Conversion method between two independent system coordinate systems based on quaternion

A technology of an independent system and conversion method, which is applied in the direction of graphic image conversion, image data processing, image analysis, etc., and can solve the problem of not mentioning the system information conversion method.

Active Publication Date: 2020-07-07
GUANGZHOU HUANTEK CO LTD +2
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Problems solved by technology

In the process of mixed use of multiple systems, the position information and spatial attitude information of the system need to be transformed in order to perform data fusion processing. The applied for patent CN 104834917A mentions a system and method for hybrid motion capture, but does not mention the system Information transfer method between

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  • Conversion method between two independent system coordinate systems based on quaternion
  • Conversion method between two independent system coordinate systems based on quaternion
  • Conversion method between two independent system coordinate systems based on quaternion

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Embodiment Construction

[0038] Below in conjunction with accompanying drawing, the present invention will be further described:

[0039] like Figure 1-Figure 4 As shown, the conversion method between two independent system coordinate systems based on quaternions, including the calibration process of conversion parameters and the information conversion process,

[0040] The specific steps of the conversion parameter calibration process are as follows:

[0041] S11: The marker of system A is a, and system A measures the position information and space attitude information of marker a; the marker of system B is b, and system B measures the position information and space attitude information of marker b. Marker a and marker b are fixed on a fixed seat;

[0042] S12: keep the markers relatively still, rotate the fixed seat to rotate marker a and marker b at the same time, and obtain the position information and spatial attitude information of the two markers during the movement process of n groups;

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Abstract

The invention discloses a method for conversion between coordinate systems of two independent systems based on quaternion. The method includes a conversion parameter calibrating process and an information conversion process, wherein the conversion parameter calibrating process includes the steps of fixing markers of the two independent systems, retaining the markers to be relatively still, rotating the markers, obtaining the positional information and space attitude information of the two markers during the motion process, converting the obtained positional information and space attitude information into quaternion, and estimating the conversion parameter with least squares. The information conversion process includes the steps of obtaining the positional information and space attitude information of the marker of one system, converting the obtained positional information and space attitude information into quaternion, and calculating the positional information and space attitude information of the marker in the other system according to the estimated conversion parameters. The conversion of positional information and space attitude information of two systems is possible, which facilitates subsequent data fusion. Calculation is simple and fast, and no extra measuring instrument is needed.

Description

technical field [0001] The invention specifically relates to a conversion method between two independent system coordinate systems based on quaternions. Background technique [0002] There are many existing virtual reality systems and motion capture systems. Virtual reality systems, such as HTC Vive, OculusRift, PSVR; motion capture systems, such as Perception Neuron, OptiTrack, they can independently measure the position information and spatial attitude information of the target in the 3D scene, but its coordinate system, origin, measurement accuracy, etc. Not necessarily consistent. In the process of mixed use of multiple systems, the position information and spatial attitude information of the system need to be transformed in order to perform data fusion processing. The applied for patent CN 104834917A mentions a system and method for hybrid motion capture, but does not mention the system Information conversion method between. Contents of the invention [0003] The p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T3/60G06T7/70
CPCG06T3/60G06T7/70
Inventor 李元龙周言明黄昌正李观喜杨溢商燕玲
Owner GUANGZHOU HUANTEK CO LTD
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