通过对360°环幕中多人指向性六维位姿跟踪进行研究,提出了一种基于线状随机分布的标志点的光学跟踪方法。该方法利用柱面中母线是直线以及摄影变换交比不变的特性,通过几何散列算法实现对线状标志点中各个点的区分识别;提出了一种基于排列顺序的编码方式实现对误识别点的排除,实现了对摄像机的指向性六维位姿的跟踪。通过仿真软件模拟360°环幕跟踪系统,并在不同距离和不同角度下应用图像上点的反投影误差均值对跟踪效果和精度进行分析,验证了该系统的实时性和鲁棒性。

Focus on the research of the tracking of the oriented six-dimensional pose of the 360° ring screen,an optical tracking method based on linear random distribution of mark point is proposed. The generatrix of the cylinder is straight. Utilizing the constant cross ratio of projective transforming,different linear spots mark can be distinguished by the geometrical hash algorithm. A coding method based on the order of permutation is proposed to erase the misrecognized points. The tracking of the oriented six-dimensional pose of the camera is realized. The precision of the tracking is characterized. By simulating the 360° ring screen tracking system,the mean value of the reprojection error is used to analyze the tracking performance and precision under different distances and angles,and the real time property and robustness of the system are tested.