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A multi-target optical tracking method

An optical tracking and multi-target technology, which is applied in image analysis, instruments, measuring devices, etc., can solve the problems such as the decrease of refresh rate, and achieve the effect that the refresh rate of tracking data does not decrease

Active Publication Date: 2021-08-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

This results in the system's refresh rate dropping exponentially when multiple emitters are used in cascade
Since the larger the tracking area, the more transmitters are needed, so in order to ensure sufficient tracking data refresh rate, the current HTC VIVE system only uses two transmitters, and its tracking area is also limited to a space of 5mx5m

Method used

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Embodiment Construction

[0048] The present invention will be described in detail below in combination with a specific implementation manner in which the number of transmitters is m=3.

[0049] Such as figure 1 As shown, it is a flow chart of the implementation method of the present invention; specifically, a multi-target optical tracking method includes the following steps:

[0050] Step 1: The receiver records the time difference between the scanning signal and the start signal sent by each transmitter in the horizontal X direction, and the time difference between the scan signal and the start signal sent by each transmitter in the vertical Y direction;

[0051] Step 2: Compute all image coordinates u of the receiver relative to the 3 transmitters using the time difference from step 1 i and v i , where u i is the image coordinate of the receiver in the horizontal X direction relative to the i-th transmitter, v i is the image coordinate of the receiver in the vertical Y direction relative to the...

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Abstract

The present invention provides a high-precision, low-cost optical tracking method, which uses the receiver to calculate the time of receiving the scanning signal to obtain the image coordinates of the receiver in the transmitter, and checks all possible image coordinate correspondences, from which Find out the only correct correspondence between the receiver image coordinates and each transmitter, and then realize the solution of the receiver space coordinates; the present invention solves the problem of data refresh rate drop when using multiple transmitters from the technical principle, and can Use any number of emitters in tandem without reducing the tracking data refresh rate.

Description

technical field [0001] The invention belongs to the field of tracking and positioning, in particular to a multi-target optical tracking method. Background technique [0002] In today's tracking and positioning field, Vicon and HTC VIVE are relatively commonly used technologies. Vicon uses a high-frame-rate, high-resolution camera as a signal capture device, and an infrared reflective ball as a tracked marker. If the reflective ball is captured by multiple cameras, its spatial position can be calculated by computer vision. The tracking accuracy and refresh rate of the Vicon system are related to the performance of the tracking camera used, for example, its V16 camera has a resolution of 16 million pixels and a frame rate of 120Hz. Due to the great difficulty in manufacturing high-performance cameras and the need for subsequent data processing equipment, this leads to high costs for the Vicon system, which can only be used in professional fields and cannot be widely populariz...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/16G06T7/20
CPCG01S5/16G06T7/20
Inventor 翁冬冬李冬杨奕
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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