Solid target for binocular vision positioning and tracking system

A tracking system and three-dimensional technology, applied in the field of visual measurement, can solve the problems of occlusion of mark points, difficult processing, difficult identification and positioning, etc., and achieve the effect of avoiding occlusion and improving positioning accuracy.

Inactive Publication Date: 2011-08-17
BEIJING INFORMATION SCI & TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If there are too few marker points on the target, it is easy to block the marker points and the positioning and tracking cannot be completed; if there

Method used

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  • Solid target for binocular vision positioning and tracking system
  • Solid target for binocular vision positioning and tracking system
  • Solid target for binocular vision positioning and tracking system

Examples

Experimental program
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Embodiment Construction

[0019] The following is a theoretical description of the design of the stereoscopic target.

[0020] First, the mathematical model of the visual positioning and tracking system is introduced, and the layout optimization of the target markers is realized through simulation and experiments. figure 1 is a schematic diagram of the mathematical model of the location tracking system. Such as figure 1 Shown, O T -X T Y T Z T is the coordinate system of the tracking system, O 1 -X 1 Y 1 Z 1 , O 2 -X 2 Y 2 Z 2 are the coordinate systems of the 3D scanning system at position 1 and position 2 respectively, O E1 -X E1 Y E1 Z E1 , O E2 -X E2 Y E2 Z E2 are the coordinate systems of the tracking target at position 1 and position 2, respectively. The rotation and translation matrix M from the tracking system to the 3D scanning system can be obtained through the intermediary target T1 , the rotation and translation matrix M of the tracking target at position 1 and positio...

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Abstract

The invention discloses a solid target for binocular vision positioning and tracking system. The solid target comprises nine trapezoid-shaped blocks forming a regular hexahedron. Each trapezoid-shaped block comprises a base and a regular quadrangular frustum. The trapezoid-shaped blocks from first to fourth are respectively positioned at the right upper top point, the right lower top point, the left upper top point and the left lower top point of the back surface of the regular hexahedron, the trapezoid-shaped blocks from fifth to eighth are respectively positioned on the right upper top point, the right lower top point, the left upper top point and the left lower top point of the front surface of the regular hexahedron, and the ninth regular hexahedron is positioned in the center of the back surface of the regular hexahedron. The two adjacent trapezoid-shaped blocks are supported and fixed by a connecting rod. Marking points are uniformly distributed on the right lateral faces of the regular quadrangular frustums of the first and second trapezoid-shaped blocks and on the left lateral faces of the regular quadrangular frustums of the third and fourth trapezoid-shaped blocks, on the upper lateral faces of the regular quadrangular frustums of the first and third trapezoid-shaped blocks, and on the top faces of the regular quadrangular frustums of the ninth trapezoid-shaped block.

Description

technical field [0001] The invention relates to the field of visual measurement, in particular to a three-dimensional target used in a binocular vision positioning and tracking system, which is suitable for measuring the position and attitude of a moving target. Background technique [0002] In the three-dimensional measurement of free-form surfaces, the visual measurement method has become one of the most important measurement methods due to its advantages of non-contact, high speed, high precision, and automation. However, in actual measurement, due to the limited field of view of the visual sensor or the occlusion of the measured surface, there will be blind spots in visual measurement, and it is impossible to obtain all the information on the surface of the object at one time. Therefore, it is necessary to measure the blocks from different angles and positions, and then use various splicing methods to stitch together the measured point cloud data of all blocks. This proc...

Claims

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Application Information

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IPC IPC(8): G01C15/02
Inventor 娄小平吕乃光林义闽孙鹏
Owner BEIJING INFORMATION SCI & TECH UNIV
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