Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, and matching the initial 3D model with the subsequent 3D model based on a registration.

Systems, methods, and computer-readable media for registering initial computed tomography (CT) images of a luminal network with subsequent CT images of the luminal network include obtaining initial CT images of the luminal network and subsequent CT images of the luminal network, generating an initial three-dimensional (3D) model of the luminal network based on the initial CT images of the luminal network, generating a subsequent 3D model of the luminal network based on the subsequent CT images of the luminal network, and matching the initial 3D model with the subsequent 3D model based on a registration.

A method of generating a user interface includes obtaining input data indicative of respective positions of a plurality of elements within an input plane and generating a model of a surface of a three-dimensional structure. The surface has circular symmetry and includes two curved polar caps and a curved equatorial belt, wherein a curvature of each of the polar caps is greater than a curvature of the equatorial belt. The method includes mapping the elements to respective positions on the model, and determining a position and orientation of a virtual camera, wherein the determined position of the virtual camera is exterior to the model. The method includes determining a field of view of the virtual camera containing a concave interior portion of the model, and rendering a projection of the model corresponding to the determined field of view and comprising elements mapped to positions on the concave interior portion.

A method of generating a user interface includes obtaining input data indicative of respective positions of a plurality of elements within an input plane and generating a model of a surface of a three-dimensional structure. The surface has circular symmetry and includes two curved polar caps and a curved equatorial belt, wherein a curvature of each of the polar caps is greater than a curvature of the equatorial belt. The method includes mapping the elements to respective positions on the model, and determining a position and orientation of a virtual camera, wherein the determined position of the virtual camera is exterior to the model. The method includes determining a field of view of the virtual camera containing a concave interior portion of the model, and rendering a projection of the model corresponding to the determined field of view and comprising elements mapped to positions on the concave interior portion.

In one embodiment, a medical image processing apparatus includes: processing circuitry configured to extract 3D blood vessel data of an object from 3D image data of the object, detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and a terminal device configured to display a 3D blood vessel image of the object generated from the 3D blood vessel data and to designate the rough route of the medical device on the 3D blood vessel image.

In one embodiment, a medical image processing apparatus includes: processing circuitry configured to extract 3D blood vessel data of an object from 3D image data of the object, detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and a terminal device configured to display a 3D blood vessel image of the object generated from the 3D blood vessel data and to designate the rough route of the medical device on the 3D blood vessel image.

An identification device according to the present invention includes at least one memory and at least one processor which function as: an image acquisition unit configured to acquire an image obtained by capturing an eyeball of a user; an information acquisition unit configured to acquire three-dimensional information of the eyeball, based on the image; and an identification unit configured to identify the user, based on the three-dimensional information.

An identification device according to the present invention includes at least one memory and at least one processor which function as: an image acquisition unit configured to acquire an image obtained by capturing an eyeball of a user; an information acquisition unit configured to acquire three-dimensional information of the eyeball, based on the image; and an identification unit configured to identify the user, based on the three-dimensional information.

An embodiment of the disclosure provides a warehouse robot control method and apparatus, a robot, and a warehouse system. The method includes: obtaining a container scheduling instruction of a first target container, where the container scheduling instruction includes a container type of the first target container; determining a container pose recognition algorithm according to the container type of the first target container, and recognizing pose information of the first target container based on the container pose recognition algorithm; and controlling the warehouse robot to pick up the first target container according to the pose information. For different types of containers, using corresponding pose recognition algorithms to determine pose information thereof and automatically picking up different types of the containers based on the pose information improve application range and efficiency of automatic pickup of the warehouse robot.

An embodiment of the disclosure provides a warehouse robot control method and apparatus, a robot, and a warehouse system. The method includes: obtaining a container scheduling instruction of a first target container, where the container scheduling instruction includes a container type of the first target container; determining a container pose recognition algorithm according to the container type of the first target container, and recognizing pose information of the first target container based on the container pose recognition algorithm; and controlling the warehouse robot to pick up the first target container according to the pose information. For different types of containers, using corresponding pose recognition algorithms to determine pose information thereof and automatically picking up different types of the containers based on the pose information improve application range and efficiency of automatic pickup of the warehouse robot.