Pose positioning method of active rigid body in single-camera environment and related equipment

A positioning method and single-camera technology, applied in the field of computer vision, can solve problems such as high cost and difficult maintenance, achieve the effect of low cost, improve tracking accuracy, and avoid cumulative error problems

Active Publication Date: 2020-01-14
SHENZHEN REALIS MULTIMEDIA TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide an active rigid body pose positioning method and related equipment in a single-camera environment, aiming to solve the high cost and difficult maintenance technology caused by the use of multi-camera systems in current passive or active motion capture methods question

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  • Pose positioning method of active rigid body in single-camera environment and related equipment
  • Pose positioning method of active rigid body in single-camera environment and related equipment
  • Pose positioning method of active rigid body in single-camera environment and related equipment

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[0048] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0049] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof.

[0050] Reference figure 1 , Is a schematic struct...

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Abstract

The invention relates to the technical field of computer vision, in particular to a pose positioning method of an active rigid body in a single-camera environment and related equipment. The method comprises the following steps: acquiring two-dimensional space point coordinates, two-dimensional space point codes and camera parameters of two adjacent frames, matching the two-dimensional space pointcoordinates according to the two-dimensional space point codes to obtain a plurality of groups of two-dimensional space feature pairs, constructing a linear equation set by the plurality of groups oftwo-dimensional space feature pairs and the camera parameters, and solving an essential matrix; decomposing the essential matrix through a singular value decomposition algorithm to obtain multiple groups of rotation matrixes and translation matrixes; and estimating three-dimensional space point coordinates, detecting a depth value, determining a target rotation matrix and a target translation matrix, and determining a rigid posture according to the target rotation matrix and the target translation matrix. According to the invention, in a single-camera environment, tracking and positioning of the active optical rigid body can be realized at a low cost, and the method has obvious advantages compared with a complex multi-camera environment.

Description

Technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for positioning an active rigid body in a single-camera environment and related equipment. Background technique [0002] The traditional optical motion capture method uses the ultra-high-power near-infrared light source in the motion capture camera to emit infrared light and illuminate it on the passive marking points; the marking points coated with high-reflective materials reflect the irradiated infrared light, and this part of the infrared light The ambient light with background information will pass through the low-distortion lens and reach the infrared narrow band pass filter unit of the camera. Since the light band of the infrared narrow-band pass filter unit is the same as that of the infrared light source, the ambient light with redundant background information will be filtered out, leaving only the infrared light with the marking point information to pass thr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T7/73
Inventor 王越许秋子
Owner SHENZHEN REALIS MULTIMEDIA TECH CO LTD
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