Hybrid position-posture tracking method based on inertia and optical tracking systems

An optical tracking and pose technology, applied in measuring devices, instruments, surveying and navigation, etc., can solve problems such as inability to achieve accurate tracking, offset errors, linear acceleration errors, etc.

Inactive Publication Date: 2015-07-08
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF7 Cites 34 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above methods effectively improve the refresh rate of the tracking system by fusing the inertial and optical tracking methods and realize the short-term continuous tracking when occlusion occurs, but the drift er

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
  • Hybrid position-posture tracking method based on inertia and optical tracking systems
  • Hybrid position-posture tracking method based on inertia and optical tracking systems
  • Hybrid position-posture tracking method based on inertia and optical tracking systems

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0043] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0044] The present invention is described by taking the long-term position and posture tracking of surgical tools during surgery as an example. During the operation, it is necessary to accurately calculate the position and posture of the surgical tool relative to the lesion in real time, so as to guide the smooth progress of the operation. The optical tracking system locates and tracks the surgical tool through the markers set on the surgical tool. However, during the operation, the landmarks are often blocked. When only two or one landmarks on the landmarks are not blocked, the optical tracking system can only use the landmarks to obtain position information, but cannot obtain attitude information. Therefore, the present invention proposes a hybrid pose tracking method based on inertial and optical tracking systems, which can solve the problem of accurat...

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 hybrid position-posture tracking method based on inertia and optical tracking systems. Through the combined application of an inertia tracking system and an optical tracking system, the purpose of tracking the accurate position and posture of a target when a landmark is partially occluded can be achieved; the data of an inertial sensor is corrected by using optical tracking results, so that biased errors are eliminated, and the precision of an inertial tracking module in the process of posture estimation is improved; and when a kalman filter and the inertial tracking system are utilized for carrying out posture tracking, by establishing an acceleration error model and introducing a suddenly-changed-speed measurement noise covariance into a measurement noise covariance matrix, when the system has a linear motion, in a measurement updating equation of a state equation, the confidence level of a measured value is reduced, so that an estimated value in a state vector has a large confidence level, thereby reducing the influence of an accelerometer measured value on the state vector caused by the influence of a suddenly-changed linear acceleration.

Description

technical field [0001] The invention relates to the field of intelligent sensing and human-computer interaction, in particular to a hybrid pose tracking method based on inertial and optical tracking systems. Background technique [0002] Since the inertial tracking system calculates the attitude angle of the target based on the angular velocity of the gyroscope, the acceleration of the accelerometer, and the magnetic intensity of the magnetic sensor, it has the advantages of high refresh frequency and low measurement delay, and does not depend on external marker points during tracking. The fusion of optical and inertial tracking systems can obtain better real-time and higher-precision tracking results, and can continue to track position and attitude in a short time when occlusion problems occur. [0003] Researchers at home and abroad have conducted extensive research on inertial-optical hybrid tracking methods. Young et al. proposed a hybrid tracking system in 2006, which ...

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
IPC IPC(8): G01C21/16
CPCG01C21/165G01C21/20G01C25/005
Inventor 刘越贺长宇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap