CN107218886B - Optical positioning tracking system and method based on invisible combined road sign - Google Patents
Optical positioning tracking system and method based on invisible combined road sign Download PDFInfo
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- G01—MEASURING; TESTING
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides an optical positioning and tracking system and method based on an invisible combined road sign, wherein the combined road sign is composed of an infrared mark and a visible light mark, the infrared mark is made of a retro-reflective material, the visible light mark is made of a multistable material, and the invisible function is realized by changing the color of the combined road sign into the color of an object attached to the combined road sign. The image acquisition module can acquire infrared images and visible light images. The image processing module is used for correspondingly decoding the image and calculating the attitude information of the image acquisition module in six degrees of freedom in space according to the positioning and tracking method. The optical positioning and tracking system and method provided by the invention have the advantages of large tracking range, low time delay, low price, easiness in deployment and no influence on environment attractiveness.
Description
Technical Field
The invention relates to the technical field of optical positioning, in particular to an optical positioning tracking system and method in virtual reality and augmented reality.
Background
The design of the artificial road sign mainly considers the three aspects of the accuracy and the real-time property of the road sign and the expandability in a large-scale complex environment, and in the prior road sign schemes, black and white two-dimensional bar codes or circular codes are mostly used as road sign patterns. Although all the schemes have certain expansibility, the schemes are greatly influenced by noise and shooting angles, the decoding speed is slow, and the attractiveness of the environment is influenced. Therefore, by comprehensively considering the design requirements of the artificial road sign and various proposed road sign schemes, a invisible combined road sign based on visible light marks and infrared marks is designed.
The augmented reality technology is a new technology for perfectly linking real world information and virtual world information. Virtual reality technology is a computer simulation technology that can create and experience a virtual world. In augmented reality, the virtual model is not registered exactly with the real world. In virtual reality, a user cannot be associated with a position and posture in a virtual world in the real world, and a feeling of vertigo is likely to occur. The stable positioning tracking system is a key technology for solving the problems, the tracking system in the current virtual reality and augmented reality equipment has the problem of small capture range, and the large-range tracking system mostly adopts an Outside-in mode, so that the price is high and the deployment is difficult.
Disclosure of Invention
Aiming at the defects of the prior art, the patent provides an optical positioning and tracking system and method based on an invisible combined road sign, which are particularly suitable for virtual reality and augmented reality.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an optical positioning and tracking system based on invisible combined road signs. It comprises a combined signpost deployed in the environment and an image acquisition module and an image processing module deployed on the object to be tracked.
The combined road sign consists of invisible visible light marks and invisible infrared marks. The visible light mark is used for representing coded information, and the infrared mark is used for representing positioning information. The visible light mark is made of a multistable material, can change among a plurality of colors, only needs energy when changing the color, does not need energy or needs a small amount of energy when maintaining the color state, displays the visible light mark as a specified coding color when the tracking system works, and enables the visible light mark to have the same or similar color with an attached object to realize the invisible function of the tracking system in order not to influence the environment aesthetic property when the tracking system stops working. The infrared mark is made of a retro-reflection material, and can reflect infrared light back to a luminous position so as to be captured by the image acquisition module. The infrared mark always keeps consistent with the color of the attached environment to realize the invisible function of the infrared mark.
The image acquisition module is a binocular system consisting of an infrared camera for sensing infrared and a color camera for sensing visible light, or a monocular system consisting of one camera, wherein pixels for sensing infrared and pixels for sensing visible light wave band are distributed in a photosensitive chip in the camera in the monocular system in a crossed manner.
And the image processing module is used for decoding the image captured by the image acquisition module and calculating the posture information of the image acquisition module in six degrees of freedom in space.
The visible light mark and the infrared mark are combined and coded, and the specific coding scheme is as follows: each combined road sign comprises a certain number of infrared marks, the infrared marks are arranged in a specific and easily-recognized topological shape, visible light marks of a certain color are distributed around each infrared mark, each color is mapped to a specific numerical value, the numerical value corresponding to the color around the infrared mark is used as the characteristic value of the infrared mark, all the infrared marks in the combined road sign are arranged according to a specified sequence, and the characteristic values of all the infrared marks in the group are combined together according to the arrangement to form a numerical value, wherein the numerical value is the code corresponding to the combined road sign.
In order to achieve the above object, the present invention further provides an optical positioning method based on invisible combined road signs, comprising the following steps:
calibrating the combined road signs, calculating the three-dimensional coordinates of all the combined road signs, and storing the three-dimensional coordinates into a database;
the image acquisition module acquires an infrared image and a visible light image;
the image processing module decodes the combined road signs in the image to obtain the ID corresponding to each combined road sign;
taking the ID of each combined road sign as an index, and searching a database for a real three-dimensional coordinate corresponding to each infrared mark in the combined road sign;
and calculating the six-degree-of-freedom posture of the image acquisition device in a three-dimensional space according to the coordinate of each infrared mark in the infrared image, the real three-dimensional coordinate and the internal reference of the image acquisition device.
The image processing module decodes the combined road sign in the image as follows:
identifying each infrared mark from the infrared image;
dividing the infrared marks into different groups, wherein each group of infrared marks belongs to the same combined road sign, and removing noise;
determining the arrangement sequence of each group of infrared marks;
mapping the coordinates of each infrared mark in the infrared image to the visible light image, and finding the position of the infrared mark in the visible light image;
determining the color of the visible mark around the infrared mark according to the position;
mapping the color into a numerical value as a characteristic value of the infrared mark;
and combining the characteristic values of each group of infrared marks into a digital ID in sequence according to the sequence of each group of infrared marks, wherein the digital ID is the decoding result of the combined mark.
Compared with the prior art, the invisible visible light and infrared combined road sign disclosed by the invention is positioned and tracked in an Inside-out mode, and has the advantages of large tracking range, low time delay, low price, easiness in deployment and no influence on environmental attractiveness.
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FIG. 1 is a schematic diagram of an optical localization and tracking system based on invisible combined road signs according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a combined landmark of an optical localization tracking system based on invisible combined landmarks according to a preferred embodiment of the present invention;
fig. 3 is a flowchart of an optical localization tracking method based on invisible combined road sign according to a preferred embodiment of the present invention.
Detailed Description
In order to make the description of the invention more complete and thorough, an illustrative description is provided below of embodiments and specific examples of the invention: but is not intended to be the only way to implement or use the embodiments of the present invention. In the following description, numerous specific details are set forth to provide a thorough understanding of the following embodiments. However, embodiments of the invention may be practiced without these specific details.
Fig. 1 is a block diagram of an optical localization tracking system based on invisible combined road signs. It comprises a combined road marking module 1 deployed in the environment and an image acquisition module 2 deployed on the object to be tracked and an image processing module 3 connected to the image acquisition module 2.
As shown in fig. 2, the combined road marking module 1 includes visible light markers 11, 13, 15, 17 and infrared markers 12, 14, 16, 18. The combined road sign module is designed by adopting a method, wherein the infrared mark is made of a retro-reflection material containing glass beads or micro-lattices, and the visible light mark is made of a multistable material such as electronic ink or multistable liquid crystal and the like. The centers of the four infrared markers 12, 14, 16, 18 are arranged at the four vertices of the square at regular intervals in the clockwise direction, and visible light markers of a certain color are arranged around the infrared markers, each color being mapped to a specific numerical value. And taking the numerical value corresponding to the color around the infrared mark as the characteristic value of the infrared mark, arranging all the infrared marks in the combined road sign in the clockwise direction, and combining the characteristic values of all the infrared marks in the group according to the arrangement to form a numerical value, wherein the numerical value is the code corresponding to the combined road sign. For example, let red, green, blue, and purple four colors, red is mapped to 1, green is mapped to 2, blue is mapped to 3, and purple is mapped to 4. And arranging a red visible light mark 11 around the infrared mark 12, a green visible light mark 13 around the infrared mark 14, a blue visible light mark 15 around the infrared mark 16 and a purple visible light mark 17 around the infrared mark 18, so that the result of the combined road sign after clockwise decoding is 1234.
The image acquisition module 2 is installed on the virtual reality device, and the image acquisition module 2 is composed of an infrared camera 21 capable of sensing infrared and a color camera 22 capable of sensing visible light. The infrared camera 21 is used for capturing infrared marks on the combined road sign module 1, and the color camera module is used for capturing visible light marks on the combined road sign module 1. The image processing module 3 is configured to decode the image captured by the image capturing module 2, and calculate pose information of the image capturing module 2 in six degrees of freedom in space.
Fig. 3 is a flow chart of an optical localization tracking method based on invisible combined road signs, and the flow of the method is described below with reference to fig. 1, fig. 2, and fig. 3:
step 1: calibrating the combined road signs, calculating the three-dimensional coordinates of all the combined road signs, and storing the three-dimensional coordinates into a database;
step 2: the image acquisition device acquires an infrared image and a visible light image;
and step 3: grouping the identified infrared marks, wherein each group of infrared marks belongs to the same combined road sign;
and 4, step 4: de-noising the groups obtained in the step 3, and determining the arrangement sequence of each group of infrared marks;
and 5: mapping the coordinates of each infrared mark in the infrared image to the visible light image, and finding the position of the infrared mark in the visible light image;
step 6: determining the color of the visible mark around the infrared mark according to the position obtained in step 5
Mapping the color into a numerical value as a characteristic value of the infrared mark;
and 7: according to the sequence of each group of infrared marks, the characteristic values of each group of infrared marks are combined into one in sequence
A digital ID, which is a decoding result of the combination mark;
and 8: calculating the ID corresponding to each combined road sign, using the ID of each combined road sign as an index,
summarizing and searching a database for a real three-dimensional coordinate corresponding to each infrared mark in the combined road sign;
and step 9: and calculating the six-degree-of-freedom attitude information of the image acquisition device in a three-dimensional space according to the coordinates of each infrared mark in the infrared image, the real three-dimensional coordinates and the internal parameters of the image acquisition device.
Claims (6)
1. An optical positioning and tracking system based on combined road signs is characterized in that: the infrared marker comprises a combined road sign, an image acquisition module and an image processing module, wherein the combined road sign consists of a visible light mark and an infrared mark, and the image acquisition module can acquire an infrared image of the infrared mark and a visible light image of the visible light mark; the image processing module is used for decoding the image captured by the image acquisition module and calculating the posture information of the image acquisition module in six degrees of freedom in space;
the visible light mark and the infrared mark are combined and coded, and the specific coding method comprises the following steps: each combined road sign comprises a certain number of infrared marks, the infrared marks are deployed in a specific and easily-recognized topological shape, visible light marks of a certain color are distributed around each infrared mark, each color is mapped into a specific numerical value, the numerical value corresponding to the color around the infrared mark is used as the characteristic value of the infrared mark, all the infrared marks in the combined road sign are arranged according to a specified sequence, the characteristic values of all the infrared marks in a group are combined together according to the arrangement to form a numerical value, and the numerical value is a code corresponding to the combined road sign;
the specific process of decoding the image captured by the image acquisition module is as follows:
identifying each infrared mark from the infrared image;
dividing the infrared marks into different groups, wherein each group of infrared marks belongs to the same combined road sign, and removing noise;
determining the arrangement sequence of each group of infrared marks;
mapping the coordinates of each infrared mark in the infrared image to the visible light image, and finding the position of the infrared mark in the visible light image;
determining the color of the visible mark around the infrared mark according to the position;
mapping the color into a numerical value as a characteristic value of the infrared mark;
and combining the characteristic values of each group of infrared marks into a digital ID in sequence according to the sequence of each group of infrared marks, wherein the digital ID is the decoding result of the combined mark.
2. The system of claim 1, wherein the combination road sign is invisible by changing the color of the combination road sign to the color of the object to which the combination road sign is attached.
3. An optical position-tracking system based on a combined road sign according to claim 1, wherein the visible light marker of the combined road sign is made of a multistable material which can change between colors and requires energy only when changing color, and requires no or little energy to maintain color status.
4. The system of claim 1, wherein the infrared marker of the combined road sign is made of retro-reflective material capable of reflecting infrared light back to the location where the infrared light emitted from the combined road sign is emitted, and capturing the infrared light by the image capturing module.
5. The optical positioning and tracking system based on combined road sign of claim 1, wherein the image acquisition module is a binocular system consisting of an infrared camera for sensing infrared and a color camera for sensing visible light, or a monocular system consisting of one camera, wherein the infrared band-sensing images are distributed across the photosensitive chips inside the cameras in the monocular system
Pixels and pixels sensing the visible band.
6. An optical positioning method based on combined road signs, which is implemented based on the optical positioning and tracking system based on combined road signs of any one of claims 1 to 5, and is characterized in that the method comprises the following steps:
calibrating, calculating the three-dimensional coordinates of all the combined road signs, and storing the three-dimensional coordinates in a database;
acquiring an infrared image and a visible light image;
decoding the combined road signs in the image to obtain the ID corresponding to each combined road sign;
taking the ID of each combined road sign as an index, and searching a database for a real three-dimensional coordinate corresponding to each infrared mark in the combined road sign;
calculating the six-degree-of-freedom posture of the image acquisition device in a three-dimensional space according to the coordinate of each infrared mark in the infrared image, the real three-dimensional coordinate and the internal reference of the image acquisition device;
the process of decoding the combined road sign in the image is as follows:
identifying each infrared mark from the infrared image;
dividing the infrared marks into different groups, wherein each group of infrared marks belongs to the same combined road sign, and removing noise;
determining the arrangement sequence of each group of infrared marks;
mapping the coordinates of each infrared mark in the infrared image to the visible light image, and finding the position of the infrared mark in the visible light image;
determining the color of the visible mark around the infrared mark according to the position;
mapping the color into a numerical value as a characteristic value of the infrared mark;
and combining the characteristic values of each group of infrared marks into a digital ID in sequence according to the sequence of each group of infrared marks, wherein the digital ID is the decoding result of the combined mark.
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| WO2019109242A1 (en) * | 2017-12-05 | 2019-06-13 | Xu Hongzhen | Systems, apparatus, and methods for identifying and tracking object based on light coding |
| CN108828521B (en) * | 2018-06-21 | 2022-06-07 | 重庆科技学院 | Visible light positioning method and positioning system based on image combination |
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Effective date of registration: 20180913 Address after: 100190 No. two south of Zhongguancun, Haidian District, Beijing 1 Applicant after: NATIONAL SPACE SCIENCE CENTER, CAS Address before: 100084 dormitory fourteen, Tsinghua University, Tsinghua Yuan, Haidian District, Beijing Applicant before: Zhou Kaidi |
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