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Method, device and system for tracking rigid body

A rigid body, three-dimensional position technology, applied in the computer field, can solve the problems of low positioning accuracy, large calculation amount of feature matching algorithm, and inaccurate positioning.

Active Publication Date: 2017-11-03
BEIJING PICO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention provides a method, device and system for rigid body tracking to solve the problem that the existing tracking algorithm based on computer graphics has low positioning accuracy, the IMU has inaccurate positioning due to time drift, and the existing feature matching algorithm has a large amount of calculation. , Application scenario limitations big problem

Method used

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  • Method, device and system for tracking rigid body
  • Method, device and system for tracking rigid body

Examples

Experimental program
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Effect test

Embodiment 1

[0054] figure 1 is a flow chart of a rigid body tracking method according to an embodiment of the present invention, such as figure 1 as shown,

[0055] Before step S110, the inertial measurement sensor IMU is arranged on the rigid body, and the identity information of each feature point on the rigid body and the three-dimensional position information relative to the center of gravity of the rigid body are pre-stored;

[0056] In one embodiment of the present invention, the inertial measurement sensor IMU is arranged at the center of gravity of the rigid body, and the prestored three-dimensional position information of each feature point on the rigid body with respect to the center of gravity of the rigid body refers to the position of each feature point on the rigid body. The geometric three-dimensional position information of each feature point relative to the rigid center of gravity includes the identity information of each feature point (for example, the specific number 1...

Embodiment 2

[0085] image 3 It is a structural schematic diagram of a rigid body tracking device according to an embodiment of the present invention, such as image 3 Shown, a kind of device of rigid body tracking, described rigid body comprises a plurality of feature points, and inertial measurement sensor IMU is arranged on described rigid body, and described device comprises:

[0086] The storage unit 210 is used to pre-store the identity information of each feature point on the rigid body and the three-dimensional position information relative to the center of gravity of the rigid body;

[0087] An image feature point position coordinate determining unit 220, configured to acquire the image captured by the camera when the rigid body moves, and determine the three-dimensional position coordinates of the feature point of the rigid body in the image relative to the camera;

[0088] Rigid body attitude acquisition unit 230, configured to acquire the attitude of the rigid body in the init...

Embodiment 3

[0102] Figure 5 is a schematic diagram of a rigid body tracking system according to an embodiment of the present invention, such as Figure 5 As shown, the system 30 includes a camera 310, a rigid body 320 (in this embodiment, the rigid body refers to a head-mounted display device) and a control terminal 330, wherein an IMU340 is arranged on the rigid body (in this embodiment, Set the IMU at the center of gravity of the rigid body); in practical applications, the rigid body can be any kind of virtual reality device.

[0103] The camera 310 is configured to collect images of the rigid body 320 and send the images of the rigid body 320 to the control terminal 330;

[0104] The IMU340 is configured to collect the attitude of the rigid body 320 in its initial state and the attitude of the camera 310 corresponding to the rigid body 320 at the shooting time, and send the attitude to the control terminal 330;

[0105]The control terminal 330 is used to obtain the image captured by...

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Abstract

The invention discloses a method, a device and a system for tracking a rigid body. The method comprises steps of acquiring an image, acquired by a camera, of a rigid body and determining a three-dimensional coordinate of feature points in the image relative to the camera; acquiring an initial posture, acquired by an IMU, of the rigid body and a rigid body posture corresponding to a shooting period of the camera, and determining identity information of feature points of the image; according to the identity information of the feature points, obtaining matched feature point pairs; according to the matched feature point pairs, calculating rotation and translation information of the feature points in the image; and according to the rotation and translation information, calculating position information of the rigid body in an optical system. According to the invention, problems of big calculated amount of the current feature matching algorithm and severe limitation of application scenes are solved; a problem of low space positioning precision caused by low resolution of images acquired by the camera in the computer graphics-based tracking algorithm is solved; an objective of complementing advantages of the computer graphics-based tracking algorithm and the IMU-based tracking algorithm is achieved; and tracking precision of the rigid body is improved.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a method, device and system for rigid body tracking. Background technique [0002] Existing tracing techniques can be implemented in different ways on different physical hardware. There are mainly the following ways to realize the existing tracking technology: [0003] (1) Single and binocular RGB cameras, IR cameras, depth cameras, etc. based on computer graphics and image processing technology. [0004] (2) Based on laser, radar, electromagnetic wave, ultrasonic and other positioning means. [0005] (3) IMU-based inertial sensing unit, etc. [0006] The above-mentioned tracking technologies have their own advantages and disadvantages in the implementation of tracking algorithms. Among them, the tracking algorithm based on computer graphics is the most widely used algorithm, which has the advantages of wide adaptability and low hardware conditions. However, due to t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/73G06T7/66
CPCG06T7/246G06T7/66G06T7/73G06T2207/10016
Inventor 崔珊珊孙涛孙恩情舒玉龙
Owner BEIJING PICO TECH
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