Multi-View Scanning Head Pose Detection for Stable Measurement
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Solution Overview
Problem
The precision and stability of scanning measurement systems are compromised due to the significant difference in photographing angles of binocular cameras, leading to poor imaging quality of marker points on a scanning head, which affects the positioning precision and stability of the scanning head, ultimately impacting the measurement precision.
Innovation Solution
A method and apparatus using a multi-view camera system to detect the pose of a scanning head by obtaining three-dimensional coordinates of at least three valid marker points and calculating a rotation matrix and translation vector to transform the scanner coordinate system to a tracker coordinate system, enhancing the positional relationship between the scanning head and tracker systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If binocular cameras are used for tracking scanning measurement, then the system structure is simple, but the positioning precision and stability of the scanning head deteriorate due to significant difference in photographing angles
Solution Approach 1:
The patent divides the tracking camera system into multiple independent cameras (at least three) positioned at different locations. Each camera independently captures images of marker points on the scanning head, and their results are fused through coordinate transformation to achieve high-precision positioning that overcomes the limitations of binocular camera angle differences.
2Device complexity
If binocular cameras are used for tracking scanning measurement, then the device complexity is low, but the measurement precision deteriorates due to poor imaging quality of marker points
Solution Approach 1:
The patent transitions from two-dimensional binocular vision to multi-dimensional spatial observation by deploying at least three cameras at different positions. This dimensional expansion ensures that marker points are captured from multiple angles, improving imaging quality and enabling more accurate three-dimensional pose estimation of the scanning head.
3Measurement precision
If multiple tracking cameras are used to improve positioning precision, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent introduces marker points as intermediaries attached to the scanning head. These markers serve as reference objects that simplify the tracking process - the cameras don't need to directly track the complex scanning head structure, but rather the simplified marker points, which then serve as mediators to calculate the scanning head's pose through coordinate transformation.
Data Source
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AI summary
Embodiments of the present disclosure relate to a method and apparatus for detecting the pose of a scanning head, a device and a medium. The method comprises: performing tracking scanning processing for marker points on an outer frame of a scanning head based on N tracking cameras to obtain three-dimensional coordinates of at least three valid marker points, wherein N is a positive integer greater than 2; and performing calculation based on the three-dimensional coordinates of the at least three valid marker points and reference coordinates of each valid marker point in a frame coordinate system to obtain a rotation matrix and a translation vector for transforming a scanner coordinate system to a tracker coordinate system. By means of the technical solution above, a positional relationship between a scanning head coordinate system and a tracker coordinate system is calculated based on marker point data acquired by more than two tracking cameras, thereby improving the positioning precision and stability of the pose of a scanning head by a tracker, as well as the overall measurement precision of a scanning measurement system of the tracker.