Real-time elastic confocal laser microendoscope image splicing method, system and device

The invention discloses a real-time elastic confocal laser microendoscope image splicing method, system and device. Taking a sub-image with the size of N * N at the central position of a first frame image of the confocal laser microendoscopy image scanning sequence as a template image for initial splicing; based on an SCV similarity analysis technology, calculating a preliminary matching position of a template image and a comparison image on a GPU in an accelerated manner, and then obtaining an optimal matching position based on an elastic registration technology of a free deformation model; according to the optimal matching position, a distance weighting method is adopted, and the comparison image is spliced, weighted and fused into the panoramic image on the CPU; and setting the current comparison image as a template image, and repeating the previous second and third steps to complete splicing and fusion of the whole confocal laser microendoscope image sequence. According to the method, real-time splicing a