Method, device and system for positioning rigid body

Abstract

The invention discloses a method, a device and a system for positioning a rigid body. The method comprises the following steps: receiving an infrared image of an infrared illuminator collected by a binocular infrared camera module; receiving posture information collected by an inertial measurement unit IMU, wherein the infrared illuminator and the IMU are arranged on a to-be-positioned rigid body; confirming the infrared illuminator in a three-dimensional position coordinate of an overall coordination system according to the position of an infrared illuminating point corresponding to the infrared illuminator in the infrared image; taking the three-dimensional position coordinate as the degree of freedom of movement of the to-be-positioned rigid body; confirming the degree of freedom of rotation of the to-be-positioned rigid body in the overall coordination system according to the posture information; and positioning the to-be-positioned rigid body according to the degree of freedom of movement and the degree of freedom of rotation. The quantity of the infrared illuminator on the to-be-positioned rigid body is one. Thus, the scheme is suitable for small-volume positioning rigid body and is beneficial to the positioning of a plurality of to-be-positioned rigid bodies. The infrared illuminator and the IMU are utilized to realize the positioning, the positioning cost is low and the positioning precision is higher.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a method, device and system for positioning a rigid body. Background technique [0002] Positioning technology is widely used in virtual reality, augmented reality, motion capture and other fields, and is an important part of human-computer interaction. Among them, optical positioning has become the most widely used technology in the field of indoor positioning due to its advantages of high precision, low cost, and high refresh rate. [0003] Current positioning solutions include laser light tower positioning, multi-camera multi-light point positioning, binocular red green blue color model (RGB for short) camera positioning, etc. However, the above positioning schemes cannot solve the problems of high positioning cost, insufficient positioning accuracy, and inability to apply to small-volume objects at the same time. Contents of the invention [0004] In view of the fact ...

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Problems solved by technology

[0004] In view of the fact that the existing positioning solutions cannot solve the problems of high positioning, insufficient positioning accuracy, and inability to apply small-volume objects at the same time, a method, device and system for positioning rigid bodies of the present invention are proposed to solve or at least partially solve the above problems

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