Six-degree-of-freedom pose estimation system and method based on speckles

Abstract

The invention provides a six-degree-of-freedom pose estimation system and method based on speckles. The system comprises an infrared emitter, a camera and a computer for algorithm processing. The camera is fixed on a tripod. The infrared emitter can be held by hand, and the visual field of the camera is intersected with an image projected by the infrared emitter during working. The method comprises the following steps: acquiring a reference image projected by an infrared emitter, recovering the complete reference image of the infrared emitter by combining a connected domain algorithm, a Hash algorithm, a voting method, a region growing algorithm, a light beam adjustment method and a panoramic splicing algorithm, and constructing an LUT for the reference image of the infrared emitter; and calculating an intrinsic matrix E by adopting an RANSAC algorithm and a Nister five-point pose estimation algorithm to obtain a pose estimation parameter result. According to the method, the advantagesof active vision are mainly utilized, and an efficient and robust pose estimation result is obtained by combining a connected domain algorithm, a Hash algorithm, a voting method, a region growing algorithm, a light beam adjustment method, a panoramic splicing algorithm, an RANSAC algorithm and a Nister five-point pose estimation algorithm.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a speckle-based six-degree-of-freedom pose estimation system and method. Background technique [0002] Degree of freedom tracking is an important research content of AR. At this stage, most methods use inertial measurement hardware to realize pose estimation, while others use methods based on computer vision. Existing vision-based pose tracking systems, such as Vicon and OptiTrack, need to locate multiple markers on the target object. These systems are costly and cumbersome in the pre-processing stages such as parameter setting and system calibration. The SLAM system does not need artificially designed markers to obtain poses from the scene, but it needs textured scenes, which is not friendly to untextured scenes with a large number of planes. Contents of the invention [0003] According to the technical problems raised above, a speckle-based six-degree-of-free...

AI Technical Summary

Problems solved by technology

Existing vision-based pose tracking systems, such as Vicon and OptiTrack, need to locate multiple markers on the target object. These systems are costly and cumbersome in pre-processing stages such as parameter setting and system calibration.

The SLAM system does not need artificially designed markers to obtain poses from the scene, but it needs textured scenes, which is not friendly to untextured scenes with a large number of planes

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