Positioning accuracy testing method and device for optical navigation tracking equipment

Abstract

The present application relates to a positioning accuracy test method and device for an optical navigation tracking device, the method comprising: providing a target kit; the target kit comprises a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point; obtaining a set of true distances between each first marking point and each second marking point; identifying the target kit of at least one target position by an optical navigation tracking device, obtaining at least one set of identified distances between each first marking point and each second marking point; obtaining at least one accuracy measurement value based on the true distance set and at least one identified distance set; and evaluating the accuracy of the optical navigation tracking device based on the at least one accuracy measurement value. The present application mainly solves the technical problems of insufficient accuracy, poor environmental adaptability and low test efficiency in the positioning accuracy test of existing optical navigation tracking devices.

Description

Technical Field

[0001] The present application relates to the field of optical navigation and tracking technology, and in particular to a positioning accuracy testing method and device for an optical navigation and tracking device. Background Art

[0002] With the widespread application of optical navigation and tracking technology in robot navigation, virtual reality (VR), augmented reality (AR), medical surgery navigation systems, and self-driving cars, the requirements for equipment positioning accuracy are increasing. High-precision positioning can not only significantly improve the user experience, but also ensure the safety and reliability of operation. However, there are some limitations in existing test methods and devices. First, these methods are usually only applicable to ideal conditions in laboratory environments and are difficult to cope with complex and changeable situations in actual applications, such as light changes or interference from obstructions. Secondly, traditional testing methods rely on manual measurement or simple fixed point detection, resulting in inaccurate test results. In addition, the test process is cumbersome and time-consuming, which is not conducive to the rapid iteration of product development process.

[0003] In addition, different manufacturers use different test methods and lack unified standards, which makes the comparability between test results poor, affecting technical exchanges and development within the industry. At the same time, high-end test equipment is often expensive, which constitutes an economic burden for small and medium-sized enterprises and research institutions, limiting their ability to conduct in-depth research and technical improvements. Therefore, a new test method and device is urgently needed to solve these problems, so as to improve the accuracy and efficiency of positioning accuracy testing of optical navigation and tracking equipment, reduce costs, and promote the progress of the entire industry. Summary of the invention

[0004] This application mainly solves the technical problems of insufficient accuracy, poor environmental adaptability and low testing efficiency in the positioning accuracy test of existing optical navigation and tracking equipment.

[0005] In an embodiment of the present application, a method for testing the positioning accuracy of an optical navigation tracking device is provided, and the transformation method includes:

[0006] Provide a target kit; the target kit includes at least two target kits, the at least two target kits are respectively a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point, and the first target kit and the second target kit are relatively fixed;

[0007] Obtain a set of true distances between each first marking point and each second marking point;

[0008] Identify the target kit of at least one target position by using an optical navigation tracking device to obtain at least one identification distance set between each first marking point and each second marking point;

[0009] obtaining at least one accuracy measure based on the set of true distances and the at least one set of identified distances;

[0010] Based on at least one accuracy metric, an accuracy of the optical navigation tracking device is evaluated.

[0011] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining a set of real distances between each first marking point and each second marking point includes:

[0012] At least one real distance between each first marking point and each second marking point is obtained.

[0013] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining at least one identification distance set between each first marking point and each second marking point includes:

[0014] At least one identification distance between each first marking point and each second marking point is obtained at least one target position.

[0015] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, when the target kit is in any target position:

[0016] Calculating at least one target difference between at least one identified distance identified by the target posture and at least one corresponding real distance;

[0017] Calculate a root mean square value of at least one target difference; the root mean square value of the difference is used to represent the accuracy of the optical navigation tracking device.

[0018] In the positioning accuracy test method of the optical navigation tracking device described above, as a preferred solution, the identifying of the target kit of at least one target position by the optical navigation tracking device includes:

[0019] Determining a field of view of the optical navigation tracking device;

[0020] determining at least one target location in the field of view;

[0021] The target kit is identified at least once by the optical navigation tracking device, and each time the target kit is identified, the target kit is located at a different target position.

[0022] In the positioning accuracy test method of the optical navigation tracking device mentioned above, as a preferred solution, different target postures are respectively configured for the target kit at different target positions.

[0023] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining a set of real distances between each first marking point and each second marking point includes:

[0024] Respectively measure and obtain the distance between each first marking point and each second marking point to obtain at least one real distance value;

[0025] Get a set of real distances based on at least one real distance value:

[0026] P i ={D1,D2,D3,...,D i};

[0027] Among them, P i is the true distance set, D i Represents the i-th true distance value, i∈[1,mn], m is the number of the first marked points, and n is the number of the second marked points.

[0028] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining at least one identification distance set between each first marking point and each second marking point includes:

[0029] At at least one position, the target kit is identified by an optical navigation tracking device to obtain at least one identification distance value at the current position;

[0030] Get the identification distance set based on at least one identification distance value of the current location:

[0031] Q ki ={L k1 ,L k2 ,L k3 ,...,L ki};

[0032] Among them, Q ki is the identification distance set of the kth position, L ki Indicates the i-th recognition distance value of the k-th position.

[0033] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining at least one accuracy measurement value based on the real distance set and at least one identification distance set includes:

[0034] The RMS accuracy measure is calculated by the following formula:

[0035]

[0036] E ki =|L ki -D i |;

[0037] Among them, E ki Represents the difference between the i-th recognized distance value and the true distance value at the k-th position.

[0038] The present application also provides a positioning accuracy test device for an optical navigation tracking device, wherein the transformation device comprises:

[0039] A target kit module, the target kit module is used to provide a target kit; the target kit includes at least two target kits, the at least two target kits are respectively a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point, and the first target kit and the second target kit are relatively fixed;

[0040] A real distance set acquisition module, wherein the real distance set acquisition module is used to acquire a real distance set between each first marking point and each second marking point;

[0041] An identification distance set acquisition module, the identification distance set acquisition module is used to identify the target kit of at least one target position through an optical navigation tracking device, and acquire at least one identification distance set between each first marking point and each second marking point;

[0042] an accuracy measure value acquisition module, the accuracy measure value acquisition module being used to acquire at least one accuracy measure value based on the real distance set and at least one identification distance set;

[0043] An evaluation module is used to evaluate the accuracy of the optical navigation tracking device based on at least one accuracy metric.

[0044] According to the positioning accuracy test method and device of the optical navigation tracking device of the above-mentioned embodiment, through the provided optical navigation tracking device positioning accuracy test method, using a target kit including at least two target kits, wherein each target kit is provided with multiple marking points, and these target kits are relatively fixed, efficient evaluation of the positioning accuracy of the device can be achieved; the method of the present application first obtains the real distance set between each first marking point and each second marking point, and then identifies the target kit under different postures through the optical navigation tracking device to obtain the corresponding identification distance set; based on the comparison between the real distance set and the identification distance set, the accuracy measurement value is calculated, and finally the positioning accuracy of the optical navigation tracking device is evaluated; not only the accuracy of the test results is improved, but also good adaptability can be maintained in a variety of complex environments (such as light changes, interference from obstructions, etc.); in addition, the operation process is simple and easy, which greatly improves the test efficiency and reduces the test cost, so that both large enterprises and small and medium-sized research institutions can easily perform high-precision positioning tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Flow chart of the positioning accuracy test method of the optical navigation tracking device provided in the embodiment of the present application (I);

[0046] Figure 2 Flow chart (II) of the positioning accuracy test method of the optical navigation tracking device provided in the embodiment of the present application;

[0047] Figure 3 A principle block diagram of a positioning accuracy testing device for an optical navigation and tracking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0049] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0050] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0051] Please refer to Figure 1 In order to solve the technical problems of insufficient accuracy, poor environmental adaptability and low test efficiency in the positioning accuracy test of the existing optical navigation tracking device, a positioning accuracy test method of an optical navigation tracking device is provided in an embodiment of the present application. The transformation method includes the following steps:

[0052] Step S101, providing a target kit. The target kit includes at least two target kits, the at least two target kits are respectively a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point, and the first target kit and the second target kit are relatively fixed.

[0053] In some embodiments, in order to ensure the accuracy and consistency of the test, an embodiment of the present application provides a specially designed target kit. The kit includes at least two target kits, respectively referred to as a first target kit and a second target kit. Each target kit is provided with a plurality of marking points, and these marking points have been accurately measured and fixed in relative position during manufacture. The first target kit and the second target kit are kept relatively fixed by a specific structure (such as a cylindrical rod) to ensure that no displacement or deformation occurs during the test; thereby ensuring the stability of the test benchmark, and facilitating multiple repeated tests under different environmental conditions, thereby improving the reliability and repeatability of the test results.

[0054] Step S102: Obtain a set of real distances between each first marking point and each second marking point.

[0055] In some embodiments, before the test begins, it is necessary to measure and record the actual distance between each first marking point and each second marking point in advance, that is, the real distance, which can be obtained using a high-precision measuring tool under ideal conditions (such as in a laboratory environment) and has been determined after the target kit is manufactured. In this way, a known set of standard distances can be established as a basis for subsequent comparisons.

[0056] Step S103: Identify the target kit at at least one target position by using an optical navigation tracking device, and obtain at least one identification distance set between each first marking point and each second marking point.

[0057] In some embodiments, after the target kit is prepared, the kit is then placed within the field of view of the optical navigation tracking device and adjusted to different target positions. The optical navigation tracking device identifies and records the spatial coordinates of all markers on the target kit. This step requires the device to accurately capture the position information of each marker. By moving the target kit to different orientation areas, various complex environmental conditions that may be encountered in actual applications can be simulated, thereby comprehensively evaluating the performance of the device.

[0058] Step S104: Obtain at least one accuracy measurement value based on the real distance set and at least one identification distance set.

[0059] In some embodiments, once the spatial coordinates of the marker points identified by the optical navigation tracking device are obtained, the identified distances between each first marker point and each second marker point can be calculated. Then, these identified distances are compared with the true distances obtained previously to calculate the corresponding error values. Specifically, the accuracy can be quantified by calculating the distance difference between each pair of marker points and further calculating the root mean square (RMS) of these differences.

[0060] Step S105: Evaluate the accuracy of the optical navigation tracking device based on at least one accuracy measurement value.

[0061] In some embodiments, finally, according to the multiple accuracy measurement values ​​obtained in step S104 (i.e., the root mean square error calculated under different postures), the overall positioning accuracy of the optical navigation tracking device can be comprehensively evaluated. Usually, the average value or other statistical indicators of these accuracy measurement values ​​are calculated to obtain a comprehensive accuracy evaluation. Such an evaluation method can not only reveal the performance of the device under a single test condition, but also reflect its overall performance under a variety of complex environments.

[0062] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the obtaining of a set of real distances between each first marking point and each second marking point includes: obtaining at least one real distance between each first marking point and each second marking point.

[0063] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred scheme, the acquisition of at least one identification distance set between each first marking point and each second marking point includes: in at least one target posture, respectively acquiring at least one identification distance between each first marking point and each second marking point.

[0064] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred scheme, when the target kit is in any target posture: calculate at least one target difference between at least one identified distance identified by the target posture and at least one corresponding real distance; calculate the root mean square value of the difference of at least one target difference; the root mean square value of the difference is used to represent the accuracy of the optical navigation tracking device.

[0065] In the positioning accuracy test method of the above-mentioned optical navigation and tracking device, as a preferred scheme, the target kit of at least one target posture is identified by the optical navigation and tracking device, including: determining the field of view of the optical navigation and tracking device; determining at least one target position in the field of view; identifying the target kit at least once by the optical navigation and tracking device, and each time the target kit is identified, the target kit is at a different target position.

[0066] In the positioning accuracy test method of the optical navigation tracking device mentioned above, as a preferred solution, different target postures are respectively configured for the target kit at different target positions.

[0067] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining a set of real distances between each first marking point and each second marking point includes:

[0068] Respectively measure and obtain the distance between each first marking point and each second marking point to obtain at least one real distance value;

[0069] Get a set of real distances based on at least one real distance value:

[0070] P i ={D1,D2,D3,...,D i};

[0071] Among them, P i is the true distance set, D iRepresents the i-th true distance value, i∈[1,mn], m is the number of the first marked points, and n is the number of the second marked points.

[0072] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining at least one identification distance set between each first marking point and each second marking point includes:

[0073] At at least one position, the target kit is identified by an optical navigation tracking device to obtain at least one identification distance value at the current position;

[0074] Get the identification distance set based on at least one identification distance value of the current location:

[0075] Q ki ={L k1 ,L k2 ,L k3 ,...,L ki};

[0076] Among them, Q ki is the identification distance set of the kth position, L ki Indicates the i-th recognition distance value of the k-th position.

[0077] In the above-mentioned positioning accuracy test method of the optical navigation tracking device, as a preferred solution, the step of obtaining at least one accuracy measurement value based on the real distance set and at least one identification distance set includes:

[0078] The RMS accuracy measure is calculated by the following formula:

[0079]

[0080] E ki =|L ki -D i |;

[0081] Among them, E ki Represents the difference between the i-th recognized distance value and the true distance value at the k-th position.

[0082] In some embodiments, the method flow diagram is shown in Figure 2 ( Figure 2 The test device in the target kit is the target kit), and the method flow is as follows:

[0083] (1) First, place the target kit within the field of view of the optical navigation tracking device, and then move it to six different orientation areas within the field of view.

[0084] (2) Use optical navigation and tracking equipment to identify the spatial coordinate position of the marker points on the device.

[0085] (3) According to the spatial coordinate positions of the marker points identified by the optical navigation tracking device, the identification distances from points A1, A2, A3, A4 to points B1, B2, B3, B4 are calculated respectively, denoted as Di,i∈[1,16]. Among them, A1, A2, A3, A4 belong to the first marker points, and B1, B2, B3, B4 belong to the second marker points.

[0086] Right now:

[0087] Identification distance D1 from point A1 to point B1, identification distance D2 from point A1 to point B2, identification distance D3 from point A1 to point B3, identification distance D4 from point A1 to point B4, identification distance D5 from point A2 to point B1, identification distance D6 from point A2 to point B1, identification distance D7 from point A2 to point B3, identification distance D8 from point A2 to point B4, identification distance D9 from point A3 to point B1, identification distance D10 from point A3 to point B2, identification distance D11 from point A3 to point B3, identification distance D12 from point A3 to point B4, identification distance D13 from point A4 to point B1, identification distance D14 from point A4 to point B2, identification distance D15 from point A4 to point B3, and identification distance D16 from point A4 to point B4.

[0088] (4) The actual distances from the first marking points A1, A2, A3, A4 to the second marking points B1, B2, B3, B4 of the target kit are known. The values ​​are determined when the device is manufactured and are denoted as Ri,i∈[1,16].

[0089] (5) Calculate the difference between the identified distance and the actual distance of the two corresponding points, denoted as Ei, Ei = Di-Ri, i∈[1,16].

[0090] (6) Calculate the RMS value of Ei,i∈[1,16] Where N=16.

[0091] (7) Move the target kit to the six areas within the field of view respectively, adjust the position, repeat the above steps 1 to 6, and calculate the corresponding root mean square value RMS for each different orientation.

[0092] (8) The average value of the root mean square value (RMS) at different directions is calculated, and the positioning accuracy of the optical navigation and tracking device is evaluated based on this value.

[0093] The present application also provides a positioning accuracy test device for an optical navigation tracking device, wherein the transformation device comprises:

[0094] A target kit module 301, wherein the target kit module 301 is used to provide a target kit; the target kit includes at least two target kits, wherein the at least two target kits are a first target kit and a second target kit, respectively, wherein at least one first marking point and at least one second marking point are respectively provided on the first target kit and the second target kit, and the first target kit and the second target kit are relatively fixed;

[0095] A real distance set acquisition module 302, wherein the real distance set acquisition module 302 is used to acquire a real distance set between each first marking point and each second marking point;

[0096] An identification distance set acquisition module 303, wherein the identification distance set acquisition module 303 is used to identify the target kit of at least one target position through an optical navigation tracking device, and acquire at least one identification distance set between each first marking point and each second marking point;

[0097] An accuracy measure value acquisition module 304, the accuracy measure value acquisition module 304 is used to acquire at least one accuracy measure value based on the real distance set and the at least one identification distance set;

[0098] An evaluation module 305 is configured to evaluate the accuracy of the optical navigation tracking device based on at least one accuracy measurement value.

[0099] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0100] The above specific examples are used to illustrate the present application, which is only used to help understand the present application and is not intended to limit the present application. For technicians in the technical field to which the present application belongs, they can also make some simple deductions, deformations or substitutions based on the ideas of the present application.

Claims

1. A positioning accuracy test method for an optical navigation tracking device, characterized in that: The transformation method comprises: Provide a target kit; the target kit includes at least two target kits, the at least two target kits are respectively a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point, and the first target kit and the second target kit are relatively fixed; Obtain a set of true distances between each first marking point and each second marking point; Identify the target kit of at least one target position by using an optical navigation tracking device to obtain at least one identification distance set between each first marking point and each second marking point; obtaining at least one accuracy measure based on the set of true distances and the at least one set of identified distances; Based on at least one accuracy metric, an accuracy of the optical navigation tracking device is evaluated.

2. The positioning accuracy test method of the optical navigation tracking device according to claim 1, characterized in that: The obtaining of a set of true distances between each first marking point and each second marking point comprises: At least one real distance between each first marking point and each second marking point is obtained.

3. The positioning accuracy test method of the optical navigation tracking device according to claim 1, characterized in that: The obtaining of at least one identification distance set between each first marking point and each second marking point comprises: At least one identification distance between each first marking point and each second marking point is obtained at least one target position.

4. The positioning accuracy test method of the optical navigation tracking device according to claim 1, characterized in that: When the target kit is in any target pose: Calculating at least one target difference between at least one identified distance identified by the target posture and at least one corresponding real distance; Calculating a root mean square value of a difference of at least one target difference value; The root mean square value of the difference is used to represent the accuracy of the optical navigation tracking device.

5. The positioning accuracy testing method of the optical navigation tracking device according to claim 1, characterized in that: The identifying of the target kit of at least one target position by an optical navigation tracking device comprises: Determining a field of view of the optical navigation tracking device; determining at least one target location in the field of view; The target kit is identified at least once by the optical navigation tracking device, and each time the target kit is identified, the target kit is located at a different target position.

6. The positioning accuracy testing method of the optical navigation tracking device according to claim 5, characterized in that: Different target postures are respectively configured for the target kit at different target positions.

7. The positioning accuracy testing method of the optical navigation tracking device according to claim 1, characterized in that: The obtaining of a set of true distances between each first marking point and each second marking point comprises: Respectively measure and obtain the distance between each first marking point and each second marking point to obtain at least one real distance value; Get a set of real distances based on at least one real distance value: P i ={D1,D2,D3,...,D i }; Among them, P i is the true distance set, D i Represents the i-th true distance value, i∈[1,mn], m is the number of the first marked points, and n is the number of the second marked points.

8. The positioning accuracy testing method of the optical navigation tracking device according to claim 7, characterized in that: The obtaining of at least one identification distance set between each first marking point and each second marking point comprises: At at least one position, the target kit is identified by an optical navigation tracking device to obtain at least one identification distance value at the current position; Get the identification distance set based on at least one identification distance value of the current location: Q ki ={L k1 ,L k2 ,L k3 ,...,L ki }; Among them, Q ki is the identification distance set of the kth position, L ki Indicates the i-th recognition distance value of the k-th position.

9. The positioning accuracy testing method of the optical navigation tracking device according to claim 8, characterized in that: The obtaining at least one accuracy measurement value based on the real distance set and at least one identification distance set includes: The RMS accuracy measure is calculated by the following formula: E ki =|L ki -D i |; Among them, E ki Represents the difference between the i-th recognized distance value and the true distance value at the k-th position.

10. A positioning accuracy test device for an optical navigation tracking device, characterized in that: The conversion device comprises: A target kit module, the target kit module is used to provide a target kit; the target kit includes at least two target kits, the at least two target kits are respectively a first target kit and a second target kit, the first target kit and the second target kit are respectively provided with at least one first marking point and at least one second marking point, and the first target kit and the second target kit are relatively fixed; A real distance set acquisition module, wherein the real distance set acquisition module is used to acquire a real distance set between each first marking point and each second marking point; An identification distance set acquisition module, the identification distance set acquisition module is used to identify the target kit of at least one target position through an optical navigation tracking device, and acquire at least one identification distance set between each first marking point and each second marking point; an accuracy measure value acquisition module, the accuracy measure value acquisition module being used to acquire at least one accuracy measure value based on the real distance set and at least one identification distance set; An evaluation module is used to evaluate the accuracy of the optical navigation tracking device based on at least one accuracy metric.

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