Patent ID: 11937771
Assignee: ASENSUS SURGICAL EUROPE SàRL
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 7:
8. The method of claim 1, comprising calculating the world coordinates pw of a point P according to the following equation:, (
    
     
      
       
        p
        p
       
      
     
     
      
       
        p
        s
       
      
     
    
    )
   
   -
   
    (
    
     
      
       
        
         F
         c
        
        (
        
         
          p
          w
         
         ;
         
          Θ
          c
         
        
       
      
     
     
      
       
        
         F
         p
        
        (
        
         
          p
          w
         
         ;
         
          Θ
          p
         
        
       
      
     
    
    )
   
  
  =
  0
 

where pp=(xpyp)t is the pixel coordinate of said point, px=(xs) is the stripe value of said point P, Fc(Pw; Θc)=Ps−∈ρ is the noise-free value of the vector of pixel coordinates, where Pp is the vector of measured pixel coordinates and ∈ρ is the vector of errors in the pixel coordinates; Fp(Pw; ΘP)=Ps−∈s is the noise-free value of the vector of stripe coordinates, where Ps is the vector of measured stripe coordinates and ∈s is the vector of errors in the stripe coordinates.