双目光学跟踪器姿态精度的预测和估计研究  

Prediction and estimation of pose accuracy of two-ocular optical tracker

作　　者：罗斌[1,2] 王涌天[1] 刘越[1] 

机构地区：[1]北京理工大学光电学院,北京100081 [2]中国工程物理研究院计算机应用研究所,绵阳621900

出　　处：《仪器仪表学报》2010年第1期194-200,共7页Chinese Journal of Scientific Instrument

基　　金：国家高技术研究发展计划-863计划(2006AA0224E5;2008AA01Z303);国家自然科学基金(60827003);教育部长江学者和创新团队发展计划项目(IRT0606)资助

摘　　要：研究了增强现实系统中双目光学跟踪器姿态精度的预测和估计方法。利用高斯分布误差协方差矩阵传播模型推导了双目跟踪器图像噪声误差到输出姿态误差的传播公式,通过实验分析了静态和动态跟踪条件下输出姿态精度的变化规律。实验获得了与预测数据一致的实测结果,证实了摄像机外参误差对跟踪器姿态精度的主导影响,验证了所提出的姿态精度预测方法的有效性。This paper investigates an approach of predicting and estimating pose accuracy of two-ocular optical tracker in augmented reality systems. Gauss-distributed error covariance matrix propagation model was adopted to deduce the error propagation formulas from camera image errors to final output pose errors of the tracker, and the variation characteristics of the tracker pose error were analyzed through experiments under static and dynamic tracking states. Experimental results are consistent with the predicted data, which confirms the dominant effect of camera extrinsic parameter errors on tracker pose accuracy and validates the usefulness of our proposed approach to predicting and estimating pose accuracy.

关 键 词：光学跟踪器 姿态精度 协方差矩阵 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]