提供三維(3D)立體化影像的問題。
