CN112130591A - Multi-angle space optical tracking method - Google Patents
Multi-angle space optical tracking method Download PDFInfo
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- CN112130591A CN112130591A CN202011029646.4A CN202011029646A CN112130591A CN 112130591 A CN112130591 A CN 112130591A CN 202011029646 A CN202011029646 A CN 202011029646A CN 112130591 A CN112130591 A CN 112130591A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000009466 transformation Effects 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 239000003550 marker Substances 0.000 description 3
- 238000012634 optical imaging Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
Abstract
The multi-angle space optical tracking method is characterized by comprising optical tracking equipment, a target and a target bracket, wherein the target is fixed on the target bracket, the space coordinate of the target is captured by the optical equipment, so that the space coordinate of the target is obtained, and the target with the bracket can be used for calibrating the space position of an object. When the optical device cannot capture the spatial position of a certain target due to occlusion, the spatial position of the target can be indirectly calculated by selecting the targets in n or n +1 groups of visible ranges and the spatial relative position relationship between the target n and the target n + 1. The method can avoid repeatedly correcting the angle of the measured object, can realize full-range measurement only through a plurality of targets, is convenient and quick, and solves the problem of loss of the tracked target.
Description
Technical Field
The invention relates to a tracking method, in particular to a method for realizing space multi-angle tracking in an optical tracking and positioning process.
Background
The positioning and tracking technology is one of important technologies in the field of robots, the positioning and tracking technology determines the position information of a target by using different sensing methods, and the positioning and tracking method based on the imaging technology positioning is one of common methods. The imaging system is a general term for a system for acquiring and recording information such as color, morphology and position of an object in an image mode for electromagnetic waves of different wave bands. Optical imaging in a broad sense includes a visible light band, an infrared band, fluorescence (typically, an ultraviolet or X-ray band), a terahertz band, and the like. The optical imaging system in the positioning and tracking field generally narrowly contains two electromagnetic bands of visible light and near infrared. The visible light wave band imaging system is one of the most widely applied imaging systems, and is mainly characterized by convenient use and low price; and because of the 'visibility', the system is suitable for observation and evaluation by naked human eyes, but the visible light waveband optical positioning and tracking system is easily interfered by ambient light, and the consistency of measurement accuracy in different working environments is difficult to ensure. Therefore, for applications with higher requirements on robustness (such as surgical navigation, robot positioning and the like), optical positioning and tracking systems in the near infrared band are more adopted.
The near-infrared band optical positioning and tracking system can be divided into an active optical positioning system and a passive optical positioning system according to different working modes of the target. The former adopts a mark point capable of automatically emitting near-infrared wavelength light signals as a characteristic point for optical positioning and tracking, and a near-infrared illumination system is not required to provide a light source environment. The active optical positioning and tracking system has the greatest advantage that through the preset light emitting mode (such as a stroboscopic mode), the characteristic points can be identified more accurately in the image processing process, and the plane image coordinates can be determined. However, actively emitting targets require additional power support. The passive optical positioning and tracking system utilizes an optical reflection method to attach a near-infrared wavelength reflection material on the marker ball, so that the reflection capability of the marker ball on illuminating near-infrared light is enhanced, and the aim of obviously distinguishing the marker ball from the surrounding environment in an image is fulfilled.
Optical tracking is the use of optical measurement and imaging principles to measure and record the trajectory, attitude, events occurring in motion of a target, as well as the infrared radiation and visual (visible) characteristics of the target. Tracking the spatial position of the target in real time by using an optical tracking technology in the navigation process of the surgical robot; the target is generally divided into an active type (self-luminous type) and a passive type (reflected light type), so that the target is captured by an optical tracking device, and the spatial coordinates of the target are accurately measured and calculated. The structural design of the existing target holder includes two types, namely a single-plane layout and a polyhedral layout: the single-plane layout means that the target is laid out on one plane, points of all the planes are marked as a whole, and the tracking angle is small; the polyhedral layout means that targets are distributed on a plurality of planes, and the plurality of planes can be tracked by tracking one target point on the plane, so that the wide-angle tracking can be realized by the multi-plane layout. However, the volume of the target support in the multi-plane layout is increased, and the problem that the target is switched in different tracking planes may occur during tracking; or when the tracked target rotates, the target is shielded and lost. In order to avoid the problems, the invention provides a multi-angle space optical tracking method.
Disclosure of Invention
In the optical tracking process, in order to realize the large-range tracking of the target without dead angles, the invention provides a multi-angle space tracking method which can avoid the problems of tracking plane switching or target shielding and target loss.
The multi-angle space optical tracking method is characterized by comprising optical tracking equipment, a target and a target bracket, wherein the target is fixed on the target bracket, the space coordinate of the target is captured by the optical equipment, so that the space coordinate of the target is obtained, and the target with the bracket can be used for calibrating the space position of an object.
And n or n +1 groups of targets are placed on the target bracket according to different requirements.
When the optical tracking device cannot capture the spatial position of a certain target due to occlusion, the spatial position of the target can be indirectly calculated by selecting the spatial relative position relationship between the targets in n or n +1 groups of visible ranges.
The target is either active (self-illuminating) or passive (reflecting).
The target support is provided with at least three targets which are not collinear.
The multi-angle space optical tracking method comprises the steps that n or n +1 target supports are placed on each object when the multi-angle space optical tracking method is used, the distance between every two targets on each target support is larger than 50mm, and the difference value required by each group of distance sections is larger than 5 mm; the n and n +1 target stents, when meeting the above requirement, for example, when the two sets of targets have similar distance segments (the difference is less than 5 mm), the corresponding included angles have a difference of more than 2 °.
In practice, the layout and the number of targets can be freely adjusted according to different conditions according to different moving ranges, states and shielding conditions of the tracked targets. By adopting the method, the angle of the measured object can be prevented from being repeatedly corrected, full-range measurement can be realized through a plurality of targets, convenience and rapidness are realized, and the problem that the tracked target is lost is solved.
The multi-angle space optical tracking method comprises the following steps of:
wherein (X)1，Y1，Z1) Three-dimensional coordinates of any point in a known space;
(XN，YN，ZN) Coordinates in one relay Tracker coordinate system;
therefore, the coordinate transformation can be performed for a plurality of times according to the following formula:
wherein M isNThe transformation matrix for the nth relay Tracker is shown.
The invention provides a multi-angle space optical tracking method, which is characterized in that the space relative position relation between targets is calculated by selecting n or n +1 groups of targets in a visible range, and the space position of the target is indirectly calculated. The method can avoid repeatedly correcting the angle of the measured object, can realize full-range measurement only through a plurality of targets, is convenient and quick, and solves the problem of loss of the tracked target.
Drawings
FIG. 1 schematic front view of a target holder
1. Support fixing hole
2. Target stand
3. Reflecting ball target
4. Mounting limit hole
FIG. 2 schematic front view of target
FIG. 3 schematic target distribution
a. Target
b. Target I
c. Target II
d. Target III
FIG. 4 is a schematic view of the positions of targets a and b
FIG. 5 is a schematic diagram showing the positions and viewing angles of targets b and c
Detailed description of the preferred embodiment
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
When an optical tracking system is adopted to track the spatial coordinate of a certain object X (assuming that the object is circular), firstly, a target reflecting ball is fixed on a target support, and the target support (2) is tightly fixed on the surface of the certain object through a support fixing hole (1) and an installation limiting hole (4), and at the moment, the optical tracking system can directly track the spatial coordinate of one side of the object provided with the target.
If the spatial coordinates of the back of the object are to be tracked, two or more target holders are required to be used in cooperation, and the target spacing on the target holders is different so that the optical tracking device can identify different targets.
As shown in fig. 3, three targets a, b, and c are fixed on the target object X to be tracked (the number of targets may be increased or decreased according to actual needs), and are uniformly distributed in space. The distance between every two targets on the three target brackets of a, b and c is more than 50mm, and the difference value of the distance section of each group is more than 5 mm; and the three target supports of the a, b and c have the corresponding included angle difference of more than 2 degrees when any two groups of targets have similar distance sections (the difference is less than 5 mm) so that the optical tracking equipment can distinguish the three targets of the a, b and c.
When a and b are in the same visual field of the optical tracking device, capturing the coordinate relation of a and b and recording the relative position of a and b. Similarly, b and c are placed within the field of view of the same optical tracking device, and the relative positions of b and c are recorded. As shown in fig. 3, when the tracked target rotates, a is blocked, and the position of a can be calculated by tracking the spatial positions of b and c; when b is shielded, the position of b can be calculated by tracking the spatial positions of a and c; when c is blocked, the position of c can be calculated by tracking the spatial positions of a and b; the method realizes the tracking of the full-range non-shielding target and solves the problem of target loss.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (7)
1. The multi-angle space optical tracking method is characterized by comprising optical tracking equipment, a target and a target bracket, wherein the target is fixed on the target bracket, the space coordinate of the target is obtained by capturing the space coordinate of the target through the optical equipment, and the target with the bracket can be used for calibrating the space position of an object.
2. The method as claimed in claim 1, wherein n or n +1 (n ≧ 1) sets of targets are placed on the target holder according to different requirements.
3. The method as claimed in claim 1, wherein when the optical tracking device cannot capture the spatial position of a target due to occlusion, the spatial position of the target can be calculated indirectly by selecting the targets in n or n +1 sets of visible ranges and by the spatial relative position relationship between the targets.
4. The method as claimed in claim 1, wherein the target is active (self-luminous) or passive (reflected light).
5. The method as claimed in claim 1, wherein there are at least three non-collinear targets on the target holder.
6. The multi-angle spatial optical tracking method as claimed in claim 1, wherein n or n +1 target holders are placed on each object, the distance between each two targets on each target holder is greater than 50mm, and the difference between each group of distance segments is greater than 5 mm; the n and n +1 target stents, when meeting the above requirement, for example, when the two sets of targets have similar distance segments (the difference is less than 5 mm), the corresponding included angles have a difference of more than 2 °.
7. The method as claimed in claim 3, wherein the spatial relative position between the target is calculated as follows:
wherein (X)1，Y1，Z1) Three-dimensional coordinates of any point in a known space;
(XN，YN，ZN) Coordinates in one relay Tracker coordinate system;
therefore, the coordinate transformation can be performed for a plurality of times according to the following formula:
wherein M isNThe transformation matrix for the nth relay Tracker is shown.
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| CN202011029646.4A CN112130591A (en) | 2020-09-27 | 2020-09-27 | Multi-angle space optical tracking method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114993273A (en) * | 2022-05-19 | 2022-09-02 | 中铁隆工程集团有限公司 | Engineering device terminal identification, tracking and positioning method, system and application |
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Application publication date: 20201225 |