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 marker point occlusion, difficult processing, and inability to complete positioning tracking, so as to avoid occlusion and improve positioning accuracy
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[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. like 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 position 2...
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