CN107101616B - It is a kind of to position the personal identification method of object, device and system - Google Patents
It is a kind of to position the personal identification method of object, device and system Download PDFInfo
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- CN107101616B CN107101616B CN201710368937.8A CN201710368937A CN107101616B CN 107101616 B CN107101616 B CN 107101616B CN 201710368937 A CN201710368937 A CN 201710368937A CN 107101616 B CN107101616 B CN 107101616B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention discloses a kind of personal identification methods for positioning object, device and system.An illuminator and an Inertial Measurement Unit IMU are respectively set on multiple positioning objects；This method comprises: acquiring the current frame image of multiple illuminators by binocular camera mould group；Three-dimensional location coordinates of each illuminator relative to binocular camera mould group are determined using binocular imaging principle；Luminous point and the corresponding relationship of IMU are determined according to the historical track of the direction of the historical track of each luminous point in current frame image and each IMU；Using the corresponding three-dimensional location coordinates of luminous point and the quaternary number that with luminous point there is the IMU of corresponding relationship to acquire, the tracking of each positioning object is realized respectively.As it can be seen that the present invention realizes the identification and tracking of multiple positioning objects；Also, cost is relatively low, not by the interference of optical noise.
Description
Technical field
The present invention relates to field of locating technology, in particular to a kind of personal identification method for positioning object, device and system.
Background technique
Vision positioning is a kind of common location technology, is fixed on object to be positioned by the acquisition of one or more cameras
On illuminator, so that it is determined that the three-dimensional position of the illuminator is a kind of technological means of vision positioning.
But when there are multiple positioning objects or multiple illuminators, shining in the image of camera acquisition is determined
Point is a great problem in vision positioning, can not determine corresponding relationship, just cannot achieve to illuminator corresponding relationship in practice
Illuminator, i.e., the identification of object to be positioned.Method in the prior art is the light for allowing each illuminator to issue different colours,
It is determined again by RGB camera by color.But the number of colors for being easy to differentiate in the picture is limited, once illuminator is excessive
Some colors can become difficult to determine；RGB camera is highly susceptible to the influence of indoor optical noise simultaneously, frequently results in result mistake
Accidentally, therefore, method in the prior art can not effectively determine the luminous point in image to illuminator corresponding relationship in practice,
Lead to not the problem of tracking multiple illuminators, reducing user experience.
Summary of the invention
It can not effectively determine that the luminous point in image is corresponding to illuminator in practice in view of method in the prior art
Relationship leads to not the problem of tracking multiple illuminators, reducing user experience, proposes a kind of body of positioning object of the invention
Part recognition methods, device and system, to solve or at least be partially solved the above problem.
According to an aspect of the invention, there is provided a kind of personal identification method for positioning object, on multiple positioning objects
It is each provided with an illuminator and an Inertial Measurement Unit IMU；The described method includes:
The current frame image of the multiple illuminator is acquired by binocular camera mould group；
According to the position of the luminous point in the current frame image, the determination of binocular imaging principle and the luminous point pair are utilized
Each of answer three-dimensional location coordinates of the illuminator relative to the binocular camera mould group；
According to the direction of the historical track of each of the current frame image luminous point and each IMU
Historical track determines the corresponding relationship of the luminous point Yu the IMU；
Have described in corresponding relationship using the corresponding three-dimensional location coordinates of the luminous point and with the luminous point
The quaternary number of IMU acquisition realizes the tracking of each positioning object respectively.
According to another aspect of the present invention, a kind of identity recognition device for positioning object, multiple positioning objects are provided
On be each provided with an illuminator and an Inertial Measurement Unit IMU；Described device includes:
Image capture module, for acquiring the current frame image of the multiple illuminator by binocular camera mould group；
Three-dimensional location coordinates determining module utilizes binocular for the position according to the luminous point in the current frame image
Image-forming principle determines three-dimensional of the corresponding each illuminator of each luminous point relative to the binocular camera mould group
Position coordinates；
Corresponding relationship determining module, for according to the historical track of each of the current frame image luminous point with
And the historical track of the direction of each Inertial Measurement Unit IMU determines the corresponding relationship of the luminous point Yu the IMU；
Identification module, for having pair using the corresponding three-dimensional location coordinates of the luminous point and with the luminous point
The quaternary number for the IMU acquisition that should be related to realizes the tracking of each positioning object respectively.
According to a further aspect of the invention, a kind of identification system for positioning object is provided, the system comprises:
It is placed outside the binocular camera mould group of positioning object, the locating module being respectively placed on multiple positioning objects and such as claim 6-
The identity recognition device of 9 described in any item positioning objects；The locating module includes an illuminator and an Inertial Measurement Unit；
The identification of the locating module and the binocular camera mould group wired or wireless connection positioning object
Device.
In conclusion an illuminator and an IMU is respectively arranged on multiple positioning objects in the present invention, pass through binocular camera mould
Group acquires the current frame image of the multiple illuminator, according to the historical track of the luminous point in current frame image and IMU
The historical track of direction determines that the corresponding relationship of luminous point and IMU in current frame image, IMU and positioning object correspond, when
After the corresponding relationship for determining luminous point and positioning object, the identification of positioning object is realized；Recycling has corresponding relationship
The quaternary number of the corresponding three-dimensional location coordinates of luminous point and IMU acquisition realizes the tracking of each positioning object respectively.As it can be seen that this
The identification and tracking of multiple positioning objects, while illuminator are realized in invention in such a way that vision positioning is combined with IMU
It is not limited to different colors, also may be implemented in the case where wavelength having the same；Also, cost is relatively low, and light is not made an uproar
The interference of sound enhances user experience.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of personal identification method for positioning object provided by one embodiment of the present invention；
Fig. 2 is a kind of correspondence diagram of determining luminous point and IMU provided by one embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of identity recognition device for positioning object provided by one embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of identification system for positioning object provided by one embodiment of the present invention.
Specific embodiment
Mentality of designing of the invention is: an illuminator and an IMU is respectively arranged on multiple positioning objects, passes through binocular camera shooting
Head mould group acquires the current frame image of the multiple illuminator, according to the historical track of the luminous point in current frame image and
The historical track of the direction of IMU determines the corresponding relationship of luminous point and illuminator in practice in current frame image；Recycling has
The quaternary number of the corresponding three-dimensional location coordinates of the luminous point of corresponding relationship and IMU acquisition, realizes the tracking of each illuminator respectively.
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Fig. 1 is a kind of flow diagram of personal identification method for positioning object provided by one embodiment of the present invention.It is more
An illuminator and an Inertial Measurement Unit IMU are each provided on a positioning object.As shown in Figure 1, this method comprises:
Step S110 acquires the current frame image of multiple illuminators by binocular camera mould group.
In the present embodiment, the illuminator on multiple positioning objects can be co-wavelength, be also possible to different wave length.
Step S120 utilizes the determination of binocular imaging principle and luminous point according to the position of the luminous point in current frame image
Three-dimensional location coordinates of the corresponding each illuminator relative to binocular camera mould group.
Step S130, according to going through for the direction of the historical track of each luminous point in current frame image and each IMU
History track determines luminous point and the corresponding relationship of IMU.
Because IMU and positioning object correspond, when determining luminous point and IMU corresponding relationship, that is, determined luminous point and
After the corresponding relationship for positioning object, the identification of positioning object is realized.
Step S140 using the corresponding three-dimensional location coordinates of luminous point and with luminous point there is the IMU of corresponding relationship to acquire
Quaternary number, realize respectively it is each positioning object tracking.
Binocular imaging principle is based on principle of parallax and to utilize two width of the binocular camera from different position acquisition objects
Image, the method by calculating the position deviation in image between corresponding points, to obtain object dimensional aggregate information.This method it is excellent
The advantages that point is high-efficient, precision is high, structure is simple, at low cost.In the present embodiment, using the binocular for being placed outside positioning object
The current frame image of infrared illuminants on camera module acquisition positioning object, then according to the luminous point in current frame image
Position determines three-dimensional location coordinates of the illuminator relative to binocular camera mould group using binocular imaging principle.
Inertial Measurement Unit IMU (IMU) is a kind of sensor that can export the six-freedom degrees such as itself displacement, posture,
Its advantage is that it is at low cost, precision is high, small in size.In the present embodiment, IMU is placed on positioning object, is to combine IMU to acquire
Data realize the corresponding relationship of luminous point and IMU in image because IMU be it is corresponding with illuminator in practice, it is real
The corresponding relationship of luminous point and IMU in existing image, that is, realize the corresponding relationship of luminous point and illuminator in practice in image.
Utilize the quaternary number of the corresponding three-dimensional location coordinates of luminous point and IMU acquisition with corresponding relationship, so that it may point
The tracking of each illuminator is not realized.As it can be seen that the present invention realizes multiple illuminators in such a way that vision positioning is combined with IMU
Tracking, while illuminator is not limited to different colors, and it is multiple fixed also to may be implemented in the case where wavelength having the same
The identification and tracking of position object；Also, cost is relatively low, not by the interference of optical noise, enhances user experience.
In one embodiment of the invention, the history according to each luminous point in current frame image in step S130
The historical track of the direction of track and each IMU determines that the corresponding relationship of luminous point and IMU include: according in current frame image
The historical track of each luminous point calculate the linear velocity direction of each luminous point；It is determined according to the quaternary number of each IMU acquisition
The unit direction vector of each current direction of IMU；And according to the unit side of the historical track of the direction of each IMU and current direction
The angle change direction of each IMU is calculated to vector；The angle in the linear velocity direction and each IMU block that judge each luminous point becomes
Whether consistent change direction；If being judged as YES, it is determined that the consistent luminous point in direction and IMU have corresponding relationship.
Specifically, whether the angle change direction in the above-mentioned linear velocity direction and IMU for judging luminous point unanimously includes: judgement
Whether the dot product in angle change direction and the difference of natural number 1 in the linear velocity direction and IMU of luminous point are less than preset threshold；If
It is judged as YES, it is determined that there is corresponding relationship between luminous point and IMU.
Because system can be the unique identification of each positioning object setting when positioning object is connected in this positioning system
Number, that is, it is correspondingly, to send out when having determined in image that hair, which positions the IMU on illuminator and the positioning object on rigid body,
The corresponding relationship of luminous point and IMU is equivalent to determine the corresponding relationship of luminous point and illuminator in practice in image.
Fig. 2 is a kind of correspondence diagram of determining infraluminescence point and IMU provided by one embodiment of the present invention.Such as
Shown in Fig. 2, the direction vector of the direction of IMU previous frame, root can be determined according to the historical track of the direction vector of the direction of IMU
The unit direction vector that the current direction of IMU is determined according to the quaternary number of IMU, can thus calculate the angle change side of each IMU
To；The linear velocity direction of each infraluminescence point is calculated according to the historical track of infraluminescence point.When the two is consistent, so that it may
Determine corresponding relationship.Here the direction of IMU and the direction of handle are consistent such as shown in Fig. 2, and being oriented for handle is provided with
The direction of the extended line of illuminator one end, then the direction of IMU is consistent with the direction.To guarantee IMU towards the direction one with handle
It causes, when by IMU setting in the handle, the direction in the direction and handle that need to enable a reference axis in IMU is consistent.
As shown in the above description, the implementation of this programme needs going through for the direction of the historical track and IMU using luminous point
History track, so, in one embodiment of the invention, step S140 using the corresponding three-dimensional location coordinates of luminous point and
The quaternary number that with luminous point there is the IMU of corresponding relationship to acquire, it is shown in FIG. 1 after the tracking for realizing each illuminator respectively
Method further comprises: saving the three-dimensional location coordinates of each luminous point, and records going through for luminous point according to three-dimensional location coordinates
History track；And the unit direction vector of the current direction of each IMU is saved, and the court of IMU is recorded according to unit direction vector
To historical track.
During the tracking of multiple illuminators, if the moment carries out the determination of corresponding relationship, system resource, shadow can be wasted
Tracking efficiency is rung, user experience is reduced.Therefore, in one embodiment of the invention, in step S140 according to present frame
The historical track of the direction of the historical track and each IMU of each luminous point in image determines that illuminator is corresponding with IMU
Before relationship, method shown in FIG. 1 further comprises: luminous point and the corresponding relationship of IMU are determined using three-dimensional method for tracing, and
Judge whether there is the luminous point and IMU for not determining corresponding relationship；If being judged as YES, for that can not determine shining for corresponding relationship
Point and IMU can not according to the historical track of each luminous point that can not determine corresponding relationship and each determine corresponding relationship
The historical track of the direction of IMU determines luminous point and the corresponding relationship of IMU.
Three-dimensional method for tracing in the present embodiment can be using three-dimensional method for tracing in the prior art, when the existing skill of utilization
When three-dimensional method for tracing in art can not determine the corresponding relationship of luminous point and IMU, for that can not determine shining for corresponding relationship
Point and IMU, historical track further according to each luminous point that can not determine corresponding relationship and can not each determine corresponding relationship
The historical track of direction of IMU determine luminous point and the corresponding relationship of IMU.
In the present embodiment, tracking state is exported when can track by three-dimensional, judges whether there is and does not determine corresponding close
The luminous point and IMU of system.
For example, when three-dimensional tracking is estimated, can go out in the same orientation when the position of luminous point in image is closer
Existing two luminous points, then, it can not just be determined using three-dimensional method for tracing；For above situation, in practical applications, exist certainly
Two luminous points and two IMU that can not determine corresponding relationship, then just to the hair that can not determine corresponding relationship according to the two
The historical track of luminous point and the two can not determine that the historical track of the direction of the IMU of corresponding relationship determines luminous point and IMU
Corresponding relationship.
Fig. 3 is a kind of structural schematic diagram of identity recognition device for positioning object provided by one embodiment of the present invention.It is more
An illuminator and an Inertial Measurement Unit IMU are each provided on a positioning object.As shown in figure 3, the identity of the positioning object is known
Other device 300 includes:
Image capture module 310, for acquiring the current frame image of multiple illuminators by binocular camera mould group；
Three-dimensional location coordinates determining module 320, for the position according to the luminous point in current frame image, using binocular at
As principle determines three-dimensional location coordinates of the corresponding each illuminator of each luminous point relative to binocular camera mould group；
Corresponding relationship determining module 330, for according to the historical track of each luminous point in current frame image and every
The historical track of the direction of a Inertial Measurement Unit IMU determines luminous point and the corresponding relationship of IMU；
Identification module 340, for there is corresponding relationship using the corresponding three-dimensional location coordinates of luminous point and with luminous point
The quaternary number of IMU acquisition realizes the tracking of each positioning object respectively.
It should be noted that the positioning object in the present embodiment can be VR equipment, handle etc..
In one embodiment of the invention, corresponding relationship determining module 330, specifically for according in current frame image
The historical track of two luminous points calculates the linear velocity direction of each luminous point；Determine that IMU is current according to the quaternary number that IMU is acquired
The unit direction vector of direction；And calculate IMU's according to the historical track of the direction of IMU and the unit direction vector of current direction
Angle change direction；Whether the linear velocity direction for judging each luminous point is consistent with the angle change direction of each IMU；If judgement
It is yes, it is determined that the consistent luminous point in direction and IMU have corresponding relationship.
In one embodiment of the invention, corresponding relationship determining module 330, for judging the linear velocity of luminous point respectively
Whether the difference of the dot product in direction and the angle change direction of IMU and natural number 1 is less than preset threshold；If being judged as YES, really
Determine that there is corresponding relationship between luminous point and the IMU.
In one embodiment of the invention, device further include:
Memory module for saving the three-dimensional location coordinates of each luminous point, and is recorded according to three-dimensional location coordinates and is shone
The historical track of point；And the unit direction vector of the current direction of IMU is saved, and record IMU's according to unit direction vector
The historical track of direction.
In one embodiment of the invention, processor 310, for using three-dimensional method for tracing determine luminous point with
The corresponding relationship of IMU332 or 342, and judge whether there is the luminous point and IMU for not determining corresponding relationship；It is right if being judged as YES
In the luminous point and IMU that can not determine corresponding relationship, according to the historical track of each luminous point that can not determine corresponding relationship with
And it can not each determine that the historical track of the direction of the IMU of corresponding relationship determines luminous point and the corresponding relationship of IMU.
The present invention also provides a kind of identification system for positioning object, system includes: to be placed outside pair of positioning object
The identification of mesh camera module, the locating module being respectively placed on multiple positioning objects and positioning object as shown in Figure 3
Device；Locating module includes an illuminator and an Inertial Measurement Unit.Fig. 4 is a kind of positioning provided by one embodiment of the present invention
The structural schematic diagram of the identification system of object.As shown in figure 4, the identification system 400 of the positioning object includes: external
In positioning object binocular camera mould group 410, be placed in positioning object on locating module 420, be placed in positioning object on determine
The identity recognition device 440 of position module 430, positioning object as shown in Figure 3.Wherein, locating module 420 includes illuminator 421
And IMU422；Locating module 430 includes illuminator 431 and IMU432.
The body of locating module 420, locating module 430 and the wired or wireless connection positioning object of binocular camera mould group 410
Part identification device 440.
It should also be noted that, method shown in each embodiment and Fig. 1 of device shown in Fig. 3 and system shown in Fig. 4
Each embodiment corresponds to identical, has been described in detail above, details are not described herein.
In conclusion an illuminator and an IMU is respectively arranged on multiple positioning objects in the present invention, pass through binocular camera mould
Group acquires the current frame image of the multiple illuminator, according to the historical track of the luminous point in current frame image and IMU
The historical track of direction determines that the corresponding relationship of luminous point and IMU in current frame image, IMU and positioning object correspond, when
After the corresponding relationship for determining luminous point and positioning object, the identification of positioning object is realized；Recycling has corresponding relationship
The quaternary number of the corresponding three-dimensional location coordinates of luminous point and IMU acquisition realizes the tracking of each positioning object respectively.As it can be seen that this
The identification and tracking of multiple positioning objects, while illuminator are realized in invention in such a way that vision positioning is combined with IMU
It is not limited to different colors, also may be implemented in the case where wavelength having the same；Also, cost is relatively low, and light is not made an uproar
The interference of sound enhances user experience.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention should be subject to the protection scope in claims.
Claims (8)
1. it is a kind of position object personal identification method, which is characterized in that be each provided on multiple positioning objects an illuminator with
One Inertial Measurement Unit IMU；The described method includes:
The current frame image of the multiple illuminator is acquired by binocular camera mould group；
It is corresponding with the luminous point using the determination of binocular imaging principle according to the position of the luminous point in the current frame image
Three-dimensional location coordinates of each illuminator relative to the binocular camera mould group；
According to the history of the direction of the historical track of each of the current frame image luminous point and each IMU
Track determines the corresponding relationship of the luminous point Yu the IMU；
Using the corresponding three-dimensional location coordinates of the luminous point and with the luminous point there is the IMU of corresponding relationship to adopt
The quaternary number of collection realizes the tracking of each positioning object respectively；
The direction of the historical track and each IMU according to each of the current frame image luminous point
Historical track determines that the corresponding relationship of the luminous point and the IMU includes:
The linear velocity of each luminous point is calculated according to the historical track of each of the current frame image luminous point
Direction；
The unit direction vector of each current direction of the IMU is determined according to the quaternary number of each IMU acquisition；And root
The angle of each IMU is calculated according to the historical track of the direction of each IMU and the unit direction vector of the current direction
Spend change direction；
Judge whether the linear velocity direction of each luminous point is consistent with the angle change direction of each IMU；If judgement
It is yes, it is determined that the consistent luminous point in direction and the IMU have corresponding relationship.
2. the method as described in claim 1, which is characterized in that the linear velocity direction of the judgement luminous point with it is described
The angle change direction of IMU whether unanimously include:
Judging the difference of the dot product and natural number 1 in the linear velocity direction of the luminous point and the angle change direction of the IMU is
It is no to be less than preset threshold；If being judged as YES, it is determined that have corresponding relationship between the luminous point and the IMU.
3. the method as described in claim 1, which is characterized in that utilize the corresponding three-dimensional position of the luminous point described
Coordinate and the quaternary number that with the luminous point there is the IMU of corresponding relationship to acquire, realize each illuminator respectively
After tracking, the method further includes:
The three-dimensional location coordinates of each luminous point are saved, and record going through for the luminous point according to the three-dimensional location coordinates
History track；And the unit direction vector of the current direction of each IMU is saved, and remember according to the unit direction vector
Record the historical track of the direction of the IMU.
4. the method as described in claim 1, which is characterized in that according to each of the current frame image luminous point
Historical track and each IMU direction historical track determine the illuminator and the IMU corresponding relationship it
Before, the method further includes:
The corresponding relationship of the luminous point Yu the IMU is determined using three-dimensional method for tracing, and judges whether there is not determining pair
The luminous point and the IMU that should be related to；
If being judged as YES, for that can not determine the luminous point and the IMU of corresponding relationship, can not each be determined according to described
The historical track of the luminous point of corresponding relationship and can not each determine corresponding relationship the IMU direction history rail
Mark determines the corresponding relationship of the luminous point Yu the IMU.
5. it is a kind of position object identity recognition device, which is characterized in that be each provided on multiple positioning objects an illuminator with
One Inertial Measurement Unit IMU；Described device includes:
Image capture module, for acquiring the current frame image of the multiple illuminator by binocular camera mould group；
Three-dimensional location coordinates determining module utilizes binocular imaging for the position according to the luminous point in the current frame image
Principle determines three-dimensional position of the corresponding each illuminator of each luminous point relative to the binocular camera mould group
Coordinate；
Corresponding relationship determining module, for according to the historical track of each of the current frame image luminous point and every
The historical track of the direction of a Inertial Measurement Unit IMU determines the corresponding relationship of the luminous point Yu the IMU；
Identification module, for there is corresponding close using the corresponding three-dimensional location coordinates of the luminous point and with the luminous point
The quaternary number of the IMU acquisition of system realizes the tracking of each positioning object respectively；
The corresponding relationship determining module, specifically for the history rail according to each of the current frame image luminous point
Mark calculates the linear velocity direction of each luminous point；It is determined according to the quaternary number of each IMU acquisition each described
The unit direction vector of the current direction of IMU；And according to the list of the historical track of the direction of each IMU and the current direction
Position direction vector calculates the angle change direction of each IMU；Judge the linear velocity direction of each luminous point and each
Whether the angle change direction of the IMU is consistent；If being judged as YES, it is determined that the consistent luminous point in direction and the IMU
With corresponding relationship.
6. device as claimed in claim 5, which is characterized in that
The corresponding relationship determining module, for judging the linear velocity direction of the luminous point and the angle change side of the IMU
To dot product and the difference of natural number 1 whether be less than preset threshold；If being judged as YES, it is determined that the luminous point and the IMU
Between have corresponding relationship.
7. device as claimed in claim 6, which is characterized in that described device further include:
Memory module is recorded for saving the three-dimensional location coordinates of each luminous point, and according to the three-dimensional location coordinates
The historical track of the luminous point；And the unit direction vector of the current direction of each IMU is saved, and according to described
Unit direction vector records the historical track of the direction of the IMU.
8. a kind of identification system for positioning object, which is characterized in that the system comprises: it is placed outside the binocular of positioning object
Camera module, the locating module and such as described in any item positioning objects of claim 5-7 being respectively placed on multiple positioning objects
The identity recognition device of body；The locating module includes an illuminator and an Inertial Measurement Unit；
The identity recognition device of the locating module and the binocular camera mould group wired or wireless connection positioning object.
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| CN114322946B (en) * | 2021-12-30 | 2024-01-09 | 杭州环木信息科技有限责任公司 | Method for converting optical data into inertial data with high fidelity |
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