CN107918499B - Optical positioning system and method, optical observation equipment for positioning - Google Patents
Optical positioning system and method, optical observation equipment for positioning Download PDFInfo
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- CN107918499B CN107918499B CN201610882082.6A CN201610882082A CN107918499B CN 107918499 B CN107918499 B CN 107918499B CN 201610882082 A CN201610882082 A CN 201610882082A CN 107918499 B CN107918499 B CN 107918499B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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Abstract
The invention relates to an optical positioning system comprising: a plurality of optical positioning markers disposed in a spatial environment apart from one another; and observing the base station. The observation base station includes: an optical device including an image acquisition portion that acquires an image of an optical positioning mark; a holding device adapted to be disposed on an object or person to be tracked; the holder is connected between the holding device and the optical device; a sensing portion for sensing roll angle and/or pitch angle and/or heading angle changes of the holding device; and a driving part which drives the holder based on the signal of the sensing part, and isolates the roll angle and/or pitch angle and/or course angle variation of the optical device and the holding device. The invention also relates to an optical observation device for positioning and an optical positioning method.
Description
Technical Field
The invention relates to the field of positioning and tracking, in particular to an optical positioning system and method and optical observation equipment for positioning.
Background
The tracking system is widely used for Augmented Reality (AR)/Virtual Reality (VR) human-computer interaction and robot navigation, and is one of the most core and bottom technologies. In the field of human-computer interaction such as AR/VR, positioning and attitude determination are very critical parts, and are the basis of human-machine interaction.
Motion Tracking systems can be divided into two types of technology, OIT (out-In Tracking) and IOT (Inside-out Tracking). The difference is that the observation base station (e.g., camera) of the OIT is fixed in the environment, while the observation base station (e.g., camera) of the IOT is placed on the object to be tracked.
Representative products for OIT tracking are Optitrack, Vicon, a.r.t.
IOT can be subdivided into tag-based and non-tag-based technologies.
The IOT not based on the mark is also called simultaneous localization and mapping (SLAM) technology, and there is no commercial product sold in official form at present, which represents Microsoft Hololens and Google Tang.
The tag-based IOT requires that the environment be fully populated with tags representing the product's ARToolKit identification System at the university of Washington, and Intersense IS1200 under the flag of the Thailand Rez group (THALES).
In the process of implementing the present invention, the applicant finds that the above prior art has the following technical defects:
OIT is expensive, difficult to deploy, and 3 degrees of freedom tracking, which can only track a position, and the direction needs to calculate the direction of the entire rigid body by capturing multiple positions on one rigid body, so the mark has a large volume and poor attitude accuracy, and it is easy for tracking errors in the case of multiple persons and multiple points, and not for local calculation at the receiving end, the position needs to be calculated and then transmitted to the receiving end by wireless, and the time delay is easily introduced by wireless transmission.
The IOT which is not based on the mark does not need any deployment in the environment, and can be used anytime and anywhere, and the defects are that the IOT is very unstable, the power consumption is high, and strong computing resources are needed.
The mark-based IOT generally has the problem of being easily shielded, that is, when a camera cannot capture an optical mark when a moving object or a person is in a specific state, a motion tracking system fails, the object or the person cannot be positioned or oriented, and the reliability and the usability of the system are obviously reduced.
Disclosure of Invention
The present invention has been made to solve or alleviate at least one aspect of the above technical problems.
In general, for example, in an IOT positioning scheme that employs markers, a pan-tilt is used to adjust the pointing direction of optical devices (e.g., infrared cameras, depth cameras, etc.) in an optical viewing device such that the positioning device is always pointing at the markers, thereby improving reliability and usability of the marker-based IOT system.
Embodiments of the invention relate to an optical positioning system comprising: a plurality of optical positioning markers arranged in a spatial environment, spaced apart from each other; and an optical observation device adapted to be disposed on the object or person to be tracked. The optical observation apparatus includes: an optical device including an image acquisition portion that acquires an image of an optical positioning mark; and a reset mechanism which enables the optical device to isolate the roll angle and/or the pitch angle and/or the heading angle change of the object or the person to be tracked.
Optionally, the reset mechanism includes: a holding device adapted to be disposed on an object or person to be tracked; the holder is connected between the holding device and the optical device; a sensing portion for sensing roll angle and/or pitch angle and/or heading angle changes of the holding device; and the driving part drives the holder based on the signal of the sensing part to isolate the optical device from the roll angle and/or the pitch angle and/or the heading angle change of the holding device.
Optionally, the reset mechanism comprises one of the following mechanisms for keeping the optical device pointing substantially unchanged: magnetic suspension mechanism, gas suspension mechanism, liquid suspension mechanism, gravity pendulum mechanism, balancing weight and the mechanism that the rotating part combines together.
Optionally, the position of a plurality of the optical positioning marks is at least higher than the position of the optical device. Further, the space environment is defined by a building having a ceiling; a plurality of the optical positioning markers are located on the ceiling.
Optionally, each optical positioning mark is provided with a positioning part; the optical device further comprises a light emitting part, the positioning part reflects light from the light emitting part, and the image collecting part is used for obtaining an image of the positioning part.
Optionally, the optical positioning system further includes an information processing portion, the information processing portion receives a signal from the image acquisition portion, wherein: each optical positioning mark comprises a color coding area formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form color codes, and the color codes of the optical positioning marks correspond to the three-dimensional positions of the positioning parts of the optical positioning marks in the space environment one by one; the information processing portion is configured to recognize color-coded information from the image pickup portion to determine from which optical positioning mark the reflected light received by the light image pickup portion is reflected, or from which optical positioning mark the positioning portion from which the image is dark. The light emitting portion may emit invisible light, for example, infrared light. The positioning portion may be a light retro-reflective portion. The positioning portion may also be a light absorbing portion.
Optionally, the optical positioning system is used for VR or AR devices.
Embodiments of the present invention also relate to an optical observation device for positioning, the optical observation device being adapted to be arranged on an object or a person to be tracked, the optical observation device comprising: an optical device comprising an image acquisition portion for acquiring an image of an optical positioning mark; and the resetting mechanism isolates the optical device from the roll angle and/or the pitch angle and/or the course angle change of the object or the person to be tracked.
Optionally, the reset mechanism comprises: a holding device adapted to be disposed on an object or person to be tracked; the holder is connected between the holding device and the optical device; a sensing portion for sensing roll angle and/or pitch angle and/or heading angle changes of the holding device; and a driving part for driving the holder based on the signal of the sensing part to isolate the optical device from the roll angle and/or pitch angle and/or course angle variation of the holding device.
Optionally, the optical observation device is used for a VR or AR device.
Embodiments according to the present invention also relate to an optical positioning method for an optical sighting apparatus comprising an optical device and a resetting mechanism, the method comprising the steps of: sensing roll and/or pitch and/or heading changes of the holding device; and isolating the optical device from roll angle and/or pitch angle and/or course angle changes of the object or person to be tracked by using a reset mechanism.
Optionally, the resetting mechanism comprises a holding device and a pan/tilt head arranged between the holding device and the optical device, the holding device being adapted to be arranged on the object or person to be tracked, the method comprising the steps of: controlling the position of the pan/tilt head isolates roll and/or pitch and/or heading changes of the optical device from the holding device.
Optionally, the method further includes the steps of: arranging a plurality of optical positioning marks in a space environment, and calibrating the three-dimensional position of each optical positioning mark in the environment space; acquiring an image of an optical positioning mark by using an optical device of an optical observation apparatus provided on an object or person to be tracked; and analyzing from which optical positioning mark the image acquired by the optical device came.
Optionally, in the foregoing method, each of the optical positioning marks includes a color coding region formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form a color code, and the color codes of the optical positioning marks correspond to three-dimensional positions of the optical positioning marks in the spatial environment one to one.
Further, the method further comprises a horizontal attitude calibration step of the optical device, and the steps comprise: determining that a holding device on an object or person to be tracked is at a horizontal attitude angle; and driving the position of the holder to enable the holder to be at a horizontal attitude angle.
In the above method, optionally, the optical observation device is used for a VR or AR device; measuring a change in attitude of the holding device at a frequency of not less than 100Hz with the sensing section; and the position of the holder is adjusted in real time based on the attitude change of the holding device.
Drawings
These and other features and advantages of the various embodiments of the disclosed invention will be better understood from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate like parts throughout, and in which:
FIG. 1 is a schematic view of an optical viewing apparatus for positioning according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of an optical positioning system according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic illustration of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic illustration of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 6 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 7 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 8 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 9 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention;
FIG. 10 is a schematic illustration of an optical locating mark in accordance with an exemplary embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the general inventive concept of the present invention and should not be construed as limiting the invention.
FIG. 1 is a schematic view of an optical viewing apparatus for positioning according to an exemplary embodiment of the present invention; FIG. 2 is a schematic diagram of an optical positioning system according to an exemplary embodiment of the present invention.
As exemplarily shown in fig. 1 and 2, the optical positioning system includes:
a plurality of optical positioning markers 100 arranged in a spatial environment separately from each other; and
optical observation device 200, comprising:
an optical device 210, the optical device 210 comprising an image acquisition portion 212 that acquires an image of the optical positioning mark 100 or receives light from the optical positioning mark 100;
a holding device 220 adapted to be placed on an object or person to be tracked;
a head 230, on which the optical device 210 is arranged, connected between the holding device 220 and the optical device 210;
a sensing part 240 for sensing a roll angle and/or a pitch angle and/or a heading angle change of the holder 220; and
a driving part 250 for driving the pan and tilt head 230 based on the signal of the sensing part 240, so that the optical device 210 isolates the roll angle and/or pitch angle and/or heading angle variation of the holding device 220 so that the image capturing part 212 always faces at least four of the plurality of optical positioning markers 100.
The position of the optical device 210 relative to the optical locating marks may be determined by environmental conditions. The pointing direction of the optical device 210 is typically either day or earth, and other directions such as pointing horizontally, pointing 45 degrees up or 45 degrees down are also encompassed by the present invention.
In particular, the optical locating mark may be directly disposed on the ground if there is no top or even ground in the environmental space, and there is no obstruction or obstacle in the travel path on the ground, and accordingly, the optical device 210 needs to capture the optical locating mark facing the ground.
Furthermore, in case the optical device is worn by the user, in an alternative embodiment, the position of the optical locating mark 100 may be set at least higher than the position of the optical device 210, for example, directly on the ceiling R of a room (as shown in fig. 2) or on the upper half of a wall.
The optical positioning system mainly comprises three parts, namely an optical positioning mark, a cradle head and an optical device.
The position change of the holder can be realized through electric control. For example, a rotating component controlled by a direct current motor or a stepping motor, etc., thereby isolating the angular motion of the object or person to be tracked under the condition that the device is kept rotating due to the movement of the person, and ensuring that the optical device always points to the direction of the mark point. The holder is controlled to rotate. The rotating shaft of the holder is fixed with the optical device, the holder can receive external input, and the rotating shaft is driven by the driving part to rotate correspondingly, so that the optical device such as a camera is adjusted to point.
The implementation of the pan-tilt can be various. For example, the pan/tilt head may be a gyro-stabilized platform, and a gyro controls a motor to rotate, so that the optical device always points or faces a certain direction; the motor can also be controlled to rotate by angle measuring devices such as a photoelectric coded disc and the like, and can also be controlled to rotate by other equipment capable of giving system postures.
The pan-tilt can be single-axis, double-axis, three-axis or more multi-degree of freedom, the single-axis pan-tilt can only isolate the one-dimensional attitude motion of the object or person to be tracked, the double-axis pan-tilt can isolate the two-dimensional attitude motion of the object or person to be tracked, the three-axis pan-tilt can isolate the three-dimensional attitude motion of the object or person to be tracked (except when the pitch is 90 degrees), and the four-axis pan-tilt can isolate the three-dimensional attitude motion of the object or person to be tracked under various conditions.
Isolation in the present invention means that the initial position of the optical device remains constant or substantially constant regardless of changes in roll and/or pitch and/or heading of the object or person to be tracked or the holding device.
The above isolation is achieved by using a holder. The holder and the related structure thereof can be used as a reset mechanism of the optical device. However, instead of using a pan-tilt, the following manner or structure may be used to keep the optical device always pointing in a certain direction: the optical device always points to a certain direction by adopting a magnetic suspension, gas suspension or liquid suspension method or structure; the optical device always points to a certain direction by adopting mechanical methods (non-electric) such as gravity pendulum, additional balancing weight matched with a rotating part and the like.
Based on the above, the present invention provides an optical positioning system, comprising: a plurality of optical positioning markers disposed in a spatial environment apart from one another; and an optical observation device adapted to be arranged on an object or person to be tracked, comprising: an optical device including an image acquisition portion that acquires an image of an optical positioning mark; and a reset mechanism which enables the optical device to isolate the roll angle and/or the pitch angle and/or the heading angle change of the object or the person to be tracked. For example, the variation is such that the image pickup section always faces at least four of the plurality of optical positioning marks.
In addition, generally defining the right, front and upper directions of the carrier to form a right-hand system, in the invention, the rotation around a forward axis is a roll angle, the rotation around a right axis is a pitch angle, and the rotation around an upward axis is a heading angle.
In an alternative embodiment, referring to fig. 1, 3-10, each optical positioning mark 100 is provided with a positioning portion 10; the optical device 210 further includes a light emitting portion 214, the positioning portion 10 reflects light from the light emitting portion 214, and the image collecting portion receives light reflected from the positioning portion 10.
It is to be noted that the positioning portion 10 may be a light absorbing portion, so that in the formed image of the optical positioning mark, the image of the positioning portion 10 is in a dark or black state, and the other portion is in a gray or light state which is clearly different from the dark or black state.
Optionally, the optical positioning system further includes an information processing portion 300, the information processing portion 300 receives a signal from the image acquisition portion 212, wherein: each optical positioning mark comprises a color coding area formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form color codes, and the color codes of the optical positioning marks correspond to the three-dimensional positions of the optical positioning marks in the space environment one by one; the information processing portion is configured to recognize color-coded information from the image pickup portion to determine from which optical positioning mark the reflected light received by the light image pickup portion is reflected (the positioning portion is a light reflection portion), or to determine from which optical positioning mark the positioning portion whose image is dark (the positioning portion is a light absorption portion). The information processing unit 300 may previously establish a database of the correspondence relationship between the positions of the optical positioning marks and the color codes of the optical positioning marks.
The positioning part 10 may be a light retro-reflective part.
The optical positioning system described above may be used in VR or AR devices.
As shown in fig. 1, the optical observation apparatus for positioning includes:
an optical device 210 comprising an image acquisition portion 212 for acquiring an image of the optical positioning mark 100;
a holding device 220 adapted to be placed on an object or person to be tracked;
a pan-tilt 230 on which the optical device is arranged, the pan-tilt being connected between the holding device and the optical device;
a sensing part 240 for sensing a roll angle and/or a pitch angle and/or a heading angle change of the holder; and
a driving part 250 for driving the pan/tilt head based on the signal of the sensing part so that the pan/tilt head isolates the roll angle and/or pitch angle and/or course angle variation of the holding device.
It is noted that only the case where the pan/tilt head 230 can be rotated in the pitch direction is shown in fig. 1. Those skilled in the art will appreciate that other types of pan/tilt heads (e.g., pan/tilt heads that can vary pitch and roll angles) may be used with the present invention.
The optical observation device may be used for VR or AR devices.
The holding device, the sensing part, the driving part and the holder form a reset mechanism.
The reset mechanism may also include one of the following mechanisms for maintaining the optical device pointing substantially constant: magnetic suspension mechanism, gas suspension mechanism, liquid suspension mechanism, gravity pendulum mechanism, balancing weight and the mechanism that the rotating part combines together.
The invention also proposes an optical positioning method for an optical sighting device comprising an optical means 210, a holding means 220 and a head 230 arranged therebetween, said method comprising the steps of:
sensing roll and/or pitch and/or heading angle changes of the holding device 220; and
controlling the position of the pan and tilt head 230 isolates the optical device from roll and/or pitch and/or heading changes of the holding device.
The above method may further comprise the steps of:
arranging a plurality of optical positioning marks in a space environment, and calibrating the three-dimensional position of each optical positioning mark in the environment space;
acquiring an image of an optical positioning mark by using an optical device of an optical observation apparatus arranged on an object or a person to be tracked; and
analysing from which optical locating mark the image acquired by the optical device originates
As mentioned above, the resetting mechanism may be a mechanism other than the pan/tilt head and its associated structure, and accordingly, the present invention also provides an optical positioning method for an optical observation apparatus, the optical observation apparatus including an optical device and a resetting mechanism, the method including the steps of: sensing roll and/or pitch and/or heading changes of the holding device; and isolating the optical device from roll angle and/or pitch angle and/or heading angle changes of the object or person to be tracked by using a reset mechanism.
Optionally, as described in detail later, each of the optical positioning marks 100 includes a color coding region 20 formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form a color code, and the color code of the optical positioning mark corresponds to the three-dimensional position of the positioning portion 10 of the optical positioning mark in the spatial environment.
The method may further comprise a horizontal attitude calibration step of the optical device, comprising: determining that a holding device on an object or person to be tracked is at a horizontal attitude angle; and driving the position of the holder to enable the holder to be at the horizontal attitude angle.
In the above method, the optical observation device is used for a VR or AR device; measuring a change in attitude of the holding device at a frequency of not less than 100 Hz; and the position of the holder is adjusted in real time based on the attitude change of the holding device.
An example of the optical positioning method (taking the example in which the marker points are arranged on the ceiling) is described in detail below.
The initial deployment comprises the following steps:
and acquiring the three-dimensional position of each mark in the space environment, and storing the coordinate data into a global map.
The steps of the use stage are as follows:
1. determining the horizontal attitude angle (relative to geographical level, i.e. the horizontal plane perpendicular to the direction of gravity) of the object or person to be tracked, more specifically the horizontal attitude angle of the holding means 220, using an angle-measuring device, such as a gyroscope or a photoelectric encoder;
2. based on the horizontal attitude angle measured by the angle measuring device, the driving motor adjusts the position of the pan/tilt head 230 so that the optical device 210 rotates by an angle opposite thereto. For example, at the initial time, the horizontal postures of the optical device and the VR glasses are the same, the roll angle measured by the angle measuring device is 0 degree, and the pitch angle is 50 degrees, the motor is adjusted to rotate the holding device 220 by-50 degrees in the pitch direction, so that the horizontal posture angles of the optical device 210 are all 0 degree, that is, the lens points to the roof on which the mark is arranged, and the optical device can still capture the mark point;
3. the optical device captures at least four marks for positioning;
4. in the positioning process, when the object or person to be tracked moves, the angle measuring device can measure the attitude change of the holding device 220 in real time (not less than 100Hz) and feed the attitude change back to the control part of the holder, so that the optical device always points to the roof, and can capture the mark and position the object or person.
The optical locating marks are described in detail below with reference to fig. 3-10.
The optical positioning mark 100 in the present invention includes: a color coding region 20 formed by a plurality of color blocks, wherein the color blocks are visible light color blocks and are arranged in sequence to form color codes; and a positioning portion 10 for reflecting the invisible light, the positioning portion being disposed within an area surrounded by the color-coded areas or in the vicinity of the color-coded areas.
The color-coded region may be integral with the positioning portion or may be provided independently of the positioning portion. For example, in the case where the positioning portion has been provided on the wall body, a color-coded region may be further provided around the positioning portion. For another example, the positioning portion and the color coding region are integrally arranged, so that the positioning portion and the color coding region can be pasted on the wall together.
One embodiment of an optical locating mark 100 according to the present invention is described in detail below with reference to FIG. 3.
As shown in fig. 3, a small circle including a cross in the middle is a position of the light reflection point or the positioning portion 10, the small circle is an inner boundary of the color coding region, the black ring at the outermost layer is an outer boundary of the color coding region, and the ring including the fan rings with different colors in the middle is the color coding region 20. Different colors represent different codes. It is to be noted that the cross may also not be present; in addition, the positioning part can be arranged to cover the circle center of the small circle; the outermost rings may be black or of another color, but preferably are of a different color than the color in the color-coded region, and advantageously are of a different color than the background environment.
The color information of the outermost circle can quickly and accurately confirm the appearance and the outline of the optical positioning mark, and the circle center position of the optical positioning mark can be conveniently and quickly and accurately confirmed.
In decoding, a reference color block, such as a white area block in fig. 3, can be found first, and then the colors of other color blocks are sequentially read in a clockwise direction (or a counterclockwise direction, of course). Taking fig. 3 as an example, the middle ring is divided into 6 parts, and the area occupied by each code is 1/6 rings (60-degree fan ring). In the figure, there are 4 colors of red (R), blue (B), green (G) and white (W), which respectively represent four codes of 0, 1, 2 and 3. Starting from the white area, the encoding is done clockwise, and the color in the upper figure is 320100. Regarding the design of color coding, if the number n of intermediate color blocks, the number c of combinations of colors are determined, a total of c can be generated n-1 In the embodiment of fig. 3, the color of the reference block cannot be the same as the colors of other color blocks, otherwise, one color code generates multiple decoding modes, which destroys the uniqueness of the color code decoding. It should be noted that it is necessary to specify that the color of the reference color block is different from the other color blocks because the reference color block is not suitable for determining by using the position when the color blocks form a ring, and the reference color block is changed by using the positionIn other words, in the case where the patches constitute a color-coded region of a ring shape, the reference patches are selected by color.
In the embodiment of fig. 3, the design of the middle color block is extensible and may be embodied in the following aspects:
1. the color can be selected from a plurality of color combinations with higher resolution for coding. The selection can be made in a variety of color spaces, such as RGB, HSV color space selection. For example, pure red (R ═ 255, G ═ 0, and B ═ 0), pure blue (R ═ 0, G ═ 0, and B ═ 255), and pure green (R ═ 0, G ═ 255, and B ═ 0) are selected, and the reference color is, for example, pure white (R ═ 255, G ═ 255, and B ═ 255).
2. The larger the number of the partitions of the intermediate color blocks, the larger the number of the finally generated codes, which mainly depends on the number of the code points to be deployed in the actual three-dimensional scene. For example, if the number of color blocks is 4 and the number of color combinations is 3, 27 codes are generated, and if the number of color blocks is increased to 6 and the number of color combinations is 3, 243 codes are generated.
It should be noted that the sector-shaped color blocks in fig. 3 may also be in the form of unequal circles, and in this case, each color block or each encoding point is not determined by an angle, but is directly determined by the color of the color block. For example, in this case, two red color blocks in the upper right corner of fig. 3 are regarded as one color block.
In the embodiment of fig. 3, the positioning portion may be formed of an infrared reflective material. Therefore, the middle part of the optical positioning mark can reflect infrared light and is identified by the infrared camera, so that the rapid and accurate positioning and attitude determination calculation can be carried out.
FIG. 4 is a schematic illustration of an optical locating mark according to an exemplary embodiment of the present invention. In fig. 4, the color patches are annular color patches concentrically arranged in order in the radial direction, and as shown in fig. 4, in the radially outward direction, are an R color patch, a G color patch, a B color patch, and a G color patch. The plurality of color patches includes a single reference color patch, the reference color patch is one of two color patches located radially inside or radially outside (e.g., an R color ring), color coding starts from the reference color patch in a predetermined order, and if red (R), blue (B), and green (G) represent three codes of 0, 1, and 2, respectively, the color coding in fig. 4 is 0212. As shown in fig. 4, the positioning portion 10 is located at a circle center portion.
FIG. 5 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention. In fig. 5, the whole optical mark is a square, the positioning part 10 is arranged as a small square in the middle of the square, the four sides of the two squares are respectively parallel, and the color coding region 20 is formed between the two squares and comprises four parts which are in the same shape and are connected with each other. Wherein the color coding region includes a single reference patch from which color coding starts in a predetermined order, and a color of the single reference patch is different from colors of other patches.
FIG. 6 is a schematic illustration of an optical locating mark according to an exemplary embodiment of the present invention. In fig. 6, the whole optical mark is square, the positioning part 10 is arranged as a circle in the middle of the square, and the color coding region 20 is formed between the square and the circle and comprises four parts which are in the same shape and are connected with each other. Wherein the color coding region includes a single reference patch from which color coding starts in a predetermined order, and a color of the single reference patch is different from colors of other patches.
FIG. 7 is a schematic illustration of an optical locating mark according to an exemplary embodiment of the present invention. In fig. 7, the entire optical marking is an equilateral triangle, the positioning portion 10 being a circle arranged at the centroid of the equilateral triangle, which positioning portion and the side of the triangle form the color-coded region 20, which color-coded region comprises three identically shaped parts. Wherein the color coding region includes a single reference patch from which color coding starts in a predetermined order, and a color of the single reference patch is different from colors of other patches.
FIG. 8 is a schematic illustration of an optical locating mark in accordance with an exemplary embodiment of the present invention. In fig. 8, the entire optical mark is an equilateral triangle, the positioning portion 10 is an equilateral triangle arranged at the centroid of the equilateral triangle, the two triangles forming between them the color-coded zone 20, which comprises six identically shaped parts. Wherein the color coding region includes a single reference patch from which color coding starts in a predetermined order, and a color of the single reference patch is different from colors of other patches.
In fig. 5-8, the specific colors of the various regions in the color-coded region 20 are not indicated, and can be set by one skilled in the art as desired.
Although not shown, the color coding in the optical locating marks may also be a combination of the two embodiments of fig. 3 and 4. The positioning part is positioned at the circle center part, and the positioning part is positioned at the circle center part. May be the first ring or the second ring.
Although not shown, the color coding in the optical locating marks may also be a combination of the two circular rings in FIG. 4. The positioning part is arranged on the circle center part, the first sector ring color lumps form a first circular ring integrally, the second sector ring color lumps form a second circular ring, the first circular ring and the second circular ring are connected in the radial direction, and the positioning part is positioned on the circle center part.
In embodiments where the color-coded region is annular, the outer boundaries of the color-coded region, such as the sides of squares and triangles, may be specifically colored to aid the light collection device in capturing, confirming the appearance of the optical locating mark, and optionally, the center position of the optical locating mark where the locating portion is located.
In the above, an embodiment is disclosed in which the color-coded region is annular, and the positioning portion is located at the center of the annular shape. These embodiments are not intended to be limiting, however, and variations may be made in accordance with these embodiments by those skilled in the art, which variations are within the scope of the invention.
The reference color block does not necessarily have to be inconsistent with other color blocks in the circular color-coded region, but may also be marked in other ways, for example, the reference color block is the same as the color of the first color pattern in sequence, and the whole color-coded region cannot be shown by two consecutive same colors, so that the start position of the color-coded region can be determined.
FIG. 9 is a schematic illustration of an optical locating mark in accordance with an exemplary embodiment of the present invention. In fig. 9, a plurality of color patches does not form a circular color coding region 20, but forms a large sector. It can be assumed that each color-coded region contains 4 codes (i.e., four colors), similar to the coding in fig. 3, the color coding in fig. 9 is 3201.
In the case where the color coding region is a sector or a sector ring, the reference patch may be one of two patches located at the circumferential edge of the color coding region, where the reference patch is mainly determined by a position, and the color of the reference patch is not required to be different from that of the other patches. For example, in fig. 9, two color patches, i.e., a white color patch and a blue color patch, located at the circumferential edge of the color coding region may both be used as reference color patches. Although the reference patches are selected by positions, the reference patches may be different in color from other patches to facilitate accurate and rapid identification of the reference patches.
It should be noted that although the positioning portion is located at the circle center portion in the embodiment, the positioning portion may be located at other portions, for example, at the fan-shaped notch of the circular ring in fig. 4. In the case where the positioning portion is not located at the circle center portion, the sector ring color lump in fig. 3 and 4 may be provided as the sector color lump.
FIG. 10 is a schematic view of an optical locating mark according to an exemplary embodiment of the present invention. In fig. 10, the entire optical locating mark is generally in the shape of a bar, and each color patch is a straight color bar in the color-coded region 20. Adjacent color bars may be adjacent to each other and have different colors. The width of the color bar can be used for distinguishing different color bars. The positioning part 10 may be disposed at any position of the optical positioning mark, and optionally, may be disposed at one end of an elongated optical positioning mark, as shown in fig. 10. Wherein the color coding region includes single reference color patches at one end in a lengthwise direction of the optical positioning mark, and color coding is started from the single reference color patches in a predetermined order. In fig. 10, the color code may be 0212.
It is noted that, in the above-described embodiment, the color kind and the number of color patches may be any number.
In the above embodiments, the invisible light may be infrared light or ultraviolet light.
In an alternative embodiment, the color patches may be removed from the optical locating marks. In this way, after the initial modeling using the marker points, the color portion of the optical positioning mark can be removed, and then the optical positioning mark can be realized by the same or similar color as the attached object. In the case where the positioning portion is invisible to the naked eye, for example, the positioning portion is provided for reflecting infrared light while allowing visible light to pass through, the entire optical positioning mark may be "invisible". This applies to both general home users and C-end users.
The positioning portion may be made of a retroreflective material containing glass beads or a micro-grid. Further, the positioning part is a reflective dot made of a retroreflective material.
In the present invention, the optical device functions as an image acquisition, and for the optical positioning mark having the color coding function and the infrared reflection function, the optical device may be divided into two parts, one part is used for acquiring an image of the color coding region, the other part is used for capturing invisible light reflected by the positioning part or acquiring an image of the positioning part, and the other part may be, for example, an infrared camera. The optical device may be a separate body or an integrated body. More specifically, the optical device is a binocular system composed of an infrared camera for sensing infrared and a color camera for sensing visible light, or a monocular system composed of one camera, wherein pixels for sensing infrared bands and pixels for sensing visible light bands are distributed in a photosensitive chip in the monocular system in a crossed manner. The optical device may employ a high resolution (e.g., greater than 1024x768) and high frame rate (e.g., no less than 100Hz) device.
In the invention, a coding and decoding mode different from the prior art is adopted, and coding information is represented by different color arrangements, so that a camera can be conveniently and rapidly identified and decoded.
In the embodiment of the invention, the IOT tracking based on the mark shown in the figure is adopted, because the mark features are obvious and the information is rich, the positioning and posture determination can be realized under the condition that the optical tracking device captures at least four marks, the positioning stability is good, the precision is high, the time delay is low, the range of the deployed space type is not limited, and the mark is deployed in the range, namely the precise positioning tracking can be performed in the range.
In the embodiment of the invention, the support of multi-person interaction can be realized. Because the IOT positioning is to place the positioning device on the object or person to be tracked, and the marker is deployed in the environment, multiple optical positioning devices or optical observation devices can use the same marker at the same time without interfering with each other.
In the embodiment of the invention, 6-degree-of-freedom tracking can be realized, and three-dimensional position information determination and three-dimensional attitude information determination can be realized.
In the embodiment of the invention, the failure of the system caused by incapability of capturing the mark in a specific application scene can be effectively solved by using the resetting mechanisms such as the holder and the like, so that the usability and the reliability of the scheme of the invention are high. The biggest problem of IOT is that the system cannot locate when the marker cannot be captured, and the loss of lock of the marker due to gesture motion is an important reason. If the VR game scene is indoors, the camera pointing direction can change obviously. For example, the mark points are arranged on a roof, the system is positioned on virtual reality glasses, when a person lowers the head, the pointing direction of an optical device such as a camera can be obviously changed, if no resetting mechanism such as a holder is arranged, the camera cannot see the mark points on the roof, the system can be invalid, if the holder adjusts the camera so that the camera still points to the mark points when the person lowers the head, the system can still work normally, and the reliability and the feasibility are greatly improved.
Although embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (15)
1. An optical positioning system comprising:
a plurality of optical positioning markers arranged in a spatial environment, spaced apart from each other; and
optical sighting device, suitable for being arranged on an object or person to be tracked, comprising:
an optical device including an image acquisition portion that acquires an image of an optical positioning mark; and
a reset mechanism that causes the optical device to isolate roll and/or pitch and/or heading angle changes of the object or person to be tracked, wherein the isolation indicates that the position of the optical device remains unchanged regardless of changes in roll and/or pitch and/or heading angle of the object or person to be tracked,
the reset mechanism includes:
a holding device adapted to be disposed on an object or person to be tracked;
the holder is connected between the holding device and the optical device;
a sensing portion for sensing roll angle and/or pitch angle and/or heading angle changes of the holding device; and
a driving part for driving the holder based on the signal of the sensing part to isolate the optical device from the roll angle and/or pitch angle and/or course angle variation of the holding device,
alternatively, the reset mechanism comprises one of the following mechanisms for keeping the optical device pointing substantially constant:
magnetic suspension mechanism, gas suspension mechanism, liquid suspension mechanism, gravity pendulum mechanism, balancing weight and the mechanism that the rotating part combines together.
2. The optical positioning system of claim 1, wherein:
the positions of a plurality of optical positioning marks are at least higher than the position of the optical device.
3. The optical positioning system of claim 2, wherein:
the space environment is defined by a building having a ceiling;
a plurality of the optical positioning markers are located on the ceiling.
4. The optical positioning system of claim 1, wherein:
each optical positioning mark is provided with a positioning part;
the optical device further comprises a light emitting part, the positioning part reflects or absorbs light from the light emitting part, and the image acquisition part is used for acquiring an image of the positioning part.
5. The optical positioning system of claim 4, further comprising:
an information processing section that receives a signal from the image pickup section,
wherein:
each optical positioning mark comprises a color coding area formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form color codes, and the color codes of the optical positioning marks correspond to three-dimensional positions of the positioning parts of the optical positioning marks in the space environment one by one;
the information processing section is configured to recognize color-coded information from the image pickup section to determine from which optical positioning mark the reflected light received by the light image pickup section is reflected, or from which optical positioning mark the positioning portion from which the image is dark.
6. The optical positioning system of claim 5, wherein:
the light emitting section is configured to emit invisible light.
7. The optical positioning system of claim 4, wherein:
the positioning part is a light reflection part or a light absorption part.
8. The optical positioning system of any of claims 1-7, wherein:
the optical positioning system is used for VR or AR equipment.
9. An optical observation device for positioning, the optical observation device being adapted to be arranged on an object or a person to be tracked, the optical observation device comprising:
an optical device comprising an image acquisition portion for acquiring an image of an optical positioning mark;
a reset mechanism that isolates the optical device from changes in roll and/or pitch and/or heading of the object or person to be tracked, wherein the isolation indicates that the position of the optical device remains unchanged regardless of changes in roll and/or pitch and/or heading of the object or person to be tracked,
the reset mechanism includes:
a holding device adapted to be disposed on an object or person to be tracked;
the holder is connected between the holding device and the optical device;
a sensing portion for sensing roll angle and/or pitch angle and/or heading angle changes of the holding device; and
a driving part for driving the holder based on the signal of the sensing part to isolate the optical device from the roll angle and/or pitch angle and/or course angle variation of the holding device,
alternatively, the reset mechanism comprises one of the following mechanisms for maintaining the optical device pointing direction substantially unchanged:
magnetic suspension mechanism, gas suspension mechanism, liquid suspension mechanism, gravity pendulum mechanism, balancing weight and the mechanism that the rotating part combines together.
10. The optical scoping device of claim 9, wherein:
the optical observation device is used for VR or AR devices.
11. An optical positioning method for an optical sighting apparatus comprising an optical device and a reset mechanism, the method comprising the steps of:
sensing roll and/or pitch and/or heading changes of the holding device; and
isolating the optical device from roll and/or pitch and/or heading changes of the object or person to be tracked using a reset mechanism, wherein the isolation indicates that the position of the optical device remains unchanged regardless of changes in roll and/or pitch and/or heading of the object or person to be tracked;
the resetting mechanism comprises a holding device and a cloud platform arranged between the holding device and the optical device, the holding device is suitable for being arranged on an object or a person to be tracked,
the method comprises the following steps:
controlling the position of the pan/tilt head isolates roll and/or pitch and/or heading changes of the optical device from the holding device.
12. The method of claim 11, further comprising the step of:
arranging a plurality of optical positioning marks in a space environment, and calibrating the three-dimensional position of each optical positioning mark in the space environment;
acquiring an image of an optical positioning mark by using an optical device of an optical observation apparatus arranged on an object or a person to be tracked; and
the analysis optics acquire an image from which optical locating mark.
13. The method of claim 11, wherein:
each optical positioning mark comprises a color coding area formed by a plurality of color blocks, the color blocks are visible light color blocks and are sequentially arranged to form color codes, and the color codes of the optical positioning marks correspond to the three-dimensional positions of the optical positioning marks in a space environment one by one.
14. The method of claim 13, further comprising a horizontal attitude calibration step of the optical device, the step comprising:
determining that a holding device on an object or person to be tracked is at a horizontal attitude angle; and
and driving the position of the holder to enable the holder to be at a horizontal attitude angle.
15. The method of any one of claims 11-14, wherein:
the optical observation equipment is used for VR or AR equipment;
measuring a change in attitude of the holding device at a frequency of not less than 100 Hz; and is
The position of the holder is adjusted in real time based on the attitude change of the holding device.
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