CN109520415A - The method and system of six degree of freedom sensing are realized by camera - Google Patents
The method and system of six degree of freedom sensing are realized by camera Download PDFInfo
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- CN109520415A CN109520415A CN201811089954.9A CN201811089954A CN109520415A CN 109520415 A CN109520415 A CN 109520415A CN 201811089954 A CN201811089954 A CN 201811089954A CN 109520415 A CN109520415 A CN 109520415A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention relates to six degree of freedom field of sensing technologies, and in particular to a kind of method and system that six degree of freedom sensing is realized by camera.Acquire projection coordinate information of the target object in camera sensing device and the range information with sensor in real time by camera；Pass through the projection coordinate's information of target object on a sensor and the spatial coordinated information with the range information calculating target object of sensor；The current spatial coordinated information of target object is compared with the last spatial coordinated information of storage, analyzes the spatial coordinated information variable quantity of target object；The moving direction of target object is judged according to spatial coordinated information variable quantity, realizes six degree of freedom sensing.Under the premise of guaranteeing precision, calculating is simple and efficient, low in cost, is suitable for universal use.
Description
Technical field
The present invention relates to six degree of freedom field of sensing technologies, and in particular to a kind of to realize six degree of freedom sensing by camera
Method and system.
Background technique
With the development of virtual reality technology, virtual reality device will be applied on a large scale.In user's VR equipment
Play game when, many game contents, require perception user active state, such as: user forwards, backwards, left and right, it is up and down when
Shift length, and in front and rear, left and right, axial slewing area up and down, also referred to as this variation is six degree of freedom, abbreviation 6Dof.
Traditional six degree of freedom sensing is mainly judged using sensors such as G-Sensor and sensed activation, is related to big
The operation of amount, cost of manufacture is higher, causes VR equipment price expensive, is unsuitable for universal use.
Summary of the invention
The purpose of the present invention is to the defect of the prior art, it is easy, low in cost to provide a kind of algorithm, is easy to universal
What is used realizes the method and system of six degree of freedom sensing by camera.
A kind of method that six degree of freedom sensing is realized by camera of the present invention, technical solution are as follows: pass through camera reality
When acquisition projection coordinate information of the target object in the camera sensing device and range information with sensor；
Target object is calculated by target object projection coordinate's information on a sensor and with the range information of sensor
Spatial coordinated information；
The current spatial coordinated information of target object is compared with the last spatial coordinated information of storage, is analyzed
The spatial coordinated information variable quantity of target object；
The moving direction of target object is judged according to spatial coordinated information variable quantity, realizes six degree of freedom sensing；
Wherein, for camera with the data of fixed sampling interval acquisition target object, the data that last samples obtain are to work as
Preceding data, the data sampled before a sampling interval are the last data of storage.
It is more preferred, it is described to believe through target object projection coordinate's information on a sensor and at a distance from sensor
Breath calculate target object spatial coordinated information include:
Building sensor plane coordinate system, the three-dimension object coordinate system that is overlapped with sensor plane coordinate origin and with three
Tie up the space coordinates that object coordinates system origin is overlapped；
Taken on target object a little obtain for reference point the reference point on a sensor projection coordinate's information (Cx,
) and the range information u with sensor Cy；
The three-dimension object of the reference point is obtained according to the corresponding relationship of sensor plane coordinate system and three-dimension object coordinate system
Coordinate (mCx, nCy, u)；
According to the corresponding relationship of three-dimension object coordinate system and space coordinates obtain the reference point space coordinate (mCx, u,
nCy)；
Wherein, m, n are the constant set according to the scope of activities of the every Pixel Dimensions size of sensor and practical application scene.
More preferred, the range information u of the reference point and sensor is calculated by formula u=Sorig*v/Simg
It arrives, the Sorig is the length of target object, and v is that for sensor to the distance of camera lens, Simg is object in sensor in camera
In imaging size.
More preferred, the moving direction that target object is judged according to spatial coordinated information variable quantity includes:
Analyze the variation of mCx, u, nCy in the space coordinate (mCx, u, nCy) of reference point；
When nCy, u are constant, when mCx numerical value change, judge that target object moves in left-right direction, wherein mCx become larger for
It moves right, mCX becomes smaller to be moved to the left；
When mCx, nCy are constant, when u numerical value change, judge that target object moves along the longitudinal direction, wherein u becomes larger as forward
Mobile, u becomes smaller to move backward；
When mCx, u are constant, when nCy numerical value change, judge that target object moves along the vertical direction, wherein nCy become larger for
Lower movement, nCy become smaller to move up；
When mCx numerical value is constant, and nCy is with u numerical value change, the rich X axis rotation of target object is judged；
When u numerical value is constant, and mCx is with nCy numerical value change, judge the rich Z axis of target object to rotation；
When nCy numerical value is constant, and mCx is with u numerical value change, the rich Y-axis rotation of target object is judged；
Wherein, it is to move right along space coordinates x-axis forward motion, is forward along space coordinates Y-axis forward motion
Mobile, space coordinates Z axis forward motion is to move down.
A kind of system that six degree of freedom sensing is realized by camera of the present invention, technical solution are as follows: including
Camera: for acquire in real time projection coordinate information of the target object in camera sensing device and with sensor
Range information；
Computing module: for by target object projection coordinate's information on a sensor and with the range information of sensor
Calculate the spatial coordinated information of target object；By the last space coordinate of the current spatial coordinated information of target object and storage
Information is compared, and analyzes the spatial coordinated information variable quantity of target object；And sentenced according to spatial coordinated information variable quantity
The moving direction of disconnected target object.
More preferred, the computing module passes through target object projection coordinate's information on a sensor and and sensor
Range information calculate target object spatial coordinated information include:
Building sensor plane coordinate system, the three-dimension object coordinate system that is overlapped with sensor plane coordinate origin and with three
Tie up the space coordinates that object coordinates system origin is overlapped；
Taken on target object a little obtain for reference point the reference point on a sensor projection coordinate's information (Cx,
) and the range information u with sensor Cy；
The three-dimension object of the reference point is obtained according to the corresponding relationship of sensor plane coordinate system and three-dimension object coordinate system
Coordinate (mCx, nCy, u)；
According to the corresponding relationship of three-dimension object coordinate system and space coordinates obtain the reference point space coordinate (mCx, u,
nCy)；
Wherein, m, n are the constant set according to the scope of activities of the every Pixel Dimensions size of sensor and practical application scene.
More preferred, the range information u of the reference point and sensor is calculated by formula u=Sorig*v/Simg
It arrives, the Sorig is the length of target object, and v is that for sensor to the distance of camera lens, Simg is object in sensor in camera
In imaging size.
More preferred, the computing module judges the moving direction packet of target object according to spatial coordinated information variable quantity
It includes:
Analyze the variation of mCx, u, nCy in the space coordinate (mCx, u, nCy) of reference point；
When nCy, u are constant, when mCx numerical value change, judge that target object moves in left-right direction, wherein mCx become larger for
It moves right, mCX becomes smaller to be moved to the left；
When mCx, nCy are constant, when u numerical value change, judge that target object moves along the longitudinal direction, wherein u becomes larger as forward
Mobile, u becomes smaller to move backward；
When mCx, u are constant, when nCy numerical value change, judge that target object moves along the vertical direction, wherein nCy become larger for
Lower movement, nCy become smaller to move up；
When mCx numerical value is constant, and nCy is with u numerical value change, the rich X axis rotation of target object is judged；
When u numerical value is constant, and mCx is with nCy numerical value change, judge the rich Z axis of target object to rotation；
When nCy numerical value is constant, and mCx is with u numerical value change, the rich Y-axis rotation of target object is judged；
Wherein, it is to move right along space coordinates x-axis forward motion, is forward along space coordinates Y-axis forward motion
Mobile, space coordinates Z axis forward motion is to move down.
The invention has the benefit that replacing the sensors such as traditional G-Sensor using camera, adopted by camera
Collect target object reference point projection coordinate's information on a sensor and with after the range information of sensor, by simply calculating
It is converted into space coordinates coordinate information, the variation of each coordinate in analysis space coordinate system had both been able to achieve six degree of freedom sensing.
Under the premise of guaranteeing precision, calculating is simple and efficient, low in cost, is suitable for universal use.
Detailed description of the invention
Fig. 1 is a kind of flow chart that six degree of freedom method for sensing is realized by camera of the present invention；
Fig. 2 is that the present invention is camera imaging schematic diagram；
Fig. 3 is inventive sensor plane coordinate system and three-dimension object coordinate system schematic diagram；
Fig. 4 is three-dimension object coordinate of the present invention and space coordinates contrast schematic diagram；
Fig. 5, which is that the present invention is a kind of, realizes six degree of freedom sensor-based system framework map by camera.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments, convenient for this hair is well understood
It is bright, but they limiting the invention.
It by camera realization six degree of freedom sensor-based system include camera and computing module as shown in figure 5, a kind of, wherein
Camera mainly includes camera lens and sensor.
As shown in Figure 1, a kind of realize that the process of six degree of freedom transmission method is as follows by camera:
After opening of device, camera is started to work.
Camera acquires projection coordinate information of the target object in camera sensing device and in real time at a distance from sensor
Information:
Building sensor plane coordinate system, the three-dimension object coordinate system that is overlapped with sensor plane coordinate origin and with three
Tie up the space coordinates that object coordinates system origin is overlapped；
Taken on target object a little obtain for reference point the reference point on a sensor projection coordinate's information (Cx,
) and the range information u with sensor Cy；
As shown in Fig. 2, convex lens imaging principle: in the case where image distance and focal length are fixed, the different meetings of object distance so that at
As size accordingly changes.
The object of same size is in the position of u1 and u2, Sensor (sensor i.e. in camera, as at
Picture, and convert electric signal for optical signalling and be sent to computing module) on the size that is imaged be respectively s1 and s2.If object edge
Light and horizontal line angle through lens centre are angle, and the distance of object to camera lens is u, Sensor to camera lens
Distance is v, and the original size (i.e. length) of object is Sorig, then object distance u calculation formula are as follows: u=Sorig*v/Simg.As,
Object is inversely proportional from sensor distance u with image size s of the object in sensor；When object is close with a distance from sensor,
The image presented on sensor is big, and when object is remote with a distance from sensor, the image presented on sensor is small.As a result, may be used
According to image size of the object in sensor, calculate object between sensor with a distance from.
The three-dimension object of the reference point is obtained according to the corresponding relationship of sensor plane coordinate system and three-dimension object coordinate system
Coordinate (mCx, nCy, u).As shown in figure 3, a, b, c, d quadrangle are sensor area, oxy a, b, c, d plane internal coordinate is (i.e.
Sensor plane coordinate system), OXYZ is three-dimension object coordinate system, and Pl (Cx, Cy) is throwing of the reference point P on sensor on object
Shadow coordinate (Cx, Cy) sets two coordinate of oO coordinate in this example and is overlapped (practical application, if two coordinate origins are overlapped), is all sensor
Central point.Then P point is represented by (mCx, nCy, u) in object dimensional coordinate, and m, n are two constants, can be every according to sensor
The scope of activities of Pixel Dimensions size and practical application scene sets its size, u be object between sensor at a distance from.
According to the corresponding relationship of three-dimension object coordinate system and space coordinates obtain the reference point space coordinate (mCx, u,
nCy).As shown in figure 4, space coordinate is (X, Y, Z), three-dimension object coordinate is (X, Z, Y), three-dimension object coordinate and space coordinate
It is corresponding are as follows: X-X, Y-Z, Z-Y, i.e. three-dimension object coordinate go to space coordinate expression are as follows: (mCx, u, nCy).
Computing module compares the last spatial coordinated information of the current spatial coordinated information of target object and storage
Compared with analyzing the spatial coordinated information variable quantity of target object, and judge target object according to spatial coordinated information variable quantity
Moving direction
Analyze the variation of mCx, u, nCy in the space coordinate (mCx, u, nCy) of reference point；
When nCy, u are constant, when mCx numerical value change, judge that target object moves in left-right direction, wherein mCx become larger for
It moves right, mCX becomes smaller to be moved to the left；
When mCx, nCy are constant, when u numerical value change, judge that target object moves along the longitudinal direction, wherein u becomes larger as forward
Mobile, u becomes smaller to move backward；
When mCx, u are constant, when nCy numerical value change, judge that target object moves along the vertical direction, wherein nCy become larger for
Lower movement, nCy become smaller to move up；
When mCx numerical value is constant, and nCy is with u numerical value change, the rich X axis rotation of target object is judged；
When u numerical value is constant, and mCx is with nCy numerical value change, judge the rich Z axis of target object to rotation；
When nCy numerical value is constant, and mCx is with u numerical value change, the rich Y-axis rotation of target object is judged；
Wherein, it is to move right along space coordinates x-axis forward motion, is forward along space coordinates Y-axis forward motion
Mobile, space coordinates Z axis forward motion is to move down.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (8)
1. a kind of method for realizing six degree of freedom sensing by camera, it is characterised in that:
Acquire projection coordinate information of the target object in camera sensing device in real time by camera and at a distance from sensor
Information；
Pass through the projection coordinate's information of target object on a sensor and the sky with the range information calculating target object of sensor
Between coordinate information；
The current spatial coordinated information of target object is compared with the last spatial coordinated information of storage, analyzes target
The spatial coordinated information variable quantity of object；
The moving direction of target object is judged according to spatial coordinated information variable quantity, realizes six degree of freedom sensing；
Wherein, for camera with the data of fixed sampling interval acquisition target object, the data that last samples obtain are current number
According to the data sampled before a sampling interval are the last data of storage.
2. the method according to claim 1 for realizing six degree of freedom sensing by camera, which is characterized in that described to pass through
The projection coordinate's information of target object on a sensor and the space coordinate letter with the range information calculating target object of sensor
Breath includes:
Building sensor plane coordinate system, the three-dimension object coordinate system being overlapped with sensor plane coordinate origin and and three-dimensional article
The space coordinates that body coordinate origin is overlapped；
Taken on target object some the projection coordinate's information (Cx, Cy) obtained for reference point the reference point on a sensor and
With the range information u of sensor；
The three-dimension object coordinate of the reference point is obtained according to the corresponding relationship of sensor plane coordinate system and three-dimension object coordinate system
(mCx,nCy,u)；
According to the corresponding relationship of three-dimension object coordinate system and space coordinates obtain the reference point space coordinate (mCx, u,
nCy)；
Wherein, m, n are the constant set according to the scope of activities of the every Pixel Dimensions size of sensor and practical application scene.
3. the method according to claim 2 for realizing six degree of freedom sensing by camera, which is characterized in that the reference
The range information u of point and sensor is calculated by formula u=Sorig*v/Simg, and the Sorig is the length of target object
Degree, v are that for sensor to the distance of camera lens, Simg is the imaging size of object in the sensor in camera.
4. the method according to claim 2 for realizing six degree of freedom sensing by camera, which is characterized in that the basis
Spatial coordinated information variable quantity judges that the moving direction of target object includes:
Analyze the variation of mCx, u, nCy in the space coordinate (mCx, u, nCy) of reference point；
When nCy, u are constant, when mCx numerical value change, judge that target object moves in left-right direction, wherein mCx becomes larger to move right
Dynamic, mCX becomes smaller to be moved to the left；
When mCx, nCy are constant, when u numerical value change, judge that target object moves along the longitudinal direction, wherein u becomes larger as Xiang Qianyi
Dynamic, u becomes smaller to move backward；
When mCx, u are constant, when nCy numerical value change, judge that target object moves along the vertical direction, wherein nCy becomes larger as to moving down
Dynamic, nCy becomes smaller to move up；
When mCx numerical value is constant, and nCy is with u numerical value change, the rich X axis rotation of target object is judged；
When u numerical value is constant, and mCx is with nCy numerical value change, judge the rich Z axis of target object to rotation；
When nCy numerical value is constant, and mCx is with u numerical value change, the rich Y-axis rotation of target object is judged；
Wherein, it is to move right along space coordinates x-axis forward motion, is to move forward along space coordinates Y-axis forward motion,
Space coordinates Z axis forward motion is to move down.
5. a kind of system for realizing six degree of freedom sensing by camera, it is characterised in that: including
Camera: for acquiring projection coordinate information of the target object in camera sensing device in real time and at a distance from sensor
Information；
Computing module: for being calculated by target object projection coordinate's information on a sensor and with the range information of sensor
The spatial coordinated information of target object；By the last spatial coordinated information of the current spatial coordinated information of target object and storage
It is compared, analyzes the spatial coordinated information variable quantity of target object；And mesh is judged according to spatial coordinated information variable quantity
Mark the moving direction of object.
6. the system according to claim 5 for realizing six degree of freedom sensing by camera, which is characterized in that the calculating
Module passes through the projection coordinate's information of target object on a sensor and the sky with the range information calculating target object of sensor
Between coordinate information include:
Building sensor plane coordinate system, the three-dimension object coordinate system being overlapped with sensor plane coordinate origin and and three-dimensional article
The space coordinates that body coordinate origin is overlapped；
Taken on target object some the projection coordinate's information (Cx, Cy) obtained for reference point the reference point on a sensor and
With the range information u of sensor；
The three-dimension object coordinate of the reference point is obtained according to the corresponding relationship of sensor plane coordinate system and three-dimension object coordinate system
(mCx,nCy,u)；
According to the corresponding relationship of three-dimension object coordinate system and space coordinates obtain the reference point space coordinate (mCx, u,
nCy)；
Wherein, m, n are the constant set according to the scope of activities of the every Pixel Dimensions size of sensor and practical application scene.
7. the system according to claim 6 for realizing six degree of freedom sensing by camera, which is characterized in that the reference
The range information u of point and sensor is calculated by formula u=Sorig*v/Simg, and the Sorig is the length of target object
Degree, v are that for sensor to the distance of camera lens, Simg is the imaging size of object in the sensor in camera.
8. the system according to claim 6 for realizing six degree of freedom sensing by camera, which is characterized in that the calculating
Module judges that the moving direction of target object includes: according to spatial coordinated information variable quantity
Analyze the variation of mCx, u, nCy in the space coordinate (mCx, u, nCy) of reference point；
When nCy, u are constant, when mCx numerical value change, judge that target object moves in left-right direction, wherein mCx becomes larger to move right
Dynamic, mCX becomes smaller to be moved to the left；
When mCx, nCy are constant, when u numerical value change, judge that target object moves along the longitudinal direction, wherein u becomes larger as Xiang Qianyi
Dynamic, u becomes smaller to move backward；
When mCx, u are constant, when nCy numerical value change, judge that target object moves along the vertical direction, wherein nCy becomes larger as to moving down
Dynamic, nCy becomes smaller to move up；
When mCx numerical value is constant, and nCy is with u numerical value change, the rich X axis rotation of target object is judged；
When u numerical value is constant, and mCx is with nCy numerical value change, judge the rich Z axis of target object to rotation；
When nCy numerical value is constant, and mCx is with u numerical value change, the rich Y-axis rotation of target object is judged；
Wherein, it is to move right along space coordinates x-axis forward motion, is to move forward along space coordinates Y-axis forward motion,
Space coordinates Z axis forward motion is to move down.
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Application publication date: 20190326 |