Tracking accuracy evaluation system, device and method
By designing a tracking accuracy evaluation system with a rotating shaft, using distance sensors and processing devices to analyze the attitude changes of the tracking device, the problem of establishing tracking systems in the existing technology is solved, and low-cost and efficient tracking is achieved Accuracy assessment.
Patent Information
- Application Number
- CN202410665145.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-04-17
- Filing Date
- 2024-05-27
- Publication Date
- 2025-02-14
AI Technical Summary
The existing high-performance tracking system is costly and challenging to effectively evaluate tracking accuracy.
Design a tracking accuracy evaluation system, including a body with a rotation axis, accommodating space and distance sensors. By detecting the distance between the plurality of reference positions during rotation, in conjunction with the analysis of the processing device, the first and second posture changes of the tracking device are estimated, thereby determining its tracking accuracy.
The tracking accuracy of the tracking device is achieved in a low-cost and efficient manner, avoiding the challenge of establishing expensive and high-performance tracking systems.
Smart Images
Figure CN119437284A_ABST
Abstract
Description
Technical Field
[0001] The present invention generally relates to a mechanism for evaluating tracking performance, and more particularly, to a tracking accuracy evaluation system, a tracking accuracy evaluation apparatus, and a tracking accuracy evaluation method. Background Art
[0002] Advanced visual-inertial tracking systems have achieved sub-millimeter and sub-degree levels of accuracy and precision, surpassing the capabilities of traditional mechanical devices (e.g., vernier scales) and measurement methods.
[0003] One proposed solution involves employing another high-performance tracking system as a reference point or ground truth. However, building such a system is both expensive and challenging. Summary of the invention
[0004] Therefore, the present invention relates to a tracking accuracy evaluation system, a tracking accuracy evaluation device and a tracking accuracy evaluation method which can be used to solve the above-mentioned technical problems.
[0005] An embodiment of the present invention provides a tracking accuracy evaluation system, which includes a tracking accuracy evaluation device and a processing device. The tracking accuracy evaluation device includes: a body, a storage space, and a distance sensor. The body has a rotation axis. The storage space is disposed on the body and is configured to accommodate a tracking device. The distance sensor is disposed on the body and is configured to perform: detecting multiple distances between the tracking accuracy evaluation device and multiple reference positions during a rotation process associated with the rotation axis, wherein the storage space accommodates the tracking device during the rotation process, and there is a fixed relative position between the distance sensor, the rotation axis, and the tracking device accommodated in the storage space. The processing device is coupled to the distance sensor and the tracking device and is configured to perform: estimating a first posture change of the tracking device during the rotation process based on the multiple distances and the fixed relative position; obtaining a second posture change of the tracking device during the rotation process; and determining the tracking accuracy of the tracking device based on the first posture change and the second posture change.
[0006] An embodiment of the present invention provides a tracking accuracy evaluation device, the tracking accuracy evaluation device comprising a body, a storage space and a distance sensor. The body has a rotation axis. The storage space is disposed on the body and is configured to accommodate a tracking device. The distance sensor is disposed on the body and is configured to perform: detecting a plurality of distances between the tracking accuracy evaluation device and a plurality of reference positions during a rotation process associated with the rotation axis, wherein the storage space accommodates the tracking device during the rotation process, and the distance sensor, the rotation axis and the tracking device accommodated in the storage space have a fixed relative position.
[0007] An embodiment of the present invention provides a tracking accuracy evaluation method, which includes: a distance sensor of the tracking accuracy evaluation device detects multiple distances between the tracking accuracy evaluation device and multiple reference positions during a rotation process associated with a rotation axis of the tracking accuracy evaluation device, wherein an accommodation space of the tracking accuracy evaluation device accommodates a tracking device during the rotation process, and there is a fixed relative position between the distance sensor, the rotation axis and the tracking device accommodated in the accommodation space; a processing device estimates a first posture change of the tracking device during the rotation process based on the multiple distances and the fixed relative position; the processing device obtains a second posture change of the tracking device during the rotation process; and the processing device determines the tracking accuracy of the tracking device based on the first posture change and the second posture change. BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.
[0009] Figure 1 A schematic diagram of a tracking accuracy evaluation system according to an embodiment of the present invention is shown.
[0010] Figure 2 An application scenario according to an embodiment of the present invention is shown.
[0011] Figure 3 Show the basis for determination Figure 2 Schematic diagram of a first posture change of the tracking device.
[0012] Figure 4A A schematic diagram showing a detection distance according to an embodiment of the present invention.
[0013] Figure 4B A schematic diagram showing a detection distance according to another embodiment of the present invention is shown.
[0014] Figure 5 A flowchart of a tracking accuracy evaluation method according to an embodiment of the present invention is shown.
[0015] [Explanation of Symbols]
[0016] 10: Tracking accuracy evaluation device
[0017] 11: Ontology
[0018] 11a: Rotation axis
[0019] 12: Accommodation space
[0020] 13: Distance sensor
[0021] 14: Rotation handle
[0022] 19: Processing device
[0023] 41: The first pattern
[0024] 42: Second pattern
[0025] 43: Pattern
[0026] 100: Tracking Accuracy Evaluation System
[0027] A: First distance
[0028] B: Second distance
[0029] C: Third distance
[0030] DD: Distance
[0031] S510, S520, S530, S540: Steps
[0032] T: Tracking device
[0033] T1: First time point
[0034] T2: Second time point
[0035] X: First reference position
[0036] Y: Second reference position
[0037] θ: rotation angle DETAILED DESCRIPTION
[0038] Reference will now be made in detail to the presently preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numerals are used in the drawings and the description to refer to the same or like parts.
[0039] See also Figure 1 , Figure 1 FIG. 1 is a schematic diagram of a tracking accuracy evaluation system according to an embodiment of the present invention. Figure 1, the tracking accuracy evaluation system 100 includes a tracking accuracy evaluation device 10 and a processing device 19. In various embodiments, the processing device 19 may be coupled to the distance sensor 13 and may be a computer device and / or an intelligent device, but the present invention may not be limited thereto.
[0040] In some embodiments, the processing device 19 may also be disposed in the tracking accuracy evaluation device 10. For example, the processing device 19 may be a processor of the tracking accuracy evaluation device 10, wherein the processor may be, for example, a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), a state machine, etc.
[0041] exist Figure 1 , the tracking accuracy evaluation device 10 includes a body 11, a receiving space 12, and a distance sensor 13. The body 11 is designed to have a rotation axis 11a. In some embodiments, the tracking accuracy evaluation device 10 may further include a rotation handle 14 disposed at a position corresponding to the rotation axis 11a. In this case, when the rotation handle 14 is rotated (manually), the body 11 of the tracking accuracy evaluation device 10 may pivot based on the rotation axis 11a.
[0042] In other embodiments, the body 11 of the tracking accuracy evaluation device 10 may also be pivoted based on the rotation axis 11a in other ways. For example, the body 11 may be provided with a through hole at a position corresponding to the rotation axis 11a. In this case, the body 11 may be placed on a turntable, wherein the turntable may have a rotating handle adapted to the through hole and corresponding to the rotation axis 11a, so that when the turntable rotates based on the rotation axis 11a, the body 11 may rotate, but the present invention is not limited thereto.
[0043] The accommodation space 12 is disposed on the body 11 and is configured to accommodate the tracking device T. In various embodiments, the tracking device T may be any device whose tracking accuracy is to be tested / evaluated. For example, the tracking device T may be a head-mounted display (HMD), a wearable device, a smart device, etc.
[0044] In an embodiment of the present invention, the tracking device T may track its own posture based on, for example, an inside-out tracking mechanism, motion data (e.g., IMU data) detected by a motion detection circuit (e.g., an inertial measurement unit (IMU)) in the tracking device T, and the like.
[0045] In some embodiments, the contour of the accommodation space 12 may correspond to the contour of the tracking device T. In some embodiments, the shape / size of the accommodation space 12 may be designed to accommodate the tracking device T tightly / just.
[0046] In some embodiments, the accommodation space 12 may be designed to have a clamp / magnetic portion to tightly hold / magnetically attract the tracking device T when accommodating the tracking device T. In other embodiments, the accommodation space 12 may be designed to have a limiter to (tightly) limit the tracking device T to a specific position in the accommodation space 12 when accommodating the tracking device T, but the present invention is not limited thereto.
[0047] In some embodiments, the distance sensor 13 may be disposed on the body 11 and used to detect the distance between the tracking accuracy evaluation device 10 (the body 11) and other external objects. In various embodiments, the distance sensor 13 may include one or more of a laser rangefinder, a time-of-flight (ToF) sensor, a camera, etc., but the present invention is not limited thereto.
[0048] In the embodiment of the present invention, the distance sensor 13, the rotation axis 11a and the tracking device T accommodated in the accommodation space 12 have a fixed relative position. That is, when the tracking device T is accommodated in the accommodation space 12, no matter how the tracking accuracy evaluation device 10 moves (for example, rotates), the relative position between the distance sensor 13, the rotation axis 11a and the tracking device T will be fixed.
[0049] In some embodiments, the fixed relative position between the distance sensor 13 , the rotation axis 11 a , and the tracking device T accommodated in the accommodation space may be characterized by one or more corresponding external parameters, but the present invention is not limited thereto.
[0050] In an embodiment of the present invention, the distance sensor 13 may be configured to detect a plurality of distances between the tracking accuracy evaluation device 10 and a plurality of reference positions during a rotation process associated with the rotation axis 11 a , wherein the accommodation space 12 accommodates the tracking device T during the rotation process.
[0051] For a better understanding, we will use Figure 2 As an example, Figure 2 An application scenario according to an embodiment of the present invention is shown.
[0052] exist Figure 2 In the embodiment, the rotation process under consideration may occur during a period between the first time point T1 and the second time point T2. In other embodiments, the rotation process under consideration may occur during another period covering the period between the first time point T1 and the second time point T2, but the present invention is not limited thereto.
[0053] In one embodiment, the distance sensor 13 (eg, a laser rangefinder) may detect a first distance A between the tracking accuracy evaluation device 10 and a first reference position X among the plurality of reference positions at a first time point T1 of the rotation process.
[0054] exist Figure 2 In the scenario of FIG. 1 , the tracking accuracy evaluation device 10 can be pivoted from the state at the first time point T1 to the state at the second time point T2 based on the rotation axis 11a. For example, the user can manually rotate the tracking accuracy evaluation device 10 based on the rotation axis 11a by rotating the rotation handle 14, so that the tracking accuracy evaluation device 10 can be rotated as shown in FIG. Figure 2 , but the present invention is not limited thereto.
[0055] In this case, the distance sensor 13 may detect a second distance B between the tracking accuracy evaluation device 10 and a second reference position Y among the plurality of reference positions at a second time point T2 of the rotation process.
[0056] In one embodiment, the plurality of reference positions may be predetermined. For example, the first reference position X and the second reference position Y among the plurality of reference positions may be two predetermined positions, and the two predetermined positions may be designed to be located on the same specific plane (e.g., a wall) or at different positions, but the present invention is not limited thereto.
[0057] In an embodiment where the plurality of reference positions are predetermined, the third distance C between the first reference position X and the second reference position Y may be considered known. For example, once the first reference position X and the second reference position Y have been determined, the third distance C may be measured in advance (manually), but the present invention may not be limited thereto.
[0058] In some embodiments, the multiple reference positions may not be predetermined. For example, when the distance sensor 13 faces a first position and detects the distance between the first position and the tracking accuracy evaluation device 10, the first position may be regarded as a first reference position X, and the associated distance and the time point at which the distance detection is performed may be regarded as a first distance A and a first time point T1, respectively. Similarly, when the distance sensor 13 faces a second position and detects the distance between the second position and the tracking accuracy evaluation device 10, the second position may be regarded as a second reference position Y, and the associated distance and the time point at which the distance detection is performed may be regarded as a first distance B and a second time point T2, respectively, but the present invention may not be limited thereto.
[0059] In an embodiment where the plurality of reference positions are not predetermined, the third distance C between the first reference position X and the second reference position Y may be subsequently measured (manually), but the present invention is not limited thereto.
[0060] From another perspective, the first time point T1 is the time point when the distance sensor 13 faces the first reference position X, the second time point T2 is the time point when the distance sensor 13 faces the second reference position Y, and the distance sensor 13 rotates from facing the first reference position X to facing the second reference position Y during the rotation process.
[0061] In an embodiment of the present invention, the detected distance may be provided to the processing device 19 for further analysis, such as evaluating the tracking accuracy of the tracking device T.
[0062] In an embodiment of the present invention, the processing device 19 may be configured to estimate a first posture change of the tracking device T during the rotation process based on the multiple distances (e.g., the first distance A and the second distance B) and the fixed relative position between the distance sensor 13, the rotation axis 11a and the tracking device T accommodated in the accommodating space 12.
[0063] See also Figure 3 , Figure 3 Show the basis for determination Figure 2 Schematic diagram of a first posture change of the tracking device.
[0064] In an embodiment, the processing device 19 may receive the first distance A and the second distance B from the distance sensor 13 .
[0065] In addition, the processing device 19 may obtain a third distance C between the first reference position X and the second reference position Y. In an embodiment where the reference position is predetermined, the third distance C may be measured in advance (manually) and stored in some storage space accessible to, for example, the processing device 19. In an embodiment where the reference position is not predetermined, the third distance C may be measured (manually) after the reference position is determined and stored in some storage space accessible to, for example, the processing device 19. In these cases, the processing device 19 may access the storage space to obtain the third distance C.
[0066] In other embodiments, the third distance C may also be manually input into the processing device 19 , but the present invention is not limited thereto.
[0067] Thereafter, the processing device 19 may derive the rotation angle θ of the body 11 of the tracking accuracy evaluation device 10 during the rotation process based on the first distance A, the second distance B, and the third distance C.
[0068] As from Figure 3 As can be seen in FIG. 1 , the first reference position X, the second reference position Y, and the body 11 of the tracking accuracy evaluation device 10 (specifically, the rotation axis 11a) can be considered to form a triangle. In this case, the processing device 19 can use relevant geometric theorems (e.g., the law of cosines) to derive the rotation angle θ based on the first distance A, the second distance B, the third distance C, and the distance DD between the distance sensor 13 and the rotation axis 11a. In an embodiment, since the relative position between the distance sensor 13 and the rotation axis 11a is fixed, the distance DD can be considered to be known. In this case, the lengths of the three sides of the triangle formed by the first reference position X, the second reference position Y, and the rotation axis 11a are known, and therefore the rotation angle θ can be derived using relevant geometric theorems.
[0069] Next, the processing device 19 may determine a first posture change based on the rotation angle θ and the fixed relative position.
[0070] In an embodiment of the present invention, the first posture change may be characterized by a first rotation and a first translation of the tracking device T during the rotation process.
[0071] That is, once the rotation angle θ has been determined, the processing device 19 can determine the first rotation and the first translation of the tracking device T during the rotation process based on the rotation angle θ and the fixed relative position (for example, the distance DD) between the distance sensor 13, the rotation axis 11a and the tracking device T accommodated in the accommodating space 12, but the present invention is not limited to this.
[0072] In addition, the processing device 19 may obtain a second posture change of the tracking device T during the rotation process. In an embodiment, the second posture change may be determined based on a posture tracking result detected by the tracking device T during the rotation process.
[0073] For example, the tracking device T may detect a first posture at a first time point T1 and a second posture at a second time point T2, and determine a posture difference between the first posture and the second posture as a second posture change to the processing device 19. In one embodiment, the tracking device T may send the second posture change to the processing device 19.
[0074] In another embodiment, the tracking device T may also send the first posture detected at the first time point T1 and the second posture detected at the second time point T2 to the processing device 19, and the processing device 19 may correspondingly determine the posture difference between the first posture and the second posture as the second posture change.
[0075] In another embodiment, the tracking device T may provide a plurality of postures to the processing device 19, and the processing device 19 may determine the postures corresponding to the first time point T1 and the second time point T2 as the first posture and the second posture, respectively. Next, the processing device 19 may determine the posture difference between the first posture and the second posture as the second posture change, wherein the second posture change may be characterized by the second rotation and the second translation of the tracking device T during the rotation process, but the present invention may not be limited thereto.
[0076] From another perspective, the first posture change is an estimated posture change determined by the processing device 19 during the rotation process based on the rotation angle θ and the fixed relative position (e.g., distance DD) between the distance sensor 13, the rotation axis 11a, and the tracking device T accommodated in the accommodation space 12.
[0077] On the other hand, the second posture change is another posture change determined based on the posture tracking result detected by the tracking device T during the rotation process.
[0078] In this case, the first posture change may be regarded as a reference fact for evaluating the tracking accuracy of the tracking device T.
[0079] In one embodiment, the processing device 19 may determine the tracking accuracy of the tracking device T based on the first posture change and the second posture change.
[0080] In one embodiment, the tracking accuracy may be characterized by an error between the first posture change and the second posture change. In an embodiment, the error is negatively correlated with the tracking accuracy of the tracking device T. That is, the lower the error, the higher the tracking accuracy of the tracking device T, and the higher the error, the lower the tracking accuracy of the tracking device T.
[0081] In other embodiments, the tracking accuracy may be represented in other forms, such as a ratio between the first posture change and the second posture change, but the present invention is not limited thereto.
[0082] In addition, the accuracy of the first posture change can be positively improved by increasing the first distance A, the second distance B, and the third distance C. That is, if the user intends to increase the accuracy of the estimated first posture change, the user can simply increase one or more of the first distance A, the second distance B, and the third distance C by adjusting the position of the first reference position X, the position of the second reference position Y, and / or the position of the tracking accuracy evaluation device 10.
[0083] In some embodiments, other methods may also be used to detect the first distance A and the second distance B, which will be Figure 4A and Figure 4B Discuss together.
[0084] See also Figure 4A , Figure 4A A schematic diagram showing a detection distance according to an embodiment of the present invention.
[0085] exist Figure 4A In the embodiment, a first pattern 41 and a second pattern 42 (e.g., a Quick Response (QR) code or other patterns recognizable by the distance sensor 13) may be respectively set at the first reference position X and the second reference position Y. In this case, the distance sensor 13 (e.g., a camera) may capture a first image of the first pattern 41 set at the first reference position X at a first time point T1 during the rotation process, and determine the first distance A accordingly. For example, the first pattern 41 may be designed to have a specific size, and the distance sensor 13 may derive the first distance A based on the ratio of the specific size of the first pattern 41 to the size of the first pattern 41 in the captured first image, but the present invention is not limited thereto.
[0086] Likewise, the distance sensor 13 may capture a second image of the second pattern 42 disposed at the second reference position Y at the second time point T2 of the rotation process, and accordingly determine the second distance B. For example, the second pattern 42 may be designed to have a specific size, and the distance sensor 13 may derive the second distance B based on a ratio of the specific size of the second pattern 42 to the size of the second pattern 42 in the captured second image, but the present invention is not limited thereto.
[0087] See also Figure 4B , Figure 4B A schematic diagram showing a detection distance according to another embodiment of the present invention is shown.
[0088] exist Figure 4BIn the embodiment, the pattern 43 (e.g., a QR code or other pattern recognizable by the distance sensor 13) may be designed to have a range covering the first reference position X and the second reference position Y. In this case, the distance sensor 13 (e.g., a camera) may capture a third image of the pattern 43 at the first time point T1 of the rotation process, and determine the first distance A accordingly. For example, the pattern 43 may be designed to have a specific size, and the distance sensor 13 may derive the first distance A based on the ratio of the specific size of the pattern 43 to the size of the pattern 43 in the captured third image, but the present invention is not limited thereto.
[0089] In addition, the distance sensor 13 may capture a fourth image of the pattern 43 at a second time point T2 of the rotation process, and accordingly determine the second distance B. For example, since the pattern 43 is captured at another perspective in the fourth image, the distance sensor 13 may derive the second distance B based on the difference between the pattern 43 in the captured third image and the pattern 43 in the captured fourth image, but the present invention is not limited thereto.
[0090] See also Figure 5 , Figure 5 A flowchart of a tracking accuracy evaluation method according to an embodiment of the present invention is shown.
[0091] In step S510 , the distance sensor 13 detects the plurality of distances between the tracking accuracy evaluation device 10 and the plurality of reference positions during rotation associated with the rotation axis 11 a of the tracking accuracy evaluation device 10 .
[0092] In step S520 , the processing device 19 estimates a first posture change of the tracking device T during the rotation process based on the multiple distances and the fixed relative positions.
[0093] In step S530 , the processing device 19 obtains a second posture change of the tracking device T during the rotation process.
[0094] In step S540 , the processing device 19 determines the tracking accuracy of the tracking device T based on the first posture change and the second posture change.
[0095] Figure 5 The details of each step can be found in the above description and will not be described in detail here.
[0096] In summary, embodiments of the present invention provide a novel solution for evaluating the tracking accuracy of a tracking device (eg, HMD) in a low-cost and effective manner.
[0097] It will be apparent to those skilled in the art that various modifications and variations may be made to the structure of the present invention without departing from the scope or spirit of the present invention. In summary, the present invention is intended to cover modifications and variations of the present invention as long as they fall within the scope of the appended claims and their equivalents.
Claims
1. A tracking accuracy evaluation system, characterized in that: include: Tracking accuracy evaluation device, comprising: a body having a rotation axis; an accommodating space, disposed on the body and configured to accommodate a tracking device; A distance sensor is disposed on the body and is configured to perform: detecting a plurality of distances between the tracking accuracy evaluation device and a plurality of reference positions during a rotation process associated with the rotation axis, wherein the accommodation space accommodates the tracking device during the rotation process, and the distance sensor, the rotation axis, and the tracking device accommodated in the accommodation space have a fixed relative position; a processing device coupled to the distance sensor and the tracking device and configured to perform: estimating a first pose change of the tracking device during the rotation process based on the plurality of distances and the fixed relative position; Obtaining a second posture change of the tracking device during the rotation process; The tracking accuracy of the tracking device is determined based on the first posture change and the second posture change. 2 . The tracking accuracy evaluation system according to claim 1 , wherein the body of the tracking accuracy evaluation device pivots based on the rotation axis during the rotation process. 3 .
3. The tracking accuracy assessment system of claim 1 , wherein the distance sensor is configured to perform: detecting a first distance between the tracking accuracy evaluation device and a first reference position among the plurality of reference positions at a first time point of the rotation process; and A second distance between the tracking accuracy evaluation device and a second reference position among the plurality of reference positions is detected at a second time point of the rotation process.
4. The tracking accuracy evaluation system according to claim 3, wherein the processing device is configured to perform: obtaining a third distance between the first reference position and the second reference position; deriving a rotation angle of the body of the tracking accuracy evaluation device during the rotation process based on the first distance, the second distance, and the third distance; as well as The first posture change is determined based on the rotation angle and the fixed relative position, wherein the first posture change is characterized by a first rotation and a first translation of the tracking device during the rotation process.
5. The tracking accuracy evaluation system according to claim 3, wherein the second posture change is determined based on a first posture detected by the tracking device at the first time point and a second posture detected by the tracking device at the second time point, and the second posture change is characterized by a second rotation and a second translation of the tracking device during the rotation process.
6. The tracking accuracy evaluation system according to claim 3, wherein the first time point is a time point when the distance sensor faces the first reference position, the second time point is a time point when the distance sensor faces the second reference position, and the distance sensor rotates from facing the first reference position to facing the second reference position during the rotation process.
7. The tracking accuracy assessment system of claim 3, wherein the distance sensor comprises a camera, and the distance sensor is configured to perform: capturing a first image of a first pattern disposed at the first reference position at the first time point during the rotation process and determining the first distance accordingly; and At the second time point during the rotation process, a second image of the second pattern disposed at the second reference position is captured and the second distance is determined accordingly.
8. The tracking accuracy assessment system of claim 3, wherein the distance sensor comprises a camera, and the distance sensor is configured to perform: capturing a third image of the pattern at the first time point during the rotation process and determining the first distance based thereon; and A fourth image of the pattern is captured at the second time point during the rotation process and the second distance is determined based on the fourth image. 9 . The tracking accuracy evaluation system according to claim 1 , wherein a contour of the accommodation space corresponds to a contour of the tracking device. 10 . The tracking accuracy evaluation system according to claim 1 , wherein the tracking accuracy evaluation device further comprises a rotation handle provided on the body and corresponding to the rotation axis.
11. The tracking accuracy evaluation system according to claim 1, wherein the processing device is provided in the tracking accuracy evaluation device.
12. The tracking accuracy evaluation system according to claim 1, wherein the plurality of reference positions are predetermined. 13 . The tracking accuracy evaluation system according to claim 1 , wherein the tracking accuracy is characterized by an error between the first pose change and the second pose change.
14. A tracking accuracy evaluation device, characterized in that: include: a body having a rotation axis; an accommodating space, disposed on the body and configured to accommodate a tracking device; as well as A distance sensor is disposed on the body and is configured to perform: During a rotation process associated with the rotation axis, multiple distances between the tracking accuracy evaluation device and multiple reference positions are detected, wherein the accommodating space accommodates the tracking device during the rotation process, and there is a fixed relative position between the distance sensor, the rotation axis and the tracking device accommodated in the accommodating space.
15. A tracking accuracy evaluation method, characterized in that: include: detecting, by a distance sensor of the tracking accuracy evaluation device, a plurality of distances between the tracking accuracy evaluation device and a plurality of reference positions during a rotation process associated with a rotation axis of the tracking accuracy evaluation device, wherein an accommodation space of the tracking accuracy evaluation device accommodates the tracking device during the rotation process, and the distance sensor, the rotation axis, and the tracking device accommodated in the accommodation space have a fixed relative position; estimating, by a processing device, a first posture change of the tracking device during the rotation process based on the plurality of distances and the fixed relative position; obtaining, by the processing device, a second posture change of the tracking device during the rotation process; as well as The processing device determines the tracking accuracy of the tracking device based on the first posture change and the second posture change.