Method for building image reading model based on capsule endoscope, device, and medium

An electronic device, comprising

• a memory and a processor, wherein
• the memory stores a computer program that runs on the processor, and
• the processor executes
• for building an image reading model based on a capsule endoscope, wherein the method comprises:
• driving the capsule endoscope to move within a working area, sequentially recording position coordinates and field of view orientations of the capsule endoscope at each positioning point at a predetermined first frequency, and driving the capsule endoscope to sequentially capture images at a predetermined second frequency and record the images;
• constructing a 3D model corresponding to an outline of the working area based on the recorded position coordinates of the capsule endoscope at each location point;
• mapping the recorded images onto the 3D model to create the image reading model;
• wherein constructing a 3D model corresponding to the outer contour of the working area based on the recorded position coordinates of the capsule endoscope at each positioning point comprises:
• obtaining all position coordinates of the capsule endoscope to form a raw point cloud data;
• generating a 3D model corresponding to the outer contour of the working area after applying Gaussian filtering, voxelization, voxel shell extraction, smoothing filtering, and surface reconstruction sequentially to the raw point cloud data;
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• Wherein the 3D model is represented by Ω(p).