Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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

Inactive Publication Date: 2012-10-17
BEIJING INFORMATION SCI & TECH UNIV
View PDF0 Cites 0 Cited by
  • 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 are too many marker points, the system will be complicated, the processing will be difficult, and the identification and positioning will be difficult

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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
Comparison scheme
Effect test

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. 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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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 theregular 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C15/02
Inventor 娄小平吕乃光林义闽孙鹏
Owner BEIJING INFORMATION SCI & TECH UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products