公开(公告)号：US20220156966A1

公开(公告)日：2022-05-19

申请号：US17529881

申请日：2021-11-18

Applicant: Northern Digital Inc.

Inventor： Larry Chen ,  Drexel Lee Hallaway ,  Shaulaine White ,  Athanasios Tommy Balkos

IPC: G06T7/73

Abstract: Tracking system for tracking one or more reflective markers includes at least two optical sensors configured to obtain image data of an environment that includes at least one marker. The tracking system obtains the image data from the at least two optical sensors. The tracking system is configured for extracting, from the image data, optical signatures representing reflections of the optical signal from at least one marker, determining optical centroids of the optical signatures of the at least one marker, estimating an initial pose for at least one marker, determining offset error vectors from the optical centroids of the at least one marker based on the initial pose, determining corrected optical centroids based on the offset error vectors and the optical centroids, and determining a corrected three dimensional position of the marker in the environment based on the corrected optical centroids of the marker.

公开(公告)号：US12039751B2

公开(公告)日：2024-07-16

申请号：US17529881

申请日：2021-11-18

Applicant: Northern Digital Inc.

Inventor： Larry Chen ,  Drexel Lee Hallaway ,  Shaulaine White ,  Athanasios Tommy Balkos

IPC: G06T7/70 ,  G06T7/73

CPC classification number: G06T7/73 ,  G06T2207/10048 ,  G06T2207/30204

Abstract: Tracking system for tracking one or more reflective markers includes at least two optical sensors configured to obtain image data of an environment that includes at least one marker. The tracking system obtains the image data from the at least two optical sensors. The tracking system is configured for extracting, from the image data, optical signatures representing reflections of the optical signal from at least one marker, determining optical centroids of the optical signatures of the at least one marker, estimating an initial pose for at least one marker, determining offset error vectors from the optical centroids of the at least one marker based on the initial pose, determining corrected optical centroids based on the offset error vectors and the optical centroids, and determining a corrected three dimensional position of the marker in the environment based on the corrected optical centroids of the marker.