Detection system and method for six-degree-of-freedom spatial position and attitude

Abstract

Embodiments of the invention provide a detection system and method for six-degree-of-freedom spatial position and attitude. The detection system comprises a sensor module, an image acquisition module and a processor, wherein the sensor module and the image acquisition module are both arranged on a to-be-detected target. Since the sensor module and the image acquisition module are both arranged on the to-be-detected target, the mobility and portability of the system are improved; the image acquisition module moves along with the movement of the to-be-detected target, so the detection scope of data acquisition is broadened; the image acquisition module acquires the image data of a surrounding environment instead of the movement of the target, so the problem that the image data of the target cannot be used due to shielding is overcome; meanwhile, processing is carried out on high-frequency data acquired by the sensor module and low-frequency data acquired by the image acquisition module, so the accuracy and stability of target data are improved, and high-precision detection of the six-degree-of-freedom spatial position and attitude of the to-be-detected target is realized.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of spatial position and attitude detection, and in particular to a detection system and method for a 6-degree-of-freedom spatial position and attitude. Background technique [0002] In recent years, with the development of spatial position and attitude detection technology, this technology has been more and more widely used in technical fields such as auxiliary sports training, augmented reality, medical rehabilitation assistance, industrial equipment detection, and human-computer interaction. [0003] Existing research on spatial position and attitude detection technology mostly uses a single sensor detection method, such as inertial sensor, electromagnetic sensor, optical camera or laser sensor. Since there is only one detection method, this type of research often exists. Problems such as low accuracy, limited detection space range, susceptibility to occlusion, or limited detection da...

AI Technical Summary

Problems solved by technology

[0003] Existing research on spatial position and attitude detection technology mostly uses a single sensor detection method, such as inertial sensor, electromagnetic sensor, optical camera or laser sensor. Since there is only one detection method, this type of research often exists. Problems such as low accuracy, limited detection space range, easy to be affected by occlusion, or limited detection data

In addition, there are some studies that use the combination of optical camera and other sensors. This type of research uses the low-frequency information of the optical camera and the high-frequency information of other sensors to ensure the accuracy of the finally obtained spatial position and attitude data. However, due to the The optical camera in this kind of research needs to be installed around the target object, so there is still the problem of being easily affected by occlusion, and because the camera is fixed, the detection range is greatly limited, and the mobility and portability are relatively poor.

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