Tracking positioning and mark point positioning hybrid positioning method and device

A technology of tracking and positioning and positioning methods, applied in the field of positioning, can solve the problems that Track cannot track the reflective marker points of the ball sweep, and the failure of 3D point cloud splicing.

Inactive Publication Date: 2020-06-02
ZG TECH CO LTD
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The embodiment of the present invention provides a positioning method and device combining tracking positioning and marker point positioning to solve the problem that the object scanned in th...

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  • Tracking positioning and mark point positioning hybrid positioning method and device
  • Tracking positioning and mark point positioning hybrid positioning method and device
  • Tracking positioning and mark point positioning hybrid positioning method and device

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Embodiment Construction

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0057] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodime...

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Abstract

The embodiment of the invention provides a tracking positioning and mark point positioning hybrid positioning method and device. The method comprises the steps of setting two scanning modes for hybridusage, namely, a Tracker mode and a Handy mode; if the Tracker mode is adopted when the scanning is started, switching to the Handy mode when beginning to enter a shielded area, and switching to theTracker mode after leaving the shielded area; and if the Handy mode is adopted when the scanning is started, switching to the Tracker mode when beginning to enter an unshielded area, and switching back to the Handy mode after entering the shielded area again. The splicing problem of the point cloud in the presence of shielding can be solved by calculating the conversion relationship between the point cloud in the Tracker mode and the point cloud in the Handy mode.

Description

technical field [0001] Embodiments of the present invention relate to the field of positioning technology, and in particular to a positioning method and device that combine tracking positioning and marker point positioning. Background technique [0002] HyperScan is composed of Track intelligent optical tracker and 3D spherical scanner (referred to as "ball sweep") such as figure 1 shown. Track intelligent optical tracker consists of two lenses and a fixed tripod, which is fixed in the measurement scene. During the scanning process, the ball sweep needs to be within the field of view of the Track intelligent optical tracker. From the image captured by the dual lens of the Track intelligent optical tracker, it is necessary to extract and identify the reflective marker points (more than 4) on the ball sweep, and then Use forward intersection and other algorithms to calculate the three-dimensional coordinates of reflective marker points, and then coordinate with the factory c...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 郑顺义刘庆龙王晓南成剑华
Owner ZG TECH CO LTD
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