Local Threshold Adaptive Endoscope Intestinal Center Localization Method Based on Morphological Reconstruction

In order to solve the problem of inaccurate localization of intestinal center in the process of endoscopic navigation, a local threshold adaptive localization method based on morphological reconstruction is proposed in this paper. On the basis of image reconstruction and combined with local threshold, it is necessary to find the intestinal center point of the endoscope image and guide the movement of the endoscope in the intestinal tract through the guidance of the intestinal center point, which is an important basis for the navigation path planning of the endoscope by combining the endoscope with visual navigation. In this paper, 355 continuous real endoscope intestinal images were taken to locate the center point, and accurate intestinal center points were obtained. The center points were used to guide the front end of the endoscope, which played a navigation role in the endoscope and visual navigation.