CN107767394A - A kind of positioning of moving target and Attitude estimation method, apparatus and system - Google Patents
A kind of positioning of moving target and Attitude estimation method, apparatus and system Download PDFInfo
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- CN107767394A CN107767394A CN201610670273.6A CN201610670273A CN107767394A CN 107767394 A CN107767394 A CN 107767394A CN 201610670273 A CN201610670273 A CN 201610670273A CN 107767394 A CN107767394 A CN 107767394A
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- 230000004807 localization Effects 0.000 description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a kind of method of multiple target real-time attitude tracking based on illuminator and positioning.This method needs an at least image acquisition device, and equipment and the device such as at least one illuminator being arranged on tracked object.The exposure of Sync image capture device and the brightness of illuminator are first begin to, the method by distinguishing different illuminators in multiple illuminators, the coding of each illuminator is determined, then tracks each illuminator；After specifying illuminator coding, all illuminators are sequentially input to be resolved in the algorithm of attitude algorithm as what is set, obtain arranging the posture and positional information of the mobile object of illuminator；If tracking is lost, synchronization is re-started, identifies different illuminator codings.Method disclosed by the invention can precisely track the posture and motion track of multiple mobile objects simultaneously.
Description
Technical field
The present invention relates to computer vision field, more particularly to a kind of Attitude Tracking and localization method, device.
Background technology
At present on the market mainly have three kinds based on optical track and localization scheme：OptiTrack, Lighthouse, and
Camera self position.
OptiTrack schemes should be accuracy rate highest in all optical alignments, a kind of most scheme of tracking target, but
Program Ground arrangement is complicated, and collecting device is expensive.Multiple special shootings are set up before using OptiTrack systems
Head simultaneously could carry out data acquisition and evaluation work after carrying out complicated calibration, only according to Ground arrangement this, this scheme is just less
It is suitable for ordinary consumption level user.
Lighthouse schemes be in current three big " PC levels " VR use range maximum usage experience best one, but he
Also have several drawbacks in that, be that anti-interference is slightly worse first, to be avoided as far as possible according to lighthouse principle, in its use environment anti-
Light object, such as mirror on shining floor and wall are all lighthouse interference sources, this mainly due to
The lighthouse helmets are laser " sensing " devices, if laser the helmet is entered back into after being reflected in reflective plane can serious shadow
Ring its Attitude Calculation.
Next to that lighthouse autgmentability is poor, analyzed according to principle, at present using the technology product " lamp
Tower " in order to avoid transmitting laser interfere and can reach Attitude estimation effect more than 60 frame per second should will each
The speed of motor is set as more than 240 revolutions per seconds, could so allow four motors of two beacons to complete sweeping for full figure in 1 second
Retouch.Just imagine, according to this principle, space is used if wanting to expand, if adding two beacons, the rotating speed of each motor will
More than 480 turns, this can limit follow-up Project Realization, manufacture and cost control.
Camera self position tracking system mainly has both direction：First is to need making by oneself for outside a large amount of arrangement observation stations
Position tracking.This tracking has the big advantage of this moving range, but needs to arrange that a large amount of trace points are to hinder it to push to consume in advance
The main reason for level market, then it is that their tracking only has head tracking not have body feeling interaction to have so that user still can not be with
The VR worlds carry out depth " communication ".Second Main way is the self-positioning and natural gesture identification for not being tracked an arrangement,
But this algorithm amount of calculation is very big, and is easy to be influenceed by light, for example dark interior just can not be positioned and be tracked
, this also significantly limit the application of this mode.
The content of the invention
It is an object of the invention to provide one kind in order to overcome above the deficiencies in the prior art and can while precisely track more
The Attitude Tracking and localization method of individual mobile object, apparatus and system.
A kind of according to an aspect of the invention, there is provided method for distinguishing different labels, it is characterised in that：Set phase
The n exposed frames of machine are as a synchronizing cycle, and within a synchronizing cycle, each label corresponds to each exposed frame of camera
Time, there is different light on and off/light and shade order；So, same label is sequentially formed by camera exposure in a synchronizing cycle
Light on and off/chiaroscuro effect, form a coded sequence, the coded sequence be used for distinguish different labels.
Further, the specific method for forming the coded sequence is：Within n continuous exposure cycle, according to each
Label brightness case, each corresponding described label obtains one by n 0/1 Serial No.s formed, by this digital sequence
Row form a n bit, this binary number is to correspond to the mark according to the order arrangement corresponding to synchronizing signal
The ID of thing.
Further, binary number is determined by synchronizing signal timing diagram, wherein n size and most differentiable ID numbers
M is relevant.
Further, preferably m=2n。
Further, each described label, within the same time for exposure, a kind of luminance state is only kept.
Further, the label is illuminator.
According to an aspect of the invention, there is provided a kind of tracking of multiple target real-time attitude and positioning based on illuminator
Method, it is characterised in that：Comprise the following steps：
(1) light and shade of the exposure of synchronous camera and illuminator；(2) by distinguishing different illuminators in multiple illuminators
Method, determines the numbering of each illuminator, then tracks each illuminator；(3) after clear and definite illuminator numbering, by all illuminators by setting
Surely it is sequentially input to be resolved in the algorithm of attitude algorithm, obtains arranging the appearance of one or more mobile objects of illuminator
State and/or positional information；
Wherein, step (2) it is described different illuminators are distinguished in multiple illuminators method be：The n frames for setting camera expose
Light is as a synchronizing cycle, and within a synchronizing cycle, each illuminator corresponds to each exposed frame time of camera, has not
Same light on and off/light and shade order；So, the light on and off that same illuminator is sequentially formed by camera exposure in a synchronizing cycle/bright
Dark effect, forms a coded sequence, and the coded sequence is used to distinguish different illuminators.
Further, the method for realizing the step (1) is：After system starts, from controller respectively to label
Control signal is sent with image acquisition device, to control the brightness of label to change, and the exposure of image acquisition device.
Further, the method for realizing the step (2) is：In frame synchronizing process, controller controls all marks
Thing, within each exposed frame time of image acquisition device, in different luminance states；Pre-set luminance threshold L, when certain
When one label X brightness is more than L, when remembering the exposed frame, label X value is 1；Conversely, its brightness is less than or equal to L,
When remembering the exposed frame, label X value is 0；So after n frame synchronization terminates, n 0/1 of each corresponding label is obtained
Serial No., by this Serial No., it is arranged in order according to the time for exposure and can obtain a n bit binary value, this numerical value
The as ID of the label；Wherein, the frame synchronizing process is label ID identification process.
According to an aspect of the present invention, there is provided a kind of method for distinguishing different labels, it is characterised in that：Including as follows
Step：
S10, system controller first send each self-corresponding synchronizing signal to all labels, then are sent to image acquisition device
Synchronizing signal, for controlling label certain brightness of each self-sustaining within the time that image acquisition device exposes；
S20, setting luminance threshold L, for each label, if its brightness is more than L, when remembering the exposed frame, the mark
The value for remembering thing is 1；, whereas if its brightness is less than or equal to L, when remembering the exposed frame, the value of the label is 0；
S30, controlled by the system controller, within the n continuous exposure cycle of described image collector, system passes through institute
Each label brightness case is stated, each corresponding described label can obtain one by the n 0/1 digital sequences formed
Row, this Serial No. is arranged according to the order corresponding to the controller synchronizing signal, forms a n bit, this
Binary number is the ID corresponding to the label.
Further, 0/1 digital order in the binary number, is determined by synchronizing signal timing diagram, can be according to control
The control signal of device, a kind of order is pre-defined, not uniquely.
Further, n size is relevant with the at most differentiable ID numbers m of system.
Further, preferably m=2n。
Further, each described label, within the same time for exposure, a kind of luminance state is only kept.
Further, will collect image after exposure is sent to the image procossing that connects in advance to described image collector every time
Device, each luminous point is handled by described image processor, obtains correlated characteristic；According to feature differentiation label and make an uproar
Sound point, and get the brightness value of mark point.
According to an aspect of the invention, there is provided a kind of tracking of multiple target real-time attitude and positioning based on illuminator
Device, including sync generator, picture collection device, graphics processing unit, illuminator tracking cell and Attitude estimation unit；
It is characterized in that：Graphics processing unit, the signal for picture collection device to be sended over carry out image algorithm processing, will be original
Cromogram be changed into removing the binary map of noise and speckle, calculate the ID of each illuminator, and be sent to illuminator tracking cell.
Further, sync generator is used for generation two and is used for synchronizing signal, and one is sent to picture collection device,
For controlling its time of exposure, another is sent to illuminator synchronous signal receiver, for controlling illuminator light on and off/light and shade
Change.
Further, picture collection device is used to gather the image of illuminator and is sent to graphics processing unit；In same step
Section picture collection device receives synchronizing signal and synchronizes exposure, and automatic exposure is then carried out in tracking phase.
Further, illuminator tracking cell, for the two-value sended over track algorithm tracking graphics processing unit
Illuminator in figure, if tracking mode normally if will, two-value diagram data is sent to Attitude estimation unit.
Further, Attitude estimation unit, for the data sent according to the tracking cell received, combining camera ginseng
Number, luminous body three-dimensional models parameter calculate posture of the illuminator under camera coordinates system.
According to an aspect of the invention, there is provided a kind of locating and tracking system, including any of the above-described based on luminous
The multiple target real-time attitude tracking of body and the device of positioning, it is characterised in that：Also include illuminator synchronous signal receiver and hair
Body of light；Wherein, illuminator synchronous signal receiver receives the synchronizing signal that sync generator is sent, and recycles this synchronously to believe
Number control illuminator light and shade change, illuminator according to synchronous signal receiver control carry out light and shade change.
Further, illuminator can be mounted on arbitrary objects, so as to realize the positioning and tracking to this object.
Further, illuminator synchronous signal receiver receives the synchronizing signal that sync generator is sent, and it is propagated
Path can be infrared, bluetooth or wifi.
The present invention is in comprehensive cost, property easy to use, anti-interference, has been done in scalability and algorithm complex many excellent
Change, it is possible to be referred to as a kind of brand-new method for tracking and positioning.Its advantage is：Based on the present invention multiple luminous
Different illuminators are distinguished in body, by the combination of the illuminator and attitude algorithm algorithm of determination order, are realized based on illuminator
Multiple target real-time attitude tracks and positioning, can precisely track the posture and motion track of multiple mobile objects simultaneously.Implement this hair
The bright tracking of the multiple target real-time attitude based on illuminator and the device of positioning, resist blocking property strong, and small, calculating is influenceed by visible ray
Consume low, cost of implementation is low.
Brief description of the drawings
Fig. 1 is a kind of use of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Flow chart.
Fig. 2 is a kind of synchronization of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Flow chart.
Fig. 3 is a kind of synchronization of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
With trace flow figure.
Fig. 4 is a kind of acquisition of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Labelling apparatus ID timing diagram.
Fig. 5 is the operational flow diagram that calculating process is tracked in the present invention.
Fig. 6 is a kind of apparatus structure frame of the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Figure.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
Fig. 1 is a kind of use of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Flow chart.
S101, synchronizing signal is waited to start synchronization；
S102, frame synchronization obtain Tag ID；
S103, judge whether ID meets the requirements；If it is, into S104, S101 is otherwise returned；
S104, trace labelling；
S105, whether with losing mark point；If it is, return to S101；Otherwise S106 is entered；
S106, tracked gestures of object estimation.
The first step of embodiment is that processing unit to be allowed gets label and its ID on tracked object
Coding.This step is realized by the timing synchronization of image collecting device and label.
Fig. 2 is a kind of synchronization of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Flow chart.
S201, etc. commencing signal to be synchronized；
S202, frame synchronization obtain Tag ID；
S203, judge whether ID meets the requirements；If it is, entering tracking calculating process, S201 is otherwise returned.
After system starts, control signal is sent to labelling apparatus and image acquisition device from controller respectively, to control
The brightness change of labelling apparatus, and the exposure of image acquisition device.Within image acquisition device any n continuous exposure cycle, system
Different labelling apparatus is distinguished by labelling apparatus brightness situation of change, that is, identifies the ID of mark.Wherein n size is by system
Specific implementation in need set, n size is relevant with the at most differentiable ID numbers m of system in the method：M=2n。
Labelling apparatus ID specific identification process is as follows：
Labelling apparatus ID identification process is referred to here as " frame synchronization " process.It may be selected to use one before frame synchronization starts
The signal that kind basis for estimation starts as frame synchronization, can also not have.Ensuing n frames are frame synchronizing process.
Fig. 3 is a kind of synchronization of the method for the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
With trace flow figure.
S301, in frame synchronizing process, controller controls all labelling apparatus, in each exposed frame of image acquisition device
In time, in different luminance states.Pre-set luminance threshold L, when some labelling apparatus X brightness is more than L,
When remembering the exposed frame, labelling apparatus X value is 1；Conversely, its brightness is less than or equal to L, when remembering the exposed frame, labelling apparatus X's
It is worth for 0；So after n frame synchronization terminates, 0/1 Serial No. of each corresponding labelling apparatus is obtained, by this Serial No.,
It is arranged in order according to the time for exposure and can obtain a n bit binary value, this numerical value is the ID of the labelling apparatus.0/1 number
The specific of word puts in order, and can pre-define a kind of order according to the control signal of controller, not uniquely, such as, for
ID is 1 labelling apparatus, controls the labelling apparatus in the first frame as 1 if setting controller, subsequent frame 0, then the first frame
Numerical value be emitted on the most right of Serial No., successively to the left；Conversely, then order is opposite.This synchronizing process relates generally to image and adopted
The sequential relationship of exposure and labelling apparatus the brightness change of storage, refer to Fig. 4, and illuminator is based on for the embodiment of the present invention is a kind of
The tracking of multiple target real-time attitude and positioning method the timing diagram for obtaining labelling apparatus ID.
Fig. 5 is the operational flow diagram that calculating process is tracked in the present invention.It is laggard that frame synchronizing process gets labelling apparatus ID
Enter labelling apparatus tracking process, the process specifically includes：
501st, it is that the colored diagram data that graphics processing unit is passed back to image acquisition units is carried out at image binaryzation first
Reason；Colored RGB figures are converted into gray-scale map first, the conversion proportion that RGB turns gray-scale map is had nothing in common with each other, and does not limit specific turn here
Ratio is changed, ratio specifically is in this example：R-21.25%, g-71.54%, b-7.21%, then gray-scale map is done " two
Value " convert, that is, by image each pixel by 0-255 change turn to 0 and 1, the method for binaryzation has a lot, at this
In do not limit, specifically used binarization method is definite value binaryzation in this example, and gray value is 150 defined in this example
Point above is logic 1 (or 0), and point of the gray value below 150 is logical zero (or 1).One is carried out to binary map in this example
It is secondary to open operation (first corroding reflation), remove some small area noise spots with this operation.Image is entered after removing noise
Row connected domain analysis (blob).Obtain the central point of each connected domain again, what the solution of central point was tried to achieve in this example is connection
The centroid in logical domain, is implemented as follows：Travel through whole connected domain, try to achieve the top edge of connected domain, lower edge, left hand edge and
Right hand edge, it is exactly ordinate center that lower edge, which subtracts top edge, and it is exactly abscissa center that right hand edge, which subtracts left hand edge, transverse and longitudinal coordinate center
Combine be exactly an illuminator coordinate center.Then the coordinate information at each connected domain center of previous frame is read out.
If present frame has n connected domain center, previous frame has N number of connected domain center, calculates each central point of present frame and previous frame one by one
Distance between each central point.Inherit the center ID number of minimum distance.The distance of n connected domain checks after all calculating wherein is
The no succession ID for having repetition, if without if this frame it is correct, carry out next frame calculating.Synchronous flow is returned if having.
The luminous point marker characteristic being related in the above method in every two field picture, this is a universal method, obtains figure
Coordinate of the luminescent marking under three-dimensional body coordinate system and the coordinate under camera coordinates system as in：According to luminescent marking in three-dimensional
Coordinate of the coordinate under camera coordinates system under object coordinates system, obtain translation and rotation of the three-dimensional body under camera coordinates system
Turn；According to translation and rotation of the three-dimensional body under camera coordinates system, the translation and rotation acquisition of three-dimensional body in obtaining per frame
The position of target corresponding to luminescent marking.Described three-dimensional body coordinate system, image coordinate system and three-dimensional camera coordinate system are all
Pre-set.
Fig. 6 is a kind of apparatus structure frame of the tracking of multiple target real-time attitude and positioning based on illuminator of the embodiment of the present invention
Figure.Described device includes：Sync generator, picture collection device, graphics processing unit, illuminator tracking cell, posture are estimated
Count unit.Wherein sync generator, it is used for synchronizing signal for producing two, one is sent to picture collection device Fig. 6's
102, for controlling its time of exposure, another is sent to the 106 of illuminator synchronous signal receiver Fig. 6, luminous for controlling
Which illuminator at this moment of body should have the change of light on and off/light and shade.Picture collection device, for gathering the image of illuminator simultaneously
It is sent to graphics processing unit.Synchronizing signal is received in same step picture collection device and synchronizes exposure, is then entered in tracking phase
Row automatic exposure.Graphics processing unit, the signal for picture collection device to be sended over carry out image algorithm processing, will be original
Cromogram be changed into removing the binary map of noise and speckle, calculate the ID of each illuminator, and be sent to illuminator tracking cell.
Illuminator tracking cell, for the illuminator in the binary map that sends over of track algorithm tracking graphics processing unit, if with
Track state is normally then by two-value diagram data is sent to Attitude estimation unit.Attitude estimation unit, for according to the tracking received
The data that unit is sent, combining camera parameter, luminous body three-dimensional models parameter calculate appearance of the illuminator under camera coordinates system
State.Also include in present example, illuminator synchronous signal receiver and illuminator, wherein illuminator synchronous signal receiver,
The synchronizing signal sent for receiving sync generator, its propagation path may include infrared, bluetooth or wifi etc., herein
Do not limit.Recycle the light and shade change of this synchronizing signal control illuminator.Wherein illuminator is used for according to synchronous signal receiver
The control of device carries out light and shade change, and illuminator can be mounted on arbitrary objects, so as to realize the positioning to this object with
Track.
Above content is to combine specific embodiment further description made for the present invention, it is impossible to assert this hair
Bright specific implementation is confined to these explanations.For general technical staff of the technical field of the invention, do not taking off
On the premise of from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the protection of the present invention
Scope.
Claims (10)
- A kind of 1. method for distinguishing different labels, it is characterised in that：The n exposed frames of camera are set as a synchronizing cycle, Within a synchronizing cycle, each label corresponds to each exposed frame time of camera, there is different light on and off/light and shade order； So, light on and off/chiaroscuro effect that same label is sequentially formed by camera exposure in a synchronizing cycle, a coding is formed Sequence, the coded sequence are used to distinguish different labels.
- 2. a kind of method for distinguishing different labels as claimed in claim 1, it is characterised in that form the coded sequence Specific method is：Within n continuous exposure cycle, according to each label brightness case, each corresponding described label One is obtained by n 0/1 Serial No.s formed, by this Serial No. according to the order arrangement corresponding to synchronizing signal, composition One n bit, this binary number are the ID corresponding to the label.
- A kind of 3. as claimed in claim 2 method for distinguishing different labels, it is characterised in that the binary number by Synchronizing signal timing diagram determines that wherein n size is relevant with most differentiable ID numbers m, m=2n。
- A kind of 4. method of the tracking of multiple target real-time attitude and positioning based on illuminator, it is characterised in that：Comprise the following steps：(1) light and shade of the exposure of synchronous camera and illuminator；(2) by distinguishing the sides of different illuminators in multiple illuminators Method, determines the numbering of each illuminator, then tracks each illuminator；(3) after clear and definite illuminator numbering, by all illuminators by setting It is sequentially input to be resolved in the algorithm of attitude algorithm, obtains arranging the posture of one or more mobile objects of illuminator And/or positional information；Wherein, step (2) it is described different illuminators are distinguished in multiple illuminators method be：The n exposed frames for setting camera are made For a synchronizing cycle, within a synchronizing cycle, each illuminator corresponds to each exposed frame time of camera, has different Light on and off/light and shade order；So, the light on and off that same illuminator is sequentially formed by camera exposure in a synchronizing cycle/light and shade effect Fruit, forms a coded sequence, and the coded sequence is used to distinguish different illuminators.
- 5. the method for a kind of tracking of multiple target real-time attitude and positioning based on illuminator as claimed in claim 4, its feature It is, the method for realizing the step (1) is：After system starts, from controller respectively to label and image acquisition device Control signal is sent, to control the brightness of label to change, and the exposure of image acquisition device；The method for realizing the step (2) For：In frame synchronizing process, controller controls all labels, within each exposed frame time of image acquisition device, is in Different luminance states；Pre-set luminance threshold L, when some label X brightness is more than L, when remembering the exposed frame, Label X value is 1；Conversely, its brightness is less than or equal to L, when remembering the exposed frame, label X value is 0；It is so same in n frames After the end of the step, n 0/1 Serial No.s of each corresponding label are obtained, by this Serial No., according to the time for exposure successively Arrangement can obtain a n bit binary value, and this numerical value is the ID of the label；Wherein, the frame synchronizing process is mark Remember thing ID identification process.
- A kind of 6. method for distinguishing different labels, it is characterised in that：Comprise the following steps：S10, system controller first send each self-corresponding synchronizing signal to all labels, then send synchronization to image acquisition device Signal, for controlling label certain brightness of each self-sustaining within the time that image acquisition device exposes；S20, setting luminance threshold L, for each label, if its brightness is more than L, when remembering the exposed frame, the label Value be 1；, whereas if its brightness is less than or equal to L, when remembering the exposed frame, the value of the label is 0；S30, controlled by the system controller, within the n continuous exposure cycle of described image collector, system passes through described every One label brightness case, each corresponding described label can obtain one by n 0/1 Serial No.s formed, will This Serial No. forms a n bit, this binary system according to the order arrangement corresponding to the controller synchronizing signal Number is the ID corresponding to the label.
- 7. a kind of method for distinguishing different labels according to claim 6, it is characterised in that 0/ in the binary number The order of 1 numeral, is determined by synchronizing signal timing diagram, can pre-define a kind of order according to the control signal of controller, and It is not unique.
- 8. a kind of device of the tracking of multiple target real-time attitude and positioning based on illuminator, including sync generator, picture Collector, graphics processing unit, illuminator tracking cell and Attitude estimation unit：It is characterized in that：Graphics processing unit, it is used for The signal that picture collection device is sended over carries out image algorithm processing, is changed into removing noise and speckle by original cromogram Binary map, calculates the ID of each illuminator, and is sent to illuminator tracking cell.
- 9. the device of a kind of tracking of multiple target real-time attitude and positioning based on illuminator according to claim 8, it is special Sign is that sync generator is used for generation two and is used for synchronizing signal, and one is sent to picture collection device, for controlling it The time of exposure, another is sent to illuminator synchronous signal receiver, for controlling the change of illuminator light on and off/light and shade；Picture Collector is used to gather the image of illuminator and is sent to graphics processing unit, and synchronous letter is received in synchronous phase picture collection device Number exposure is synchronized, automatic exposure is then carried out in tracking phase；Illuminator tracking cell, for track algorithm tracing figure picture Illuminator in the binary map that processing unit sends over, if tracking mode normally if will, two-value diagram data is sent to posture and estimates Count unit；Attitude estimation unit, for the data sent according to the tracking cell received, combining camera parameter, illuminator three Dimension module parameter calculates posture of the illuminator under camera coordinates system.
- 10. a kind of locating and tracking system, including the tracking of the multiple target real-time attitude based on illuminator described in claim 8 or 9 With the device of positioning, it is characterised in that：Also include illuminator synchronous signal receiver and illuminator；Wherein, illuminator is synchronously believed Number receiver receives the synchronizing signal that sync generator is sent, and recycles the light and shade of this synchronizing signal control illuminator to become Change, illuminator carries out light and shade change according to the control of synchronous signal receiver；Wherein synchronizing signal route of transmission includes infrared, blue Tooth, WiFi or wired mode are synchronous.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112033377A (en) * | 2019-06-03 | 2020-12-04 | 海信视像科技股份有限公司 | Method for determining indicator light identifier, positioning method and positioning system |
| WO2021129790A1 (en) * | 2019-12-26 | 2021-07-01 | 深圳市瑞立视多媒体科技有限公司 | Method for solving packet loss in synchronous communication in code-type active optical motion capture system, and related device |
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| CN114500823A (en) * | 2020-10-26 | 2022-05-13 | 宏达国际电子股份有限公司 | Method for tracking movable object, tracking device and method for controlling shooting parameters |
| CN116708724A (en) * | 2023-08-07 | 2023-09-05 | 江苏省电子信息产品质量监督检验研究院(江苏省信息安全测评中心) | Sample monitoring method and system based on machine vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030988A (en) * | 2019-03-01 | 2019-07-19 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement |
| CN112033377A (en) * | 2019-06-03 | 2020-12-04 | 海信视像科技股份有限公司 | Method for determining indicator light identifier, positioning method and positioning system |
| WO2021129790A1 (en) * | 2019-12-26 | 2021-07-01 | 深圳市瑞立视多媒体科技有限公司 | Method for solving packet loss in synchronous communication in code-type active optical motion capture system, and related device |
| WO2021140315A1 (en) * | 2020-01-06 | 2021-07-15 | Oxford Metrics Plc | Temporal coding of markers for object tracking |
| CN114500823A (en) * | 2020-10-26 | 2022-05-13 | 宏达国际电子股份有限公司 | Method for tracking movable object, tracking device and method for controlling shooting parameters |
| CN114500823B (en) * | 2020-10-26 | 2023-10-13 | 宏达国际电子股份有限公司 | Method and device for tracking movable object |
| CN116708724A (en) * | 2023-08-07 | 2023-09-05 | 江苏省电子信息产品质量监督检验研究院(江苏省信息安全测评中心) | Sample monitoring method and system based on machine vision |
| CN116708724B (en) * | 2023-08-07 | 2023-10-20 | 江苏省电子信息产品质量监督检验研究院(江苏省信息安全测评中心) | Sample monitoring method and system based on machine vision |
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