Global optimum optical tracker pose calculation method

Abstract

The invention discloses a global optimum optical tracker pose calculation method. According to the method, a traditional tracker pose calculation method is improved, a mathematical model based on a global optimization thought is used, a corresponding relation between space points and image points is used to construct a system of linear equations, it is not needed to calculate the pose of a tracker relative to a single base station or perform pose data fusion, and a global optimum pose of the tracker can be directly solved. Through the method, the quantity of base stations is not limited, information of corresponding points of all base stations is fully utilized (even if the quantity of the corresponding points of a certain base stations is not enough for independent calculation of the pose), and the minimum calculation condition of the pose of the tracker is greatly lowered (the threshold value of the quantity of the corresponding points is lowered from at least five groups of corresponding points of any base station to totally four groups of corresponding points of all the base stations); and besides, when multiple receivers establish connection with the tracker, a global optimum pose fusion result can be obtained, and the result is more precise and higher in robustness.

Description

technical field [0001] The invention belongs to the technical field of tracking and positioning, in particular to a globally optimal optical tracker pose calculation method, which can be used in motion capture, surgical navigation, virtual reality and other application fields that require optical tracking and positioning. Background technique [0002] The HTC VIVE system consists of a transmitter base station and a photosensitive receiver. The transmitter can send periodic optical signals to scan the tracking area. After the receiver receives the scanning signal from the transmitter, it converts the optical signal into a digital signal, thereby obtaining the receiver. Relative to the image coordinates of the transmitter, when a certain number of receivers are scanned, computer vision algorithms can be used to obtain the spatial pose of the rigid body composed of the receivers. [0003] HTC VIVE has two transmitter scanning base stations (equivalent to two cameras). When calc...

AI Technical Summary

Problems solved by technology

The more sensor points, the larger the size of the tracker, which is not conducive to the miniaturization of the tracker

In addition, the HTC VIVE system uses a weighted ellipse fitting method when performing pose fusion. This method has strict requirements and needs to know the relative pose between each base station and the tracker, and it is only applicable to two base stations. Pose data fusion, when there are more base stations (cameras), there is no ability to globally optimize pose data

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