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Stereoscopic vision optical tracking system aiming at multipoint targets

A stereo vision and optical tracking technology, applied in image data processing, instruments, processor architecture/configuration, etc., can solve the problems of large system delay, real-time impact of application system, low data refresh rate, etc. Real-time and flexibility, the effect of tracking many targets

Inactive Publication Date: 2010-04-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Due to the inherent serial characteristics of the software processing method, the real-time performance of the application system will be affected, the system delay is large, and the data refresh rate is low

Method used

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  • Stereoscopic vision optical tracking system aiming at multipoint targets
  • Stereoscopic vision optical tracking system aiming at multipoint targets
  • Stereoscopic vision optical tracking system aiming at multipoint targets

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Embodiment Construction

[0049] The specific implementation manner of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0050] A stereo vision optical tracking system for multi-point targets, its structural composition block diagram is as follows figure 1 As shown, it includes an image acquisition module (1), a target marking and identification module (2), a target positioning and tracking module (3), and a power supply module (4).

[0051] (1) Image acquisition module: used to acquire binocular synchronous original images of the target and the background.

[0052] The module consists of two Micron's machine vision CMOS image sensor MT9V022 and a DS92LV16 image sensor data deserialization chip. The image acquisition frequency of MT9V022 is 60 frames per second, and the two image sensors are serial output.

[0053] Two pieces of MT9V022 are used as the front-end image acquisition part, which has the characteristics of high S / N ratio, high...

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Abstract

The invention discloses a stereoscopic vision optical tracking system aiming at multipoint targets, which belongs to the field of the mechanical vision and positioning tracking technique. The stereoscopic vision optical tracking system utilizes a mode based on hardware realization, utilizes a binocular camera to acquire targets and original images of the background, adopts a parallel pipeline to identify and mark the targets rapidly and utilizes a dual-core digital signal processor to perform parallel operation, and then space positioning and tracking of the target is completed. The parallel pipeline processing and the dual-core serial computing are combined, and then hardware resources are allocated reasonably according to different algorithm characteristics. The stereoscopic vision optical tracking system is free of constraint of a PC or working station and breaks through the bottleneck of software computing resources of the PC or working station. In addition, the system can perform real-time positioning and tracking on multipoint targets in space in different illumination environments with different target illumination strengths, and can real-time track over 100 point targets in space in a non-drop frame form. Tracking precision of the system can reach 0.5mm RMS.

Description

technical field [0001] The invention relates to an optical tracking system, in particular to a hardware-based stereo vision optical tracking system, which belongs to the technical field of machine vision and positioning tracking. Background technique [0002] The recognition and tracking of multi-point targets plays an important role in many application fields, such as image-guided surgery, motion capture, augmented reality, entertainment, etc. The optical tracking device is used to identify and track the marking points attached to the surface of the rigid body of the target, and by obtaining the spatial coordinates of multiple marking points and the distance between each marking point, the position and orientation of the rigid body target can be determined. [0003] In recent years, researchers have done a lot of research on the application of optical tracking systems. In "The role of navigation in knee surgery and evaluation of three-dimensional knee kinematics" Operative...

Claims

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Application Information

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IPC IPC(8): G06T1/00G06T1/20G06T7/20
Inventor 周平刘越王涌天翁冬冬
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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