CN113469901A - Positioning device based on passive infrared tag - Google Patents
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Abstract
The embodiment of the invention discloses a positioning device based on a passive infrared tag, which comprises: the tag module comprises a plurality of passive infrared tags distributed at different positions; the acquisition module is used for identifying and acquiring the image information of the passive infrared tag; and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information. The positioning device based on the passive infrared tags identifies the passive infrared tags through the cameras, calculates the positions of the cameras in real time, achieves the purpose of positioning the cameras, solves the problems that the positioning technology is limited by application scenes and has large differences in performance and cost in the prior art, and achieves the effects of low positioning cost, accurate positioning, good flexibility and good adaptability to scenes.
Description
Technical Field
The embodiment of the invention relates to a positioning technology, in particular to a positioning device based on a passive infrared tag.
Background
In recent years, with the continuous development of scientific technology and the need of industrial upgrading, more and more intelligent mobile robots enter the fields of industry (such as routing inspection and intelligent factories), civil use (such as service robots and disinfection robots) and the like, so that human beings are liberated from dangerous, heavy and repeated work, the labor cost is reduced for enterprises, and the production efficiency is improved.
The existing positioning technology is limited by application scenes and has great difference in performance and cost, for example, the positioning technology based on the laser radar is accurate but high in price, and is difficult to position under the conditions of more moving objects, large scenes and the like; the technology based on pure visual positioning has low cost, but the scheme is complex and is limited by the influence of illumination conditions; although the technology based on magnetic navigation has lower cost, the original ground is easy to damage and the construction is complex in the installation process of the magnetic nail or the magnetic strip; the positioning technology based on the ultra-wideband wireless carrier communication has high cost, particularly needs more base stations in a large area, and is easily interfered by other signals to influence the operation precision of the mobile robot.
Disclosure of Invention
The invention provides a positioning device based on a passive infrared tag, which aims to realize the effects of low positioning cost, accurate positioning, better flexibility and good adaptability to scenes.
In a first aspect, an embodiment of the present invention provides a positioning apparatus based on a passive infrared tag, including:
the tag module comprises a plurality of passive infrared tags distributed at different positions;
the acquisition module is used for identifying and acquiring the image information of the passive infrared tag;
and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information.
Optionally, the passive infrared tag includes a reflective tag and a reflective tag attaching carrier, and the reflective tag is disposed on the reflective tag attaching carrier.
Optionally, the acquisition module includes an acquisition camera, and the acquisition camera is used for identifying and acquiring the image information of the passive infrared tag.
Optionally, the acquisition module further includes an infrared light supplementing device, an infrared narrowband optical filter and an infrared light transmitting sheet, and the infrared light supplementing device is connected to the acquisition camera and is used for supplementing infrared light to the passive infrared tag; the infrared narrowband filter is arranged in the acquisition camera and used for filtering infrared light, and the infrared light transmission piece is arranged on the outer surface of the infrared light supplementing device and used for filtering visible light.
Optionally, the calculating the position and the posture of the acquisition module according to the image information includes:
performing image distortion removal on the image information;
extracting reflection points from the image information after distortion removal;
clustering the reflective points according to the reflective points;
identifying the clustering clusters of the light reflecting points;
and calculating the position and the posture of the acquisition module according to the reflective point cluster.
Optionally, the extracting the reflection points from the undistorted image information includes: and carrying out image gray threshold segmentation, image binarization, connected domain searching and central point calculation of the connected domain on the image information after distortion removal so as to extract the reflecting points.
Optionally, the clustering the reflective dots according to the reflective dots includes: and segmenting the reflective points by using a clustering algorithm according to the reflective points, wherein the clustering algorithm comprises a density clustering method and a nearest neighbor clustering method.
Optionally, the identifying the clustering cluster of the reflection points includes: and identifying the cluster obtained by dividing the light reflecting point cluster part according to a corresponding coding rule to obtain the ID number corresponding to the infrared light reflecting label.
Optionally, calculating the position and the posture of the acquisition module according to the reflection point cluster includes: and calculating the light reflecting point cluster according to a calculation formula so as to obtain the position and the posture of the acquisition module.
Optionally, the calculation formula includes:
u and v are pixel coordinates of the reflective point in the image respectively, K is an internal reference matrix of the acquisition module, and the dimensionality of the internal reference matrix is 3 multiplied by 3; r and t are respectively the position and the posture of the acquisition module relative to the passive infrared tag, wherein R is a 3 x 3 matrix, and t is a 3 x 1 vector; xw,Yw,ZwAnd the position coordinate values of the reflective points in the passive infrared label under a world coordinate system are respectively.
The embodiment of the invention discloses a positioning device based on a passive infrared tag, which comprises: the tag module comprises a plurality of passive infrared tags distributed at different positions; the acquisition module is used for identifying and acquiring the image information of the passive infrared tag; and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information. The positioning device based on the passive infrared tags identifies the passive infrared tags through the cameras, calculates the positions of the cameras in real time, achieves the purpose of positioning the cameras, solves the problems that the positioning technology is limited by application scenes and has large differences in performance and cost in the prior art, and achieves the effects of low positioning cost, accurate positioning, good flexibility and good adaptability to scenes.
Drawings
Fig. 1 is a schematic diagram illustrating a module connection of a positioning apparatus based on a passive infrared tag according to an embodiment of the present invention;
fig. 2 is a diagram illustrating an identification process of a positioning apparatus for a passive infrared tag according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an acquisition module according to a first embodiment of the present invention;
FIG. 4 is a flowchart of a method according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first module may be termed a second module, and, similarly, a second module may be termed a first module, without departing from the scope of the present application. The first module and the second module are both modules, but they are not the same module. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a schematic diagram illustrating a module connection of a positioning device based on a passive infrared tag according to an embodiment of the present invention, where the positioning device based on a passive infrared tag according to an embodiment of the present invention is suitable for a user to determine a situation of positioning a camera, and specifically, the positioning device based on a passive infrared tag according to an embodiment of the present invention includes: the system comprises a label module 1, an acquisition module 2 and a positioning module 3.
The tag module 1 comprises a plurality of passive infrared tags distributed at different positions.
In this embodiment, a plurality of passive infrared tags distribute in different positions, through paste the passive infrared tag of a plurality of different codes above the work area of camera, through the image of work area top is gathered to the camera, then obtains current through recognition algorithm the position and the gesture of camera. The passive infrared label comprises a reflective label 11 and a reflective label pasting carrier 12, wherein the reflective label 11 is arranged on the reflective label pasting carrier 12. Referring to fig. 2, fig. 2 is a diagram of an identification process of the positioning device of the passive infrared tag in this embodiment, generally, the reflective tag 11 needs to be connected to a power source to actively emit light, or can be made of a luminescent material to actively emit light, and the position of the reflective tag 11 is obtained by a camera. The surface of the reflective label 11 is coated with reflective material, and emits infrared light by being fixed on the reflective label pasting carrier 12, wherein the reflective label pasting carrier 12 may be a wall, a bracket, a ceiling, or the like, which is not limited in this embodiment and is suitable for the pasting condition of the reflective label 11. In an alternative embodiment, the reflective label 11 may also be connected to the reflective label pasting carrier 12 in various ways such as hook surface base connection, planar base, etc., wherein the hook surface base is a base with a certain radian on the surface, and the hook surface is connected with an object through a hook, which is beneficial to reducing the stress area of the base and has a more beautiful appearance; the plane base compares with colluding the face base and has bigger atress area, is fit for connecting the higher condition of object pulling force, and user of service can carry out the adaptability adjustment according to actual conditions and demand.
The acquisition module 2 is used for identifying and acquiring image information of one or more passive infrared tags.
In this embodiment, the acquisition module 2 is an infrared camera, and the infrared camera 21 works on the principle that an infrared lamp emits infrared rays to irradiate an object, and the infrared rays are subjected to diffuse reflection and received by the infrared camera 21 to form a video image. The infrared camera identifies and collects image information of the passive infrared tag, wherein the image information comprises position information and number information of the passive infrared tag, illustratively, the image information comprises a specific three-dimensional coordinate and a specific number of the passive infrared tag, so that the specific position and posture of the infrared camera can be accurately obtained through calculation. The acquisition module 2 acquires image information in the camera view field in the operation process and transmits the image information to the identification module for further processing.
The acquisition module 2 comprises an acquisition camera which is used for identifying and acquiring the image information of the passive infrared tag. The acquisition module 2 further comprises an infrared light supplementing device 22, an infrared narrowband optical filter 23 and an infrared light transmitting sheet 24, wherein the infrared light supplementing device 22 is connected with the acquisition camera and is used for supplementing infrared light to the passive infrared tag; the infrared narrowband filter 23 is arranged in the acquisition camera and used for filtering infrared light, and the infrared light transmission piece 24 is arranged on the outer surface of the infrared light supplement device 22 and used for filtering visible light.
In this embodiment, referring to fig. 3, fig. 3 is a schematic structural diagram of the acquisition module 2 in this embodiment, wherein the acquisition camera is an infrared camera 21. The infrared light supplement devices 22 are disposed at two ends of the infrared camera 21 and used for performing infrared light supplement on the passive infrared tag, and the infrared light supplement devices 22 may include an infrared light supplement lamp, an infrared light supplement sheet, and the like. The infrared narrowband filter 23 is disposed in the infrared camera 21, the infrared narrowband filter 23 is subdivided from the band pass filter, and the definition of the infrared narrowband filter is the same as that of the band pass filter, that is, the filter allows the optical signal to pass through in a specific waveband, but blocks the optical signal on two sides outside the specific waveband, and the passband of the infrared narrowband filter 23 is relatively narrow, generally less than 5% of the central wavelength value, and is mainly used for limiting the infrared light range. The infrared light-transmitting sheet 24 is disposed on an outer surface of the infrared light supplement device 22, and is used for filtering visible light and retaining infrared light to be identified. In an alternative embodiment, other infrared light supplement devices may also be included, which is not specifically limited in this embodiment.
The positioning module 3 is used for calculating the position and the posture of the acquisition module 2 according to the image information.
In this embodiment, the positioning module 3 may be an MCU or a CPU processor, taking an MCU as an example, an MCU (micro control Unit), also called a Single Chip Microcomputer (Single Chip Microcomputer) or a Single Chip Microcomputer, which appropriately reduces the frequency and specification of a Central Processing Unit (CPU), and integrates peripheral interfaces such as a memory (memory), a counter (Timer), a USB, an a/D converter, a UART, a PLC, a DMA, and the like, even an LCD driving circuit, on a Single Chip to form a Chip-level computer, thereby performing different combination control for different application occasions. And calculating the image information to obtain the position and the posture of the acquisition module 2 by integrating a recognition algorithm in the MCU.
The embodiment of the invention discloses a positioning device based on a passive infrared tag, which comprises: the tag module comprises a plurality of passive infrared tags distributed at different positions; the acquisition module is used for identifying and acquiring image information of one or more passive infrared tags; and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information. The positioning device based on the passive infrared tags identifies the passive infrared tags through the cameras, calculates the positions of the cameras in real time, achieves the purpose of positioning the cameras, solves the problems that the positioning technology is limited by application scenes and has large differences in performance and cost in the prior art, and achieves the effects of low positioning cost, accurate positioning, good flexibility and good adaptability to scenes.
Example two
The positioning device based on the passive infrared tag provided by the second embodiment of the present invention is described in detail on the basis of the first embodiment, and the positioning device based on the passive infrared tag provided by the second embodiment of the present invention is suitable for a user to position a camera, and specifically, the positioning device based on the passive infrared tag of the first embodiment of the present invention includes: the system comprises a label module 1, an acquisition module 2 and a positioning module 3.
The tag module 1 comprises a plurality of passive infrared tags distributed at different positions.
In this embodiment, a plurality of passive infrared tags distribute in different positions, through paste the passive infrared tag of a plurality of different codes above the work area of camera, through the image of work area top is gathered to the camera, then obtains current through recognition algorithm the position and the gesture of camera. The passive infrared label comprises a reflective label 11 and a reflective label pasting carrier 12, wherein the reflective label 11 is arranged on the reflective label pasting carrier 12. The reflective label 11 needs to be connected with a power supply to actively emit light, or can be made of a luminescent material to actively emit light, and the position of the reflective label 11 is obtained through a camera. The surface of the reflective label 11 is coated with reflective material, and emits infrared light by being fixed on the reflective label pasting carrier 12, wherein the reflective label pasting carrier 12 may be a wall, a bracket, a ceiling, or the like, which is not limited in this embodiment and is suitable for the pasting condition of the reflective label 11. In an alternative embodiment, the reflective label 11 may also be connected to the reflective label pasting carrier 12 in various ways such as hook surface base connection, planar base, etc., wherein the hook surface base is a base with a certain radian on the surface, and the hook surface is connected with an object through a hook, which is beneficial to reducing the stress area of the base and has a more beautiful appearance; the plane base compares with colluding the face base and has bigger atress area, is fit for connecting the higher condition of object pulling force, and user of service can carry out the adaptability adjustment according to actual conditions and demand.
The acquisition module 2 is used for identifying and acquiring image information of one or more passive infrared tags.
In this embodiment, the acquisition module 2 is an infrared camera, and the operating principle of the infrared camera 21 is that an infrared lamp emits infrared rays to irradiate an object, the infrared rays are subjected to diffuse reflection and are received by a monitoring camera to form a video image. The infrared camera identifies and collects image information of the passive infrared tag, wherein the image information comprises position information and number information of the passive infrared tag, illustratively, the image information comprises a specific three-dimensional coordinate and a specific number of the passive infrared tag, so that the specific position and posture of the infrared camera can be accurately obtained through calculation. The acquisition module 2 acquires image information in the camera view field in the operation process and transmits the image information to the identification module for further processing.
The acquisition module 2 comprises an acquisition camera which is used for identifying and acquiring the image information of the passive infrared tag. The acquisition module 2 further comprises an infrared light supplementing device 22, an infrared narrowband optical filter 23 and an infrared light transmitting sheet 24, wherein the infrared light supplementing device 22 is connected with the acquisition camera and is used for supplementing infrared light to the passive infrared tag; the infrared narrowband filter 23 is arranged in the acquisition camera and used for filtering infrared light, and the infrared light transmission piece 24 is arranged on the outer surface of the infrared light supplement device 22 and used for filtering visible light.
In this embodiment, the collecting camera is an infrared camera 21. The infrared light supplement devices 22 are disposed at two ends of the infrared camera 21 and used for performing infrared light supplement on the passive infrared tag, and the infrared light supplement devices 22 may include an infrared light supplement lamp, an infrared light supplement sheet, and the like. The infrared narrowband filter 23 is disposed in the infrared camera 21, the infrared narrowband filter 23 is subdivided from the band pass filter, and the definition of the infrared narrowband filter is the same as that of the band pass filter, that is, the filter allows the optical signal to pass through in a specific waveband, but blocks the optical signal on two sides outside the specific waveband, and the passband of the infrared narrowband filter 23 is relatively narrow, generally less than 5% of the central wavelength value, and is mainly used for limiting the infrared light range. The infrared light-transmitting sheet 24 is disposed on an outer surface of the infrared light supplement device 22, and is used for filtering visible light and retaining infrared light to be identified. In an alternative embodiment, other infrared light supplement devices may also be included, which is not specifically limited in this embodiment.
The positioning module 3 is used for calculating the position and the posture of the acquisition module 2 according to the image information.
In this embodiment, the positioning module 3 may be an MCU or a CPU processor, taking an MCU as an example, an MCU (micro control Unit), also called a Single Chip Microcomputer (Single Chip Microcomputer) or a Single Chip Microcomputer, which appropriately reduces the frequency and specification of a Central Processing Unit (CPU), and integrates peripheral interfaces such as a memory (memory), a counter (Timer), a USB, an a/D converter, a UART, a PLC, a DMA, and the like, even an LCD driving circuit, on a Single Chip to form a Chip-level computer, thereby performing different combination control for different application occasions. And calculating the image information to obtain the position and the posture of the acquisition module 2 by integrating a recognition algorithm in the MCU.
In this embodiment, specifically, fig. 4 is a flowchart of a method in this embodiment, where the calculating the position and the posture of the acquisition module 2 according to the image information includes:
In the present embodiment, the image distortion is caused by the distortion introduced by the lens manufacturing accuracy and the deviation of the assembly process, resulting in the distortion of the original image. The distortion of the lens is classified into radial distortion and tangential distortion. The distortion of camera module is inevitable, and that is in order to guarantee the formation of image quality of camera, must involve the distortion processing of image, and the pixel position that distorts and distorts removes the distortion processing, finds the corresponding position in undistorted image, and bilinear interpolation calculates its pixel value to obtain the image that distorts, guaranteed the quality of image, improved the degree of accuracy of discernment.
And step 410, extracting reflection points from the image information after the distortion removal.
In this embodiment, the extracting the reflection points from the undistorted image information includes: and carrying out image gray threshold segmentation, image binarization, connected domain searching and central point calculation of the connected domain on the image information after distortion removal so as to extract the reflecting points. Specifically, the image is subjected to various processes to extract a plurality of reflection points in the image, and the extraction manner includes but is not limited to image gray threshold segmentation, image binarization, connected domain searching, calculation of center points of connected domains and the like.
And 420, clustering the reflective points according to the reflective points.
In this embodiment, the clustering the reflection points according to the reflection points includes: and segmenting the reflective points by using a clustering algorithm according to the reflective points, wherein the clustering algorithm comprises a density clustering method and a nearest neighbor clustering method. Specifically, the reflective point clustering is to segment the reflective points by using a clustering algorithm according to the reflective points extracted by the reflective point extracting part, wherein the clustering algorithm includes, but is not limited to, a density clustering method, a nearest neighbor clustering method and the like.
And 430, identifying the reflecting point cluster.
In this embodiment, the identifying the cluster of reflection points includes: and identifying the cluster obtained by dividing the light reflecting point clustering part according to a corresponding coding rule to obtain the ID number corresponding to the infrared light reflecting label 11. Specifically, the light-reflecting point cluster identification part is used for identifying clusters obtained by dividing the light-reflecting point cluster part according to corresponding coding rules of the infrared light-reflecting labels 11, and the identification result is the ID numbers corresponding to the infrared light-reflecting labels 11.
And 440, calculating the position and the posture of the acquisition module 2 according to the light reflecting point cluster.
In this embodiment, calculating the position and the posture of the acquisition module 2 according to the reflection point cluster includes: and calculating the light reflecting point cluster according to a calculation formula so as to obtain the position and the posture of the acquisition module 2. The calculation formula comprises:
u and v are pixel coordinates of the reflection point in the image respectively, K is an internal reference matrix of the acquisition camera, and the dimensionality of the internal reference matrix is 3 multiplied by 3; r and t are respectively the position and the posture of the acquisition module 2 relative to the passive infrared tag, wherein R is a 3 x 3 matrix, and t is a 3 x 1 vector; xw，Yw，ZwAnd the position coordinate values of the reflective points in the passive infrared label under a world coordinate system are respectively. In the embodiment, the identification and positioning method based on the passive infrared tag has the advantages of low application cost, accurate positioning, good flexibility, convenience in changing or expanding a path, easiness in maintenance, capability of achieving the best balance effect between the cost and the performance when the identification and positioning method is put into market for use, and high cost performance.
The embodiment of the invention discloses a positioning device based on a passive infrared tag, which comprises: the tag module comprises a plurality of passive infrared tags distributed at different positions; the acquisition module is used for identifying and acquiring image information of one or more passive infrared tags; and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information. The positioning device based on the passive infrared tags identifies the passive infrared tags through the cameras, calculates the positions of the cameras in real time, achieves the purpose of positioning the cameras, solves the problems that the positioning technology is limited by application scenes and has large differences in performance and cost in the prior art, and achieves the effects of low positioning cost, accurate positioning, good flexibility and good adaptability to scenes.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A positioner based on passive infrared label, its characterized in that includes:
the tag module comprises a plurality of passive infrared tags distributed at different positions;
the acquisition module is used for identifying and acquiring the image information of the passive infrared tag;
and the positioning module is used for calculating the position and the posture of the acquisition module according to the image information.
2. The passive infrared tag-based locating device of claim 1, wherein the passive infrared tag comprises a reflective tag and a reflective tag sticker carrier, the reflective tag being disposed on the reflective tag sticker carrier.
3. The passive infrared tag-based positioning device according to claim 1, wherein the collection module comprises a collection camera, and the collection camera is used for identifying and collecting image information of the passive infrared tag.
4. The passive infrared tag-based positioning device according to claim 3, wherein the acquisition module further comprises an infrared light supplementing device, an infrared narrowband filter and an infrared light transmitting sheet, and the infrared light supplementing device is connected to the acquisition camera and is used for supplementing infrared light to the passive infrared tag; the infrared narrowband filter is arranged in the acquisition camera and used for filtering infrared light, and the infrared light transmission piece is arranged on the outer surface of the infrared light supplementing device and used for filtering visible light.
5. The passive infrared tag-based positioning device of claim 1, wherein the calculating the position and the posture of the acquisition module according to the image information comprises:
performing image distortion removal on the image information;
extracting reflection points from the image information after distortion removal;
clustering the reflective points according to the reflective points;
identifying the clustering clusters of the light reflecting points;
and calculating the position and the posture of the acquisition module according to the reflective point cluster.
6. The passive infrared tag-based positioning device of claim 5, wherein the extracting of the reflection points from the undistorted image information comprises: and carrying out image gray threshold segmentation, image binarization, connected domain searching and central point calculation of the connected domain on the image information after distortion removal so as to extract the reflecting points.
7. The passive infrared tag-based positioning device according to claim 5, wherein the clustering of the glistenings according to the glistenings comprises: and segmenting the reflective points by using a clustering algorithm according to the reflective points, wherein the clustering algorithm comprises a density clustering method and a nearest neighbor clustering method.
8. The passive infrared tag-based positioning device of claim 5, wherein the identifying the cluster of glistening points comprises: and identifying the cluster obtained by dividing the light reflecting point cluster part according to a corresponding coding rule to obtain the ID number corresponding to the infrared light reflecting label.
9. The passive infrared tag-based positioning device according to claim 5, wherein calculating the position and the posture of the acquisition module according to the reflective point cluster comprises: and calculating the light reflecting point cluster according to a calculation formula so as to obtain the position and the posture of the acquisition module.
10. The passive infrared tag-based positioning apparatus of claim 9, wherein the calculation formula comprises:
u and v are pixel coordinates of the reflective point in the image respectively, K is an internal reference matrix of the acquisition module, and the dimensionality of the internal reference matrix is 3 multiplied by 3; r and t are respectively the position and the posture of the acquisition module relative to the passive infrared tag, wherein R is a 3 x 3 matrix, and t is a 3 x 1 vector; xw,Yw,ZwAnd the position coordinate values of the reflective points in the passive infrared label under a world coordinate system are respectively.
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