Completeness self-checking method of capsule endoscope, electronic device, and readable storage medium

Abstract

The present invention provides a completeness self-checking method of a capsule endoscope, an electronic device, and a readable storage medium. The method comprises: driving the capsule endoscope to move within a working area and capturing images upon reaching each working point, and synchronously executing a step A; the step A comprises: recording the position and field of view orientation of each working point; determining an intersection area between the field of view of the capsule endoscope and a virtual positioning area; obtaining each voxel that is not labeled with illuminated identifier in each intersection area, and obtaining a line of sight vector from the current working point to each voxel that is not labeled with illuminated identifier, and merging the line of sight vectors into the same vector set; labeling the voxels corresponding to the current vector set with illuminated identifiers. It implements the completeness self-checking of the capsule endoscope.