Multi-view exposure X-ray image positioning method and system

1 . A multi-view exposure X-ray image positioning method, wherein the method comprises:

acquiring volumetric data information about a target object;

according to the volumetric data information, sequentially shooting X-ray images corresponding to multiple view angles according to a time sequence based on a pre-set time period;

in the case where the target object is in a static state, receiving the X-ray images of all view angles at a moment corresponding to the static state to generate a first image sequence, and obtaining a first rotation displacement matrix according to a first optimization algorithm;

in the case where the target object is in a non-static state, sequentially receiving the X-ray images from a first view angle to a last view angle in the pre-set time period as a second image sequence according to the time sequence, and processing the second image sequence to obtain a plurality of second rotation matrices; and

achieving dynamic positioning of the X-ray image of the target object according to the first rotation displacement matrix, and the plurality of second rotation matrices corresponding to the image sequences in the non-static state.

2 . The multi-view exposure X-ray image positioning method according to claim 1 , wherein before the shooting the X-ray images corresponding to multiple view angles according to the time sequence based on the pre-set time period, the method comprises:

arranging a plurality of X-ray generators and a plurality of receiving plates at relative positions among different shooting view angles; and

the relative positions among the different shooting view angles are the relative positions of the transmitting sources of the X-ray generators and the receiving plates of different groups, and the X-ray images of multiple view angles are obtained by shooting with the X-ray generators and the receiving plates of different groups.

3 . The multi-view exposure X-ray image positioning method according to claim 1 , wherein the case where the target object is in the static state comprises that the target object is in a scanning start period or a scanning end period, respectively.

4 . The multi-view exposure X-ray image positioning method according to claim 1 , wherein the processing the second image sequence to obtain the second rotation displacement matrix comprises:

in the case where the receiving of the second image sequence is completed, generating a secondary rotation displacement matrix corresponding to each different view angle in the pre-set time period based on the first optimization algorithm; and

updating the secondary rotation displacement matrix in the pre-set time period by the second optimization algorithm to obtain the corresponding second rotation displacement matrix.

5 . The multi-view exposure X-ray image positioning method according to claim 4 , wherein the updating the secondary rotation displacement matrix in the pre-set time period by the second optimization algorithm to obtain the corresponding second rotation displacement matrix comprises:

Step 120 , based on a position view angle corresponding to the secondary rotation displacement matrix, taking the position and posture of other view angles as a reference, calculating a matrix T ave corresponding to a Z-axis direction displacement and a rotation value N1 around X and Y axes;

Step 220 , fixing the Z-axis direction displacement and the rotation value N1 around the X and Y axes, selecting a second position, generating a matrix T′first corresponding to the second position, and re-projecting according to the second position and calculating the Z-axis direction displacement and a rotation value N2 around the X and Y axes; judging whether the similarity S ave generated corresponding to the T ave is less than a similarity S′first generated corresponding to the T′ first ;

if so, receiving the Z-axis direction displacement and the rotation value N1 around the X and Y axes, and proceeding to step 320 ;

if not, proceeding to Step 420 ;

Step 320 , setting the matrix T′first as a matrix T′final;

Step 420 , acquiring a quantity of times of updating and calculating T′first, and judging whether a preset iteration condition is satisfied;

if so, receiving the current position T′ first ; and

if not, returning to Step 220 .

6 . The multi-view exposure X-ray image positioning method according to claim 5 , wherein the taking the position and posture of other view angles as the reference comprises:

according to the position of the first view angle in the current first pre-set time period, acquiring an average value of the position and posture of a next view angle in the previous pre-set time period before the current first pre-set time period and the position and posture of the next view angle in the current first pre-set time period; and

converting the average value into the first view angle, and replacing the Z-axis direction displacement and the rotation about X and Y axes in a detector coordinate system in the first view angle of the secondary rotation displacement matrix.

7 . The multi-view exposure X-ray image positioning method according to claim 5 , wherein the fixing the Z-axis direction displacement and the rotation value around the X and Y axes comprises:

obtaining a matrix based on the position of the current first pre-set time period as: T=T 4×4 , i.e.,

[

R

3

×

3

V

1

×

3

0

1

]

,

wherein the matrix comprises six translation and rotation elements (x, y, z, γ, α, β);

wherein R 3×3 is a rotation matrix R axa =R γ *R α *R β in relation to the three axes; and V 1×3 are translation vectors along the three axes.

8 . The multi-view exposure X-ray image positioning method according to claim 1 , wherein the first optimization algorithm comprises:

Step 110 , presetting a first position where a target object projection approaches to a real image of the target object along a projection direction from a transmitting source to a receiving plate, and calculating a first similarity S 1 between the target object projection and the real image X view_1 ;

Step 210 , selecting a second position, generating a matrix T first corresponding to the second position, and re-projecting according to the second position and calculating a second similarity S 2 ; judging whether S 1 is less than S 2 ;

if so, receiving the current position T first , and proceeding to Step 310 ;

if not, proceeding to Step 410 ;

Step 310 , setting the matrix T first as a matrix T second ;

Step 410 , acquiring a quantity of times of updating and calculating T first , and judging whether a preset iteration condition is satisfied;

if so, receiving the current location T first ; and

if not, returning to Step 210 .

9 . A multi-view exposure X-ray image positioning system, wherein the system comprises:

a data acquisition module configured for acquiring volumetric data information about a target object;

a data collection module configured for, according to the volumetric data information, sequentially shooting X-ray images corresponding to multiple view angles according to a time sequence based on a pre-set time period;

a first data receiving module configured for, in the case where the target object is in a static state, receiving the X-ray images of all view angles at a moment corresponding to the static state to generate a first image sequence, and obtaining a first rotation displacement matrix according to a first optimization algorithm;

a second data receiving module configured for, in the case where the target object is in a non-static state, receiving the X-ray images from a first view angle to a last view angle in the pre-set time period as a second image sequence according to the time sequence, and performing optimization processing on the second image sequence to obtain a plurality of second rotation displacement matrices; and

a positioning module configured for achieving dynamic positioning of the X-ray image of the target object according to the first rotation displacement matrix, and the plurality of second rotation matrices corresponding to the image sequences in the non-static state.

10 . The multi-view exposure X-ray image positioning system according to claim 9 , wherein the second data receiving module further comprises:

a first optimization unit of second data configured for, in the case where the receiving of the second image sequence is completed, generating a secondary rotation displacement matrix corresponding to the pre-set time period based on the first optimization algorithm; and

a second optimization unit of second data configured for updating the secondary rotation displacement matrix in the pre-set time period by the second optimization algorithm to obtain the corresponding second rotation displacement matrix.