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 the problems of difficult maintenance and high cost, achieve the effect of low cost, avoid the problem of accumulated error, and improve the tracking accuracy
Pending Publication Date: 2022-03-11
SHENZHEN REALIS MULTIMEDIA TECH CO LTD
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[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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[0048] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0049] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said 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] refer to figure 1 , is a schematic structural diagram of the operatin...
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The invention relates to the technical field of computer vision, in particular to an active rigid body pose positioning method 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 point coordinates according to the two-dimensional space point codes to obtain multiple groups of two-dimensional space feature pairs, constructing a linear equation set by the multiple groups of two-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; according to the method, three-dimensional space point coordinates are estimated, a depth value is detected, a target rotation matrix and a target translation matrix are determined, and the rigid body posture is determined according to the target rotation matrix and the target translation matrix. In a single-camera environment, tracking and positioning of the active light rigid body can be achieved with low cost, and compared with a complex multi-camera environment, the method has obvious advantages.
Description
technical field [0001] 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. Background technique [0002] The traditional optical motion capture method is to emit infrared light through the ultra-high-power near-infrared light source in the motion capture camera and irradiate it on the passive marking point; the marking point coated with highly reflective material reflects 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 bandpass filter unit of the camera. Since the light-passing band of the infrared narrow-bandpass filter unit is consistent with that of the infrared light source, the ambient light with redundant background information will be filtered out, leaving only the infrared light with marker point info...
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IPC IPC(8): G06T7/73
CPCG06T7/73
Inventor 王越许秋子
Owner SHENZHEN REALIS MULTIMEDIA TECH CO LTD