3D Transmitter Layout Evaluation for Accurate Pose Tracking
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Solution Overview
Problem
The challenge in designing trackable objects is ensuring optimal placement of signal sources to accurately determine the pose while avoiding identical signal combinations and interference, and minimizing tracking calculation costs.
Innovation Solution
A simulated configuration evaluation apparatus and method that generates a virtual three-dimensional object model with transmitters, simulates signal transmission, calculates estimated poses, and evaluates tracking effectiveness by comparing simulated and estimated poses to generate scores, optimizing transmitter configurations using reinforcement learning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-generated harmful factors
If the spacing between multiple signal sources is lengthened, then interference between signals is reduced, but the cost of the tracking calculation of the trackable object increases
Solution Approach 1:
The patent pre-calculates and stores optimal transmitter configurations and their corresponding signal combinations in a lookup table before actual tracking operations. This preliminary action allows the tracking system to quickly retrieve pre-computed results without performing complex real-time calculations, thereby reducing calculation costs while maintaining accurate spacing between transmitters to minimize interference
Solution Approach 2:
The patent creates virtual copies of the physical tracking system in a simulated environment. By simulating various transmitter configurations and their signal combinations beforehand, the system can evaluate and select optimal configurations without physical trial-and-error, reducing both interference issues and calculation costs in the actual tracking system
2Device complexity
If the spacing between signal sources is shortened, then tracking calculation cost is reduced, but interference between signals is more likely to occur
Solution Approach 1:
The patent assigns different signal characteristics (such as different frequencies, modulation patterns, or time slots) to different transmitters based on their local positions and roles in the configuration. This allows transmitters to be placed closer together without causing interference, as each transmitter's signal is locally optimized to coexist with others, reducing calculation complexity while maintaining signal integrity
3Measurement precision
If signal sources are placed to ensure pose determination accuracy, then tracking precision is improved, but the risk of identical signal combinations or obscured signals in certain poses increases
Solution Approach 1:
The patent pre-evaluates various transmitter configurations through simulation to identify arrangements that maintain unique signal combinations across all possible poses. By performing this evaluation beforehand, the system selects configurations that are proven to avoid identical signal combinations and obscuration issues, ensuring both precision and reliability without requiring complex real-time adjustments
Solution Approach 2:
The patent implements a feedback mechanism where the tracking system continuously monitors signal combinations and pose estimations. When potential issues like identical combinations or obscured signals are detected, the system can adjust transmitter configurations or select alternative configurations from pre-evaluated options, maintaining reliability while preserving measurement precision
Data Source
AI summary
A simulated configuration evaluation apparatus is provided. The apparatus generates a virtual three-dimensional object placed in a first simulated pose based on a virtual three-dimensional object model in a virtual space, the virtual three-dimensional object includes transmitters, the transmitters are set on the virtual three-dimensional object in a first configuration, and the transmitters are configured to transmit a plurality of first signals. The apparatus receives second signals from the transmitters based on a viewpoint in the virtual space. The apparatus calculates a first estimated pose of the virtual three-dimensional object in the virtual space based on the second signals. The apparatus compares the first estimated pose and the first simulated pose to generate a first evaluating score corresponding to the first configuration.