This article introduces methods for modeling compound granules used in algorithms which could successfully construct a mosaic from the images coming from an endoscope capsule. In order to apply the algorithm, combined images must have a common area where the correspondence of points is determined. That allows to determine the transformation parameters to compensate movement of the capsule that occurs between moments when the mosaic images were acquired. The developed algorithm for images from the capsule endoscopy has proved to be faster and comparably accurate as commercial GDB-ICP algorithm.

中文翻译：

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胶囊内窥镜图像拼接中的颗粒计算。

本文介绍了对算法中使用的复合颗粒进行建模的方法，这些方法可以成功地从来自内窥镜胶囊的图像中构建出镶嵌图。为了应用该算法，组合图像必须具有确定点对应关系的公共区域。这允许确定变换参数以补偿在获取马赛克图像的时刻之间发生的胶囊的运动。事实证明，开发的用于胶囊内窥镜图像的算法与商业GDB-ICP算法相比，具有更快的速度和相当的准确性。