Spatial registration method and device of ultrasonic image, computer equipment and medium

The invention relates to the technical field of image registration, and discloses a spatial registration method and device of an ultrasonic image, computer equipment and a medium. The first ultrasonic image corresponding to the first pose and the second ultrasonic image corresponding to the second pose are unified into the binocular camera coordinate system, space registration of the first ultrasonic image and the second ultrasonic image is achieved, space registration of different ultrasonic images can be achieved when the quality of the ultrasonic images is poor, the accuracy of the registration result is guaranteed, and meanwhile the accuracy of the registration result is improved. Therefore, the processing time is reduced, and the problems of high image quality requirement, difficult feature recognition and long time consumption in the registration of the ultrasonic image through feature matching in the prior art are solved. 本发明涉及图像配准技术领域，公开了超声图像的空间配准方法、装置、计算机设备及介质，本发明提供的方法利用超声探头的位姿与对应超声图像在双目相机坐标系中的空间位置之间