CN114387300A - Multi-tracker position relation real-time correction method and system - Google Patents
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Abstract
The invention provides a method and a system for correcting the position relation of multiple trackers in real time, wherein the method comprises the following steps: acquiring coordinates of the mark points in a tracker coordinate system and coordinates of the mark points, calculating a conversion relation from a preset mark point coordinate system to the tracker coordinate system, and calculating a conversion relation of coordinate systems among trackers; and when the mark points appear in the visual fields of the two trackers at the same time, the coordinate conversion relation from the mark point coordinate system to the two tracker coordinate systems is used as a pair of track points, and when the track points reach a preset number, the conversion relation of the two tracker coordinate systems is calculated so as to update the position conversion relation of the trackers in real time. Therefore, the position of the tracker can be updated and corrected in real time, the influence caused by the change of the position of the tracker is avoided, the calibration time is saved, and the working efficiency of the tracker is improved.
Description
Technical Field
The invention belongs to the field of laser scanning, and particularly relates to a method and a system for correcting the position relation of multiple trackers in real time.
Background
In a multi-tracker combined working scene, firstly, position calibration needs to be carried out on the multi-tracker, so that a coordinate system is unified. The common calibration method is to utilize the mark points shot by photogrammetry to obtain the position conversion relationship between the tracker and the mark points through the back tracking technology of the tracker, so that all tracker coordinate systems are transferred to the mark point coordinate system, after the position calibration is completed, the positions of the trackers are relatively fixed, and the calibration is needed again when the position of the trackers changes every time.
In the actual application process of the multiple trackers, the relative positions of the trackers are slightly changed due to the problems of vibration and the like possibly existing at the arrangement points of the trackers, so that the precision of the whole operating system is influenced, and if the position calibration of the multiple trackers is continuously carried out, even if the calibration is carried out once every measurement is carried out, the working efficiency of the trackers is greatly reduced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for correcting a position relationship of multiple trackers in real time, so as to solve the problem that repeatedly performing tracker position calibration may greatly reduce the working efficiency of the trackers.
In a first aspect of the embodiments of the present invention, a method for correcting a position relationship of multiple trackers in real time is provided, including:
acquiring coordinates of the preset mark point in a first tracker coordinate system, coordinates of the preset mark point in a second tracker coordinate system and coordinates of the preset mark point, and calculating a conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
calculating the conversion relation from the second tracker coordinate system to the first tracker coordinate system;
when the preset mark points appear in the visual fields of the first tracker and the second tracker at the same time, the coordinate conversion relation from the coordinate system of the preset mark points to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points, and when the preset number of track points are reached, the conversion relation from the coordinate system of the second tracker to the coordinate system of the first tracker is calculated, so that the position conversion relation of the trackers is updated in real time.
In a second aspect of the embodiments of the present invention, there is provided a multi-tracker positional relationship real-time correction system, including:
the coordinate acquisition module is used for acquiring the coordinates of the preset mark point in a first tracker coordinate system, the coordinates of the preset mark point in a second tracker coordinate system and the coordinates of the preset mark point;
the first calculation module is used for calculating the conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
the second calculation module is used for calculating the conversion relation from the second tracker coordinate system to the first tracker coordinate system;
and the position relation calculation module is used for taking the coordinate conversion relation from the coordinate system of the preset mark point to the coordinate system of the first tracker and the coordinate system of the second tracker as a pair of track points when the preset mark point simultaneously appears in the fields of the first tracker and the second tracker, and calculating the conversion relation from the coordinate system of the second tracker to the coordinate system of the first tracker when the preset number of track points are reached so as to update the position conversion relation of the trackers in real time.
In a third aspect of the embodiments of the present invention, there is provided an apparatus, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, based on the conversion relation between the coordinate system of the mark point and the coordinate system of the tracker, after the mark points are observed simultaneously for a certain number of times, the conversion relation between the positions of the trackers is solved, so that the calibration of the position relation between the trackers can be realized, compared with the traditional calibration mode, the calibration time can be saved, the position conversion relation between multiple trackers can be updated in real time, the influence caused by slight change between the multiple trackers after long-time work is avoided, and the precision and the working efficiency of the trackers are improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for real-time calibration of a multi-tracker positional relationship according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tracker and a spherical scanner provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a multi-tracker positional relationship real-time calibration system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.
Referring to fig. 1, a schematic flow chart of a method for real-time calibration of a position relationship between multiple trackers according to an embodiment of the present invention includes:
s101, obtaining coordinates of a preset mark point in a first tracker coordinate system, coordinates of a second tracker coordinate system and coordinates of the preset mark point, and calculating a conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
the predetermined mark points are generally positioning mark points pasted on the target object, and the tracker positions the target object by scanning the mark points, wherein the mark points are generally circular. The coordinates of the mark point can be known relative coordinates or coordinates in a target object coordinate system.
The first tracker and the second tracker are used for distinguishing two different trackers, and can also be divided by a master tracker and a slave tracker, which are used for positioning and tracking a target through an optical camera. In practical application, a plurality of trackers can be provided, and the method in the implementation can be used for calibrating the position relation of any two trackers which work together and have relatively fixed positions.
Preferably, the coordinates of the predetermined marker point itself are the coordinates of the predetermined marker point on the coordinate system of the spherical scanner. During the normal scanning process of the spherical scanner, the position of the spherical scanner can be calibrated in real time through the multi-tracker.
Optionally, the predetermined marker point may be a preset marker point sequence. The marker point sequence is a sequence of points of known coordinate system and coordinate position.
As shown in fig. 2, a particular marker point on the spherical scanner may be located by a camera on the tracker.
And setting the same moment to trigger the first tracker and the second tracker to acquire the coordinates of the preset mark point in respective coordinate systems.
Specifically, the coordinate system of the first tracker is denoted as OT1-XT1YT1ZT1The coordinate system of the second tracker is marked as OT2-XT2YT2ZT2Obtaining the coordinates of the respective coordinate systems of the mark points under the master tracker and the slave tracker, and sequentially recording the coordinates under the first tracker
Denotes (the superscript denotes the tracker number, the subscript denotes the point number of the marker point in the current frame), and the coordinates under the second tracker are sequentially noted
The coordinates of the mark points are calibrated in advance in the corresponding coordinate system OS-XSYSZSIs as follows
The transformation R from the landmark point coordinate system (spherical scanner coordinate system) to the first tracker coordinate system can be solved by the following formulaS-T1TS-T1Converting R from the coordinate system of the second tracker to the coordinate system of the mark point (the coordinate system of the spherical scanner)T2- STT2-S：
In the formula (I), the compound is shown in the specification,
a matrix of rotations is represented, which is,
representing a translation vector.
S102, calculating a conversion relation from a second tracker coordinate system to a first tracker coordinate system;
according to the transformation relation from the mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system, the transformation relation from the second tracker coordinate system to the first tracker coordinate system can be solved.
In particular, according to RS-T1TS-T1、RT2-STT2-SSolving the conversion relation R from the second tracker coordinate system to the first tracker coordinate system through the following formulaT2-T1TT2-T1：
RT2-T1＝RT2-S*RT2-S； (3)
TT2-T1＝RT2-S*TS-T1+TT2-S； (4)
In the formula, RT2-T1Representing a rotation matrix, TT2-T1Representing a translation vector.
S103, when the preset mark points appear in the fields of the first tracker and the second tracker, the coordinate conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system is used as a pair of track points, and when the preset number of track points are reached, the conversion relation from the second tracker coordinate system to the first tracker coordinate system is calculated so as to update the tracker position conversion relation in real time.
When the preset mark point is monitored by the first tracker and the second tracker at the same time or a certain frame of spherical scanner appears in the field of view of the trackers at the same time, the conversion relation between the coordinate system of the mark point and the coordinate system of the trackers is recorded as a track point.
When the preset mark point is on the coordinate system of the spherical scanner, if the spherical scanner is simultaneously in the visual fields of the first tracker and the second tracker, the coordinate conversion relation from the coordinate system of the spherical scanner to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points to calculate the coordinate system conversion relation of the first tracker and the second tracker.
Specifically, the position conversion relation R from the second tracker coordinate system to the first tracker coordinate system is calculated according to a formulaT2-T1TT2-T1：
[T0 S-T1T1 S-T1…Ti S-T1]＝RT2-T1[T0 S-T2T1 S-T2…Ti S-T2]+TT2-T1； (5)
In the formula, RT2-T1Representing a rotation matrix, TT2-T1Representing translation vectors, TS-T1Representing the transformation of the coordinate system of the predetermined marker point to the coordinate system of the first tracker, TS-T2Representing the conversion relation from the coordinate system of the predetermined mark point to the coordinate system of the second tracker, i is the number of the track points,
a 1 x 3 matrix.
Specifically, if the marker point appears in the field of view of the first and second trackers, the transformation relationship from the coordinate system of the marker point to the coordinate system of the first tracker is R0 S-T1T0 S-T1The conversion relation from the coordinate system of the mark point to the coordinate system of the second tracker is R0 S-T2T0 S-T2Preservation of T0 S-T1、T0 S-T2As a pair of trace points, continuing to monitor until more than 4 trace points exist, and solving and obtaining a conversion relation R from a tracker coordinate system to a main tracker coordinate system according to the following formula (5) at the momentT2-T1TT2-T1And using the latest RT2- T1TT2-T1And updating the position relation of the tracker in real time.
In the embodiment, based on the positioning of the tracker to the identification point, the conversion relation between the coordinate systems is calculated, and then the relative position relation of the tracker is solved according to a certain number of track points, so that the real-time updating and correction of the position relation between the trackers can be realized, the influence caused by the position change between the trackers is avoided, the influence of the traditional repeated calibration on the working efficiency is solved, the calibration time can be saved, the calibration efficiency is improved, and the measurement precision is guaranteed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 3 is a schematic structural diagram of a system for real-time correction of a position relationship between multiple trackers according to an embodiment of the present invention, where the system includes:
the coordinate acquisition module 310 is configured to acquire coordinates of the predetermined mark point in a first tracker coordinate system, coordinates of the predetermined mark point in a second tracker coordinate system, and coordinates of the predetermined mark point itself;
preferably, the coordinates of the predetermined marker point are the coordinates of the predetermined marker point on the coordinate system of the spherical scanner.
The first calculating module 320 is used for calculating the conversion relation from the coordinate system of the preset mark point to the coordinate system of the first tracker and the coordinate system of the second tracker;
and setting the same moment to trigger the first tracker and the second tracker to acquire the coordinates of the preset mark point in respective coordinate systems.
A second calculating module 330, configured to calculate a transformation relationship from the second tracker coordinate system to the first tracker coordinate system;
and the position relation calculation module 340 is configured to, when the predetermined marker point appears in the fields of view of the first tracker and the second tracker at the same time, use the coordinate transformation relation from the predetermined marker point coordinate system to the first tracker coordinate system and the second tracker coordinate system as a pair of track points, and when a predetermined number of track points are reached, calculate the transformation relation from the second tracker coordinate system to the first tracker coordinate system, so as to update the tracker position transformation relation in real time.
Optionally, if the predetermined marker point is on the spherical scanner, when the spherical scanner appears in the fields of view of the first tracker and the second tracker at the same time, the coordinate transformation relationship from the coordinate system of the spherical scanner to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points to calculate the coordinate system transformation relationship between the first tracker and the second tracker.
Specifically, the position conversion relation R from the second tracker coordinate system to the first tracker coordinate system is calculated according to a formulaT2-T1TT2-T1：
[T0 S-T1T1 S-T1…Ti S-T1]＝RT2-T1[T0 S-T2T1 S-T2…Ti S-T2]+TT2-T1
In the formula, RT2-T1Representing a rotation matrix, TT2-T1Representing translation vectors, TS-T1Representing the transformation of the coordinate system of the predetermined marker point to the coordinate system of the first tracker, TS-T2And (5) representing the conversion relation from the coordinate system of the preset mark point to the coordinate system of the second tracker, wherein i is the number of the track points.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the modules described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for updating and correcting the tracker position relationship, and is usually a computer. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a memory 410, a processor 420, and a system bus 430, the memory 410 including an executable program 4101 stored thereon, it being understood by those skilled in the art that the electronic device configuration shown in fig. 4 does not constitute a limitation of electronic devices and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The following describes each component of the electronic device in detail with reference to fig. 4:
the memory 410 may be used to store software programs and modules, and the processor 420 executes various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The executable program 4101 of the network request method is contained on the memory 410, the executable program 4101 can be divided into one or more modules/units, the one or more modules/units are stored in the memory 410 and executed by the processor 420 to realize the real-time updating of the multi-tracker position relationship, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be divided into a coordinate acquisition module, a first calculation module, a second calculation module, and a positional relationship calculation module.
The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 410 and calling data stored in the memory 410, thereby performing overall status monitoring of the electronic device. Alternatively, processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 420.
The system bus 430 is used to connect functional units inside the computer, and can transmit data information, address information, and control information, and may be, for example, a PCI bus, an ISA bus, a VESA bus, etc. The instructions of the processor 420 are transmitted to the memory 410 through the bus, the memory 410 feeds data back to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices such as network interfaces, display devices, and the like.
In this embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:
acquiring coordinates of the preset mark point in a first tracker coordinate system, coordinates of the preset mark point in a second tracker coordinate system and coordinates of the preset mark point, and calculating a conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
calculating the conversion relation from the second tracker coordinate system to the first tracker coordinate system;
when the preset mark points appear in the visual fields of the first tracker and the second tracker at the same time, the coordinate conversion relation from the coordinate system of the preset mark points to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points, and when the preset number of track points are reached, the conversion relation from the coordinate system of the second tracker to the coordinate system of the first tracker is calculated, so that the position conversion relation of the trackers is updated in real time.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for correcting the position relation of multiple trackers in real time is characterized by comprising the following steps:
acquiring coordinates of the preset mark point in a first tracker coordinate system, coordinates of the preset mark point in a second tracker coordinate system and coordinates of the preset mark point, and calculating a conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
calculating the conversion relation from the second tracker coordinate system to the first tracker coordinate system;
when the preset mark points appear in the visual fields of the first tracker and the second tracker at the same time, the coordinate conversion relation from the coordinate system of the preset mark points to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points, and when the preset number of track points are reached, the conversion relation from the coordinate system of the second tracker to the coordinate system of the first tracker is calculated, so that the position conversion relation of the trackers is updated in real time.
2. The method according to claim 1, wherein the coordinates of the predetermined marker point itself are the coordinates of the predetermined marker point on a spherical scanner coordinate system.
3. The method of claim 1, wherein calculating the transformation relationship of the predetermined landmark coordinate system to the first tracker coordinate system and the second tracker coordinate system comprises:
and setting the same moment to trigger the first tracker and the second tracker to acquire the coordinates of the preset mark point in respective coordinate systems.
4. The method of claim 2, wherein the pre-determined landmark point coordinates itself as coordinates of the pre-determined landmark point on a spherical scanner coordinate system comprises:
when the spherical scanner appears in the visual fields of the first tracker and the second tracker, the coordinate conversion relation from the coordinate system of the spherical scanner to the coordinate system of the first tracker and the coordinate system of the second tracker is used as a pair of track points so as to calculate the coordinate system conversion relation of the first tracker and the second tracker.
5. The method of claim 1, wherein calculating the transformation relationship from the second tracker coordinate system to the first tracker coordinate system is specifically:
calculating the position conversion relation R from the second tracker coordinate system to the first tracker coordinate system according to a formulaT2-T1TT2-T1：
[T0 S-T1T1 S-T1…Ti S-T1]＝RT2-T1[T0 S-T2T1 S-T2…Ti S-T2]+TT2-T1
In the formula, RT2-T1Representing a rotation matrix, TT2-T1Representing translation vectors, TS-T1Representing the transformation of the coordinate system of the predetermined marker point to the coordinate system of the first tracker, TS-T2And (5) representing the conversion relation from the coordinate system of the preset mark point to the coordinate system of the second tracker, wherein i is the number of the track points.
6. A multi-tracker positional relationship real-time correction system, comprising:
the coordinate acquisition module is used for acquiring the coordinates of the preset mark point in a first tracker coordinate system, the coordinates of the preset mark point in a second tracker coordinate system and the coordinates of the preset mark point;
the first calculation module is used for calculating the conversion relation from the preset mark point coordinate system to the first tracker coordinate system and the second tracker coordinate system;
the second calculation module is used for calculating the conversion relation from the second tracker coordinate system to the first tracker coordinate system;
and the position relation calculation module is used for taking the coordinate conversion relation from the coordinate system of the preset mark point to the coordinate system of the first tracker and the coordinate system of the second tracker as a pair of track points when the preset mark point simultaneously appears in the fields of the first tracker and the second tracker, and calculating the conversion relation from the coordinate system of the second tracker to the coordinate system of the first tracker when the preset number of track points are reached so as to update the position conversion relation of the trackers in real time.
7. The system of claim 6, wherein the coordinates of the predetermined marker point itself are the coordinates of the predetermined marker point on the spherical scanner coordinate system.
8. The system of claim 6, wherein said calculating a transformation of the predetermined landmark coordinate system to the first tracker coordinate system and the second tracker coordinate system comprises, prior to:
and setting the same moment to trigger the first tracker and the second tracker to acquire the coordinates of the preset mark point in respective coordinate systems.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for real-time correction of multi-tracker positional relationships as claimed in any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium storing a computer program, wherein the computer program is executed to implement the steps of a multi-tracker positional relationship real-time correction method according to any one of claims 1 to 5.
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| CN113409406A (en) * | 2021-08-19 | 2021-09-17 | 武汉中观自动化科技有限公司 | Large-range monocular tracking scanning device |
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2021
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| CN112833816A (en) * | 2020-12-31 | 2021-05-25 | 武汉中观自动化科技有限公司 | Positioning method and system with mixed landmark positioning and intelligent reverse positioning |
| CN113284194A (en) * | 2021-06-22 | 2021-08-20 | 智道网联科技(北京)有限公司 | Calibration method, device and equipment for multiple RS (remote sensing) equipment |
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