Multi-Tracker Position Estimation in Common Coordinate System
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Solution Overview
Problem
The SLAM technique cannot estimate the position or orientation of multiple trackers in a common coordinate system, making it impossible to map their positions and orientations accurately in a shared coordinate framework.
Innovation Solution
A position estimation apparatus that includes a point cloud storage section for a common coordinate system and an estimation section to calculate the position or orientation of each tracker within this system using feature point data from sensing data, allowing for the transmission of these estimates to each tracker, enabling them to operate within a shared coordinate framework.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the SLAM technique is used to estimate tracker position and orientation, then the estimation is performed relative to the tracker's own coordinate system, but the position and orientation cannot be mapped onto a common coordinate system shared by multiple trackers
Solution Approach 1:
The patent introduces a common coordinate system as an intermediary framework that receives position and orientation data from multiple trackers. Each tracker's local coordinate system is transformed and integrated into this common coordinate system through coordinate transformation operations, enabling unified spatial representation across all trackers while preserving the accuracy benefits of SLAM-based estimation.
Solution Approach 2:
The patent transforms the coordinate system parameters of each tracker's position and orientation data from local reference frames to a common reference frame. This parameter transformation enables the data to be expressed in a unified coordinate system while maintaining the precision of the original SLAM estimation through proper transformation calculations.
2Reliability
If individual coordinate systems are used for each tracker, then the SLAM technique can estimate position and orientation accurately, but multiple trackers cannot operate in a shared coordinate framework
Solution Approach 1:
The patent merges multiple individual coordinate systems into a single common coordinate system by performing coordinate transformations on each tracker's position and orientation data. This combining process maintains the reliability of individual SLAM estimations while enabling multi-tracker coordination through unified spatial representation in the common coordinate system.
Data Source
AI summary
A position estimation apparatus, a tracker, a position estimation method, and a program which enable estimation of the position or orientation of each of plural trackers in a common coordinate system are provided. A point cloud storage section (80) stores a common point cloud with positions expressed using a common coordinate system. A position estimation section (86) estimates the position or orientation of a first tracker in the common coordinate system on the basis of the common point cloud and first feature point data. The position estimation section (86) estimates the position or orientation of a second tracker in the common coordinate system on the basis of the common point cloud and second feature point data.