CN109410277A - A kind of virtual tag point filter method and system - Google Patents
A kind of virtual tag point filter method and system Download PDFInfo
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Abstract
The invention discloses a kind of virtual tag point filter method and systems, this method comprises the following steps: step S1, obtains the coordinate of k authentic signature point on tracking object, arbitrarily selects an authentic signature point, the distance between itself and other mark points are calculated, k-1 numerical value is obtained；Step S2 obtains the data for the m trace labelling point that marker tracking device obtains using the mark point on marker tracking device pursuit tracking object, obtains the coordinate of m trace labelling point；Step S3 successively calculates each trace labelling point with the distance between remaining trace labelling point, and m trace labelling point obtains m group distance, and every group of distance has m-1 numerical value；Step S4, traverse the m group distance of m trace labelling point, successively the k-1 numerical value obtained in m-1 numerical value and step S1 is matched, the filtering of virtual tag point is realized according to matching result, the purpose for the virtual tag point that the coplanar mark point of filtering generates can be achieved in the present invention.
Description
Technical field
The present invention relates to positions to accurately measure technical field, more particularly to a kind of virtual tag point filter method and is
System.
Background technique
Currently, binocular vision video camera is widely used to application study, such as carrying out the outer of image bootup process
Section's operation, such as neurosurgery, orthopaedics or radiotherapy.
Shown in Fig. 1, the main system component of binocular vision video camera be position sensor (Position Sensor) and
Luminaire (illuminators) is launched infrared light (IR light) from its luminaire (illuminators), and is marked
Remember that point reflection returns position sensor, and then measures 3d space position and the information converting of mark point.
Binocular vision video camera establishes a coordinate system in its position sensor (Position Sensor), origin and
Reference axis is as shown in Figure 2.This coordinate system is that NDI company defines, and does not allow to modify.When carrying out optical measurement
Using the coordinate system as origin, the spatial position of measurement range internal labeling point is calculated.
In order to determine the position of mark point, it is assumed that position sensor issues dummy line to mark point from each sensor
Image measurement center, as shown in figure 3, two dummy lines intersect point, be the position of mark point.System is handed over by calculating
The distance between cross wires, if distance is less than predefined limits value, then it is assumed that this point may be mark point.Otherwise, by this
A point is given up, this distance referred to as linear distance (line separation).
Under special circumstances, if there are two and two mark points on same plane, go out from sensor emission
At the place more than one that dummy line is intersected, and just linear distance thus will appear and identify in predefined limits value
The mark point come is more than the mark point of necessary being, is virtual tag point (phantom referred to here as the mark point more identified
Markers), as shown in Figure 4.Coplanar mark point is more, and virtual tag point is also more therewith.Assuming that there is n coplanar labels
Point, then can at most generate a virtual tag point of n* (n-1).Virtual tag point refers to due to true mark point co-planar arrangement,
The multiple solutions obtained with mathematical operation.
That is, binocular vision video camera is when identifying coplanar mark point at present, due to itself measuring technique and calculating
The defect of method will lead to the mark point that the mark point recognized is more than physical presence, that is, virtual tag point occurs, at present skill
In art, system relies on itself algorithm, can not judge which mark point is really, which is virtual.Therefore, it is really necessary to
It proposes a kind of technological means, to realize that virtual tag point filters, solves the above problems.
Summary of the invention
In order to overcome the deficiencies of the above existing technologies, purpose of the present invention is to provide a kind of filterings of virtual tag point
Method and system, to realize the purpose for filtering the virtual tag point that coplanar mark point generates.
In order to achieve the above object, the present invention proposes a kind of virtual tag point filter method, include the following steps:
Step S1 obtains the coordinate of k authentic signature point on tracking object, arbitrarily selects an authentic signature point, calculates
The distance between itself and other mark points obtain k-1 numerical value；
Step S2 obtains marker tracking device and obtains using the mark point on marker tracking device pursuit tracking object
M trace labelling point data, obtain m trace labelling point coordinate；
Step S3 successively calculates each trace labelling point with the distance between remaining trace labelling point, m trace labelling
Point obtains m group distance, and every group of distance has m-1 numerical value；
Step S4 traverses the m group distance of m trace labelling point, the k-1 that will successively obtain in m-1 numerical value and step S1
A numerical value is matched, and realizes the filtering of virtual tag point according to matching result.
Preferably, in step S1, a coordinate system is defined, k obtained on the tracking object on the basis of the coordinate system are true
The coordinate of real mark point, and an authentic signature point is arbitrarily selected, the distance between itself and other mark points are calculated, k-1 is obtained
A numerical value.
Preferably, in step S2, the coordinate of m trace labelling point is the coordinate under the coordinate system.
Preferably, in step S2, the marker tracking device obtains trace labelling point using binocular vision video camera
Data.
Preferably, in step S4, successively to every group of distance mi, its m-1 numerical value is traversed, as long as in the m-1 numerical value
There are k-1 numerical value, and find corresponding relationship in the k-1 numerical value that step S1 is obtained, then illustrate that the numerical value is effective, obtain
Obtaining group distance is effective distance.
Preferably, k-1 numerical value can be among the k-1 numerical value that step S1 is obtained present in the m-1 numerical value
Respective value is found, the absolute value error of the two is less than or equal to preset value, then illustrates that the numerical value is effective.
Preferably, from the finally obtained miIn group distance, obtain a certain trace labelling point and other mark points away from
From finally distance being mapped as the coordinate value of trace labelling point one by one, realizes the filtering of virtual tag point.
Preferably, between authentic signature point and the distance between trace labelling point calculates and is all made of mean square deviation mode.
In order to achieve the above objectives, the present invention also provides a kind of virtual tag point filtration systems, comprising:
Authentic signature point metrics calculation unit, it is any to select for obtaining the coordinate of k authentic signature point on tracking object
An authentic signature point is selected, the distance between itself and other mark points are calculated, obtains k-1 numerical value；
Trace labelling point acquiring unit, for obtaining mark using the mark point on marker tracking device pursuit tracking object
Remember the data for the m trace labelling point that point tracking device obtains, obtains the coordinate of m trace labelling point；
Trace labelling point metrics calculation unit, for successively calculate each trace labelling point with remaining trace labelling point it
Between distance, m trace labelling point obtain m group distance, and every group of distance has m-1 numerical value；
Apart from matching unit, for traversing the m group distance of m trace labelling point, successively by m-1 numerical value and described true
The k-1 numerical value that real mark point metrics calculation unit obtains is matched, and realizes the filtering of virtual tag point according to matching result.
Preferably, it is described apart from matching unit successively to every group of distance mi, its m-1 numerical value is traversed, as long as the m-1
There are k-1 numerical value in numerical value, and find corresponding relationship in the k-1 numerical value that step S1 is obtained, then illustrate that the numerical value has
Effect, obtaining group distance is effective distance.
Compared with prior art, a kind of virtual tag point filter method of the present invention and system are by first calculating authentic signature
The distance between point, and matched the distance between the trace labelling point obtained is calculated at a distance from authentic signature point, with
The virtual tag point in trace labelling point is filtered, correct identification and the position acquisition of mark point are realized.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of binocular vision video camera in the prior art；
Fig. 2 is the coordinate system schematic diagram of the binocular vision video camera of the prior art；
Fig. 3 is that the binocular vision video camera of the prior art determines mark point position view；
Fig. 4 be the prior art binocular vision video camera there are the schematic diagrames of virtual tag point；
Fig. 5 is a kind of step flow chart of virtual tag point filter method of the present invention；
Fig. 6 is the schematic diagram that object and its mark point are tracked in the specific embodiment of the invention；
Fig. 7 is the mark tally that should correctly be identified in the specific embodiment of the invention by binocular vision video camera according to signal
Figure；
Fig. 8 is in the specific embodiment of the invention by the practical all trace labellings points obtained of binocular vision video camera
According to schematic diagram
Fig. 9 is a kind of system architecture diagram of virtual tag point filtration system of the present invention.
Specific embodiment
Below by way of specific specific example and embodiments of the present invention are described with reference to the drawings, those skilled in the art
Further advantage and effect of the invention can be understood easily by content disclosed in the present specification.The present invention also can be by other
Different specific examples is implemented or is applied, and details in this specification can also be based on different perspectives and applications, not
Various modifications and change are carried out under spirit of the invention.
Fig. 5 is a kind of step flow chart of virtual tag point filter method of the present invention.As shown in figure 5, a kind of void of the present invention
Quasi- mark point filter method, includes the following steps:
Step S1 defines a coordinate system, obtains k authentic signature point on the tracking object on the basis of the coordinate system
Coordinate arbitrarily selects an authentic signature point, calculates the distance between itself and other mark points, obtains k-1 numerical value.Also
It is to say, according to the coordinate of any authentic signature point, calculates the distance between it and other mark point coordinates, obtain k-1 number
Value.
In the specific embodiment of the invention, tracking object is set in the measurement range of marker tracking device, object is tracked
Upper marked good authentic signature point, tracking object can be any object, such as human body, in the specific embodiment of the invention, to scheme
For the rule tracking object of cubic shaped shown in 6, it is marked with 5 mark points thereon, mark point number consecutively is Ball0
~Ball4, it is assumed that define a coordinate system, under X axis, Y is axial left, Z axis forward (relative device), by tracking object
Scale definition and by micrometer, measure the coordinate of each authentic signature point on the basis of the coordinate system, it is as a result as follows:
Ball0:(Tx0,Ty0,Tz0)
Ball1:(Tx1,Ty1,Tz1)
Ball2:(Tx2,Ty2,Tz2)
Ball3:(Tx3,Ty3,Tz3)
Ball4:(Tx4,Ty4,Tz4)
In the specific embodiment of the invention, using mean square deviation formula, the distance between two points in space are calculated,
Calculation formula can be described as:
For example, it is assumed that authentic signature point is Ball0, successively calculate mark point Ball1To Ball2~Ball4Distance, obtain
To 4 distances, that is, correspond to 4 numerical value.
Step S2 obtains marker tracking device and obtains using the mark point on marker tracking device pursuit tracking object
M trace labelling point data, obtain the coordinate of m trace labelling point under the coordinate system.
In the specific embodiment of the invention, the marker tracking device uses binocular vision video camera, shown in Fig. 6
Tracking object for, utilize the coordinate system that defines of step S1 to obtain the coordinate of m trace labelling point.In the ideal situation, it is surveying
Amount range should just see the real time position of 5 mark points (such as Fig. 7 shows).But under normal circumstances, it is difficult tracer tools
Placement position is put well, so that the mark point that multiple mark points are parallel with equipment or equipment recognizes occur is coplanar feelings
Condition, at this moment, there have been situations shown in Fig. 8, it can be seen that the mark point quantity of acquisition should be 5, and obtain at this time with
Track mark point quantity is 7, that is to say, that the mark tally of acquisition exists in there are two invalid virtual tag point, is terrible
To correct label as a result, it is desirable to be filtered to two virtual tag points.
Step S3 successively calculates each trace labelling point with the distance between remaining trace labelling point, m trace labelling
The available m group distance of point, every group of distance have m-1 numerical value.That is, traverse all trace labelling points, find out currently with
Track mark point and other the remaining distances of trace labelling point between any two, in the specific embodiment of the invention, also with square
M group distance is calculated for m trace labelling point in poor formula, and every group of distance includes m-1 numerical value, be stored in List <
In float [m-1] > type variable.
Step S4 traverses the m group distance of m trace labelling point, the k-1 that will successively obtain in m-1 numerical value and step S1
A numerical value (m-1 >=k-1) is matched, and realizes the filtering of virtual tag point according to matching result.Specifically, when m is calculated
After the m group distance of a trace labelling point, successively to every group of distance mi, its m-1 numerical value is traversed, as long as depositing in the m-1 numerical value
In k-1 numerical value, and corresponding relationship is found in the k-1 numerical value that step S1 is obtained, i.e. the absolute value error of the two is less than
Equal to preset value | (m-1)i–(k-1)i|≤1 }, illustrate that the numerical value is effective, that is, illustrates that group distance is effective distance.Here it needs
Illustrate, if m-1=k-1, then it represents that virtual tag point is not present, then without carrying out apart from matching.
In the specific embodiment of the invention, it is assumed that authentic signature point selects k0As reference coordinate, k is calculated0With kn-1A seat
Target distance generates k-1 numerical value, loops through m trace labelling point, calculates miWith mn-1The distance between a coordinate produces
Raw m group distance, every group of distance have m-1 numerical value, then traverse m group distance, by its m-1 numerical value and k-1 numerical value progress
Match, if there are k-1 numerical value k-1 values match corresponding with authentic signature point in m-1 numerical value, the m being matched toiGroup away from
From as effective distance, from finally obtained miIn group distance, that is, may know that a certain trace labelling point and other mark points away from
From finally distance being mapped as the coordinate value of trace labelling point one by one, the filtering of virtual tag point can be completed.
Fig. 9 is a kind of system architecture diagram of virtual tag point filtration system of the present invention.As shown in figure 9, a kind of void of the present invention
Quasi- mark point filtration system, includes the following steps:
Authentic signature point metrics calculation unit 101, for define a coordinate system, obtain on the basis of the coordinate system with
The coordinate of k authentic signature point on track object arbitrarily selects an authentic signature point, calculates it between other mark points
Distance obtains k-1 numerical value.That is, calculating it and other mark point coordinates according to the coordinate of any authentic signature point
The distance between, obtain k-1 numerical value.
In the specific embodiment of the invention, tracking object is set in the measurement range of marker tracking device, object is tracked
Upper marked good authentic signature point, tracking object can be any object, such as human body, in the specific embodiment of the invention, thereon
5 mark points are marked with, mark point number consecutively is Ball0~Ball4, it is assumed that define a coordinate system, under X axis, Y-axis
To the left, Z axis forward (relative device), by the scale definition on tool and by micrometer, is measured using the coordinate system as base
The coordinate of quasi- each authentic signature point, as a result as follows:
Ball0:(Tx0,Ty0,Tz0)
Ball1:(Tx1,Ty1,Tz1)
Ball2:(Tx2,Ty2,Tz2)
Ball3:(Tx3,Ty3,Tz3)
Ball4:(Tx4,Ty4,Tz4)
In the specific embodiment of the invention, using mean square deviation formula, the distance between two points in space are calculated,
Calculation formula can be described as:
For example, it is assumed that authentic signature point is Ball0, successively calculate mark point Ball1To Ball2~Ball4Distance, obtain
To 4 distances, that is, correspond to 4 numerical value.
Trace labelling point acquiring unit 102, for obtaining using the mark point on marker tracking device pursuit tracking object
The data for m trace labelling point for taking marker tracking device to obtain, obtain the coordinate of m trace labelling point under the coordinate system.
In the specific embodiment of the invention, the marker tracking device uses binocular vision video camera, and the coordinate system used is still to be true
The coordinate system that real mark point metrics calculation unit 101 defines.
Trace labelling point metrics calculation unit 103, for successively calculating each trace labelling point with remaining trace labelling point
The distance between, the m available m group distance of trace labelling point, every group of distance has m-1 numerical value.That is, tracking mark
Note point metrics calculation unit 103 traverses all trace labelling points, finds out current trace labelling point and other remaining trace labelling points
Distance between any two, in the specific embodiment of the invention, also with mean square deviation formula, for m trace labelling point, meter
Calculation show that m group distance, every group of distance include m-1 numerical value, be stored in the variable of List<float [m-1]>type.
Apart from matching unit 104, for traversing the m group distance of m trace labelling point, successively by m-1 numerical value and step
The k-1 numerical value (m-1 >=k-1) obtained in S1 is matched, and realizes the filtering of virtual tag point according to matching result.Specifically
Ground, after the m group distance of m trace labelling point is calculated, apart from matching unit 104 successively to every group of distance mi, traverse it
M-1 numerical value as long as there are k-1 numerical value in the m-1 numerical value, and is found pair in the k-1 numerical value that step S1 is obtained
Should be related to, i.e., both absolute value error be less than or equal to preset value | (m-1)i–(k-1)i|≤1 }, illustrate that the numerical value is effective, i.e.,
Illustrate that group distance is effective distance.Here it should be noted that, if m-1=k-1, then it represents that be not present virtual tag point,
Then without carrying out apart from matching.
In the specific embodiment of the invention, it is assumed that authentic signature point selects k0As reference coordinate, k is calculated0With kn-1A seat
Target distance generates k-1 numerical value, loops through m trace labelling point, calculates miWith mn-1The distance between a coordinate produces
Raw m group distance, every group of distance have m-1 numerical value, then traverse m group distance, by its m-1 numerical value and k-1 numerical value progress
Match, if there are k-1 numerical value k-1 values match corresponding with authentic signature point in m-1 numerical value, the m being matched toiGroup away from
From as effective distance, from finally obtained miIn group distance, that is, may know that a certain trace labelling point and other mark points away from
From finally distance being mapped as the coordinate value of trace labelling point one by one, the filtering of virtual tag point can be completed.
In conclusion a kind of virtual tag point filter method of the present invention and system are by first calculating between authentic signature point
Distance, and matched the distance between the trace labelling point obtained is calculated at a distance from authentic signature point, with filtering with
Virtual tag point in track mark point realizes correct identification and the position acquisition of mark point.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.Any
Without departing from the spirit and scope of the present invention, modifications and changes are made to the above embodiments by field technical staff.Cause
This, the scope of the present invention should be as listed in the claims.
Claims (10)
1. a kind of virtual tag point filter method, includes the following steps:
Step S1, obtains the coordinate of k authentic signature point on tracking object, one authentic signature point of any selection, calculate its with
The distance between other mark points obtain k-1 numerical value；
Step S2 obtains m that marker tracking device obtains using the mark point on marker tracking device pursuit tracking object
The data of trace labelling point obtain the coordinate of m trace labelling point；
Step S3 successively calculates each trace labelling point with the distance between remaining trace labelling point, and m trace labelling point obtains
M group distance, every group of distance have m-1 numerical value；
Step S4 traverses the m group distance of m trace labelling point, the k-1 number that will successively obtain in m-1 numerical value and step S1
Value is matched, and realizes the filtering of virtual tag point according to matching result.
2. a kind of virtual tag point filter method as described in claim 1, it is characterised in that: in step S1, define one and sit
Mark system, obtains the coordinate of k authentic signature point on the tracking object on the basis of the coordinate system, and arbitrarily selects a true mark
Remember point, calculate the distance between itself and other mark points, obtains k-1 numerical value.
3. a kind of virtual tag point filter method as claimed in claim 2, it is characterised in that: in step S2, m tracking mark
The coordinate of note point is the coordinate under the coordinate system.
4. a kind of virtual tag point filter method as described in claim 1, it is characterised in that: in step S2, the label
Point tracking device obtains trace labelling point data using binocular vision video camera.
5. a kind of virtual tag point filter method as described in claim 1, it is characterised in that: in step S4, successively to every
Group distance mi, its m-1 numerical value is traversed, as long as there are k-1 numerical value in the m-1 numerical value, and the k-1 obtained in step S1
Corresponding relationship is found in a numerical value, then illustrates that the numerical value is effective, and obtaining group distance is effective distance.
6. a kind of virtual tag point filter method as claimed in claim 5, it is characterised in that: exist when in the m-1 numerical value
K-1 numerical value can step S1 obtain k-1 numerical value among find respective value, the absolute value error of the two is less than or equal to
Preset value then illustrates that the numerical value is effective.
7. a kind of virtual tag point filter method as claimed in claim 5, it is characterised in that: from the finally obtained miGroup away from
From in, a certain trace labelling point is obtained at a distance from other mark points, and distance is finally mapped as to the seat of trace labelling point one by one
Scale value realizes the filtering of virtual tag point.
8. a kind of virtual tag point filter method as described in claim 1, it is characterised in that: between authentic signature point and with
The calculating of the distance between track mark point is all made of mean square deviation mode.
9. a kind of virtual tag point filtration system, comprising:
Authentic signature point metrics calculation unit, for obtaining the coordinate of k authentic signature point on tracking object, any selection one
Authentic signature point calculates the distance between itself and other mark points, obtains k-1 numerical value；
Trace labelling point acquiring unit, for obtaining mark point using the mark point on marker tracking device pursuit tracking object
The data for the m trace labelling point that tracking device obtains obtain the coordinate of m trace labelling point；
Trace labelling point metrics calculation unit, for successively calculate each trace labelling point between remaining trace labelling point away from
From m trace labelling point obtains m group distance, and every group of distance has m-1 numerical value；
Apart from matching unit, for traversing the m group distance of m trace labelling point, successively by m-1 numerical value and the authentic signature
The k-1 numerical value that point metrics calculation unit obtains is matched, and realizes the filtering of virtual tag point according to matching result.
10. a kind of virtual tag point filtration system as claimed in claim 9, it is characterised in that: it is described apart from matching unit according to
It is secondary to every group of distance mi, its m-1 numerical value is traversed, as long as there are k-1 numerical value in the m-1 numerical value, and is obtained in step S1
Corresponding relationship is found in the k-1 numerical value obtained, then illustrates that the numerical value is effective, obtaining group distance is effective distance.
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