Systems and methods for reconstruction of 3d images from ultrasound and camera images

A computer-implemented method for reconstructing a 3D image depicting blood flow in a blood vessel of an individual, comprising:

• obtaining Doppler ultrasound images depicting a blood vessel with blood flowing therein and measurement of blood flow in a region of the blood vessel, and 2D camera images captured by a camera depicting a plurality of fiducial objects randomly distributed within a viscous material and spaced apart by random distances on a surface of a body segment of the individual,
• wherein the Doppler ultrasound images include at least one Doppler ultrasound image, and the 2D camera images include at least one 2D camera image;
• computing 3D coordinates within a world coordinate system for pixels of each of the Doppler ultrasound images using an external reference of an ultrasound transducer pose computed by analysis of relative changes in locations of the plurality of fiducial objects within sequential 2D camera images;
• and
• computing a respective estimated blood flow for each of a plurality of pixels of the Doppler ultrasound images at a plurality of locations within the blood vessel;
• reconstructing a 3D image from 3D voxels computed from the 3D coordinates of pixels of the Doppler ultrasound images, including respective estimated blood flow,
• wherein the 3D image depicts an anatomical image of the blood vessel and depicts blood flow.