CN110383336A - 一种刚体配置方法、装置、终端设备和计算机存储介质 - Google Patents

一种刚体配置方法、装置、终端设备和计算机存储介质 Download PDF

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CN110383336A
CN110383336A CN201780002367.9A CN201780002367A CN110383336A CN 110383336 A CN110383336 A CN 110383336A CN 201780002367 A CN201780002367 A CN 201780002367A CN 110383336 A CN110383336 A CN 110383336A
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CN110383336B (zh
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王越
长坂友裕
许秋子
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Shenzhen Realis Multimedia Technology Co Ltd
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Shenzhen Realis Multimedia Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Abstract

一种刚体配置方法、装置、终端设备和计算机存储介质。该方法包括：初始化各个刚体的反光标记的位置；从未确定目标位置的反光标记中选取一个反光标记作为目标反光标记(1021)，固定除目标反光标记外的其它反光标记，并在目标反光标记所属刚体的立体空间内的每个空余位置上逐次移动所述目标反光标记(1022)；根据各个反光标记所处的位置信息分别计算所述目标反光标记处于各个位置时的刚体差异度(1023)；将刚体差异度的最大值所对应的位置确定为目标反光标记的目标位置(1024)；采用相同的方法确定系统中所有反光标记的目标位置，从而完成一次刚体配置。与现有的刚体配置方法相比，本方法能够极大地减少计算量，从而减少系统处理的时间。

Description

PCT国内申请，说明书已公开。

Claims (1)

  1. PCT国内申请，权利要求书已公开。
CN201780002367.9A 2017-11-15 2017-11-15 一种刚体配置方法、装置、终端设备和计算机存储介质 Active CN110383336B (zh)

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PCT/CN2017/111128 WO2019095149A1 (zh) 2017-11-15 2017-11-15 一种刚体配置方法、装置、终端设备和计算机存储介质

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CN111413989B (zh) * 2020-04-13 2023-03-21 苏州华兴源创科技股份有限公司 基于agv的激光定位系统和方法
CN111966102B (zh) * 2020-08-18 2023-04-14 昆山三一环保科技有限公司 一种用于自动检测的智能机器人采样系统及其控制方法
CN112465857A (zh) * 2020-12-11 2021-03-09 深圳市瑞立视多媒体科技有限公司 追踪刚体位置信息的方法及其装置、设备、存储介质

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US20080021311A1 (en) * 2006-06-23 2008-01-24 Gunter Goldbach Method for automatically identifying instruments during medical navigation
KR20080078352A (ko) * 2007-02-23 2008-08-27 재단법인서울대학교산학협력재단 마커를 활용한 위치 데이터 수집 영상처리 시스템 및 방법
CN101894377A (zh) * 2010-06-07 2010-11-24 中国科学院计算技术研究所 三维标记点序列的跟踪方法及其系统
US20130345718A1 (en) * 2007-02-16 2013-12-26 Excelsius Surgical, L.L.C. Surgical robot platform
US20160350961A1 (en) * 2005-03-16 2016-12-01 Lucasfilm Entertainment Company Ltd. Three-dimensional motion capture
CN107316319A (zh) * 2017-05-27 2017-11-03 北京小鸟看看科技有限公司 一种刚体追踪的方法、装置和系统

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CN101957655B (zh) * 2009-07-17 2013-06-05 深圳泰山在线科技有限公司 一种基于标志点的动作识别方法及终端设备
CN101840508B (zh) * 2010-04-26 2013-01-09 中国科学院计算技术研究所 自动识别人体链状结构中特征点的方法及其系统
CN102354400A (zh) * 2011-07-14 2012-02-15 中国人民解放军国防科学技术大学 刚体运动和结构参数测量的多点约束单目轨迹交会方法
CN106600627A (zh) 2016-12-07 2017-04-26 成都通甲优博科技有限责任公司 一种基于标志点的刚体运动捕捉方法及系统

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Publication number Priority date Publication date Assignee Title
US20160350961A1 (en) * 2005-03-16 2016-12-01 Lucasfilm Entertainment Company Ltd. Three-dimensional motion capture
US20080021311A1 (en) * 2006-06-23 2008-01-24 Gunter Goldbach Method for automatically identifying instruments during medical navigation
US20130345718A1 (en) * 2007-02-16 2013-12-26 Excelsius Surgical, L.L.C. Surgical robot platform
KR20080078352A (ko) * 2007-02-23 2008-08-27 재단법인서울대학교산학협력재단 마커를 활용한 위치 데이터 수집 영상처리 시스템 및 방법
CN101894377A (zh) * 2010-06-07 2010-11-24 中国科学院计算技术研究所 三维标记点序列的跟踪方法及其系统
CN107316319A (zh) * 2017-05-27 2017-11-03 北京小鸟看看科技有限公司 一种刚体追踪的方法、装置和系统

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CN110383336B (zh) 2022-11-01
WO2019095149A1 (zh) 2019-05-23
US20200074645A1 (en) 2020-03-05
US10997733B2 (en) 2021-05-04

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