Rigid body motion capture method and device and AGV pose capture system

Abstract

The invention discloses a rigid body motion capture method and device and an AGV pose capture system. The rigid body motion capture method includes the steps: acquiring two-dimensional position information of the optical mark imaged in each image; predicting according to the pose information of the known rigid body at the previous moment to obtain predicted three-dimensional position information of an optical mark on the known rigid body at the current moment; converting the predicted three-dimensional position information of the optical mark on the known rigid body into predicted two-dimensional position information; matching the predicted two-dimensional position information of the optical mark on the known rigid body with the imaged two-dimensional position information, and determiningthe imaged two-dimensional position information of the optical mark on the known rigid body in each image; converting the two-dimensional position information of the optical mark on the known rigid body imaged in each image into three-dimensional position information; and determining the pose information of the known rigid body at the current moment according to the pre-stored position relationship between the optical marks on the known rigid body and the three-dimensional position information. According to the invention, the problem of low working efficiency of the motion capture system is solved.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a rigid body motion capture method and device, and an AGV pose capture system. Background technique [0002] Motion capture is a technology that measures, tracks and records the trajectory of an object in three-dimensional space. A motion capture system is a system that measures the state of motion of an object, such as velocity, acceleration, and position. According to different working principles, motion capture systems can be divided into mechanical motion capture systems, acoustic motion capture systems, electromagnetic motion capture systems and optical motion capture systems. Among them, the optical motion capture system is widely used because of its advantages such as small environmental impact, high positioning accuracy and large measurement range. [0003] An optical motion capture method applied to an optical motion capture system is provided in the related art. By setti...

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Problems solved by technology

[0006] The embodiment of the present invention provides a rigid body motion capture method and device, and an AGV pose capture system, which can solve the problem of low working efficiency of the motion capture system in the related art

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