Method and system for the optical-inertial tracking of a mobile object

Abstract

The invention relates to a method and system for the reverse optical-inertial tracking of a mobile object. The method includes the following steps: (a) providing that a plurality of markers emits light in the infrared range; (b) reading, by means of a first data processing device, an image from an optical sensor that is physically connected to a mobile object, and identifying, in the read image, pixels that satisfy predetermined conditions; (c) identifying, on the basis of the pixels identified and using the first data processing device, images of the markers, and determining the parameters ofsaid images of the markers; (d) reading, by means of the first data processing device, data from at least one inertial sensor that is physically connected to the mobile object; (e) generating, by means of the first data processing device, a combined data stream containing the parameters of the images of the markers and the data from the said at least one inertial sensor, and transmitting said data stream by means of a first communication device to a second communication device; (f) receiving the combined data stream by means of the second communication device, and determining, on the basis ofsaid data stream, the positional data of a tracker in a coordinate system of the zone of movement of the mobile object; (g) validating, by means of a second data processing device and using the positional data of the tracker, a mathematical model of the path of movement of the tracker; (h) extrapolating, by means of the second data processing device and using the validated mathematical model of the path of movement of the tracker, the positional data of the tracker to an extrapolation horizon.

Description

technical field [0001] The present invention relates to methods and systems for optical inertial tracking of movable objects from the inside out and can be used in virtual reality or augmented reality systems, intralogistics systems (including factory logistics, warehouse logistics or store logistics), robotic systems, Unmanned moving objects and other types of industrial, scientific or training systems. Background technique [0002] Tracking a movable object in a virtual reality (VR) system or in an augmented reality (AR) system means tracking the position and orientation of the movable object used to present an image displayed to a user of the system. [0003] The tracking system can be configured as an external-internal tracking system or an internal-external tracking system, wherein the sensor or sensors are located in an area outside the tracked object and the reference point or points are located on the tracked object, wherein one or more A plurality of sensors are lo...

AI Technical Summary

Problems solved by technology

[0027] This invention aims to solve the problem of fast, reliable, precise and relatively cheap tracking of movable objects in different systems, firstly, but not limited to, in VR / AR systems

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