Method and system for optical-inertial tracking of a moving object
First Claim
1. A method of optical-inertial tracking a movable object, comprising the steps of:
- (a) providing emission of IR light by a plurality of markers fixedly mounted so as to be visible from the movable object in order to perform inside-out tracking;
(b) reading a picture, by a first data processing device, from an optical sensor that is mounted on the movable object and detecting pixels satisfying predefined conditions in the read picture;
(c) detecting marker blobs, based on the detected pixels, and determining parameters of the marker blobs by the first data processing device;
(d) reading data, by the first data processing device, from at least one inertial sensor that is mounted on the movable object;
(e) generating, by the first data processing device, a consolidated data flow comprising the parameters of the marker blobs and the data from the at least one inertial sensor, and transmitting the consolidated data flow by a first communication device to a second communication device;
(f) receiving the consolidated data flow by the second communication device and determining, by a second data processing device, a tracker positioning data in a coordinate system of a motion area of the movable object, based on the consolidated data flow;
(g) validating, by the second data processing device, a mathematical model of a tracker motion path, based on the tracker positioning data; and
(h) extrapolating, by the second data processing device, the tracker positioning data onto an extrapolation horizon, based on the validated mathematical model of the tracker motion path.
1 Assignment
0 Petitions
Accused Products
Abstract
Method for inside-out optical-inertial tracking of a movable object includes providing IR light by a plurality of markers; reading a picture from an optical sensor and detecting pixels satisfying predefined conditions by a first data processing device; detecting marker blobs, based on the pixels, and determining parameters of the blobs by the first data processing device; reading data from an inertial sensor; generating a consolidated data flow comprising the parameters of the marker blobs and the data of the inertial sensor by the first data processing device, and transmitting the data flow to a second communication device; determining a tracker positioning data in a coordinate system of a motion area of the object, based on the consolidated data flow, by a second data processing device; validating a model of a tracker motion path, based on tracker positioning data; extrapolating tracker positioning data onto an extrapolation horizon, based on the model.
14 Citations
77 Claims
-
1. A method of optical-inertial tracking a movable object, comprising the steps of:
-
(a) providing emission of IR light by a plurality of markers fixedly mounted so as to be visible from the movable object in order to perform inside-out tracking; (b) reading a picture, by a first data processing device, from an optical sensor that is mounted on the movable object and detecting pixels satisfying predefined conditions in the read picture; (c) detecting marker blobs, based on the detected pixels, and determining parameters of the marker blobs by the first data processing device; (d) reading data, by the first data processing device, from at least one inertial sensor that is mounted on the movable object; (e) generating, by the first data processing device, a consolidated data flow comprising the parameters of the marker blobs and the data from the at least one inertial sensor, and transmitting the consolidated data flow by a first communication device to a second communication device; (f) receiving the consolidated data flow by the second communication device and determining, by a second data processing device, a tracker positioning data in a coordinate system of a motion area of the movable object, based on the consolidated data flow; (g) validating, by the second data processing device, a mathematical model of a tracker motion path, based on the tracker positioning data; and (h) extrapolating, by the second data processing device, the tracker positioning data onto an extrapolation horizon, based on the validated mathematical model of the tracker motion path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39)
-
-
40. A system for optical-inertial tracking a movable object, the system comprising:
-
at least one plurality of markers fixedly mounted so as to be visible from the movable object in order to perform inside-out tracking, including IR light emitting markers; at least one tracker mounted on the movable object, and including an optical sensor, at least one inertial sensor, a first data processing device and a first communication device, wherein the tracker is configured to read, by the first data processing device, a picture from the optical sensor, detect, by the first data processing device, pixels satisfying predefined conditions in the read picture, detect, by the first data processing device, marker blobs based on the detected pixels, to determine, by the first data processing device, parameters of the marker blobs, read, by the first data processing device, data from the at least one inertial sensor, generate, by the first data processing device, a consolidated data flow including the parameters of the marker blobs and the data of the at least one inertial sensor, and transmit, by the first communication device, the consolidated data flow to a host; at least one host comprising a second communication device and a second data processing device, wherein the host is configured to receive, by the second communication device, the consolidated data flow, determine, by the second data processing device, a tracker positioning data in a coordinate system of a motion area of the movable object, based on the consolidated data flow, validate, by the second data processing device, a mathematical model of a tracker motion path, based on the tracker positioning data, and extrapolate, by the second data processing device, the tracker positioning data onto an extrapolation horizon, based on the validated mathematical model of the tracker motion path. - View Dependent Claims (41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77)
-
Specification