用激光散斑成像实现高精度多轴旋转追踪
SpecTrack: Learned Multi-Rotation Tracking via Speckle Imaging
- 通过无透镜相机与编码孔径反光标记捕捉散斑图像，实现多轴旋转估计
- 实测精度达0.31°（标准差0.43°），较现有方法提升200%
- 适合需要高精度姿态感知的虚拟现实、机器人等场景
精密姿态检测在个人制造、虚拟现实（VR）和机器人等领域日益重要，因其对准确定位信息的关键作用。然而，传统视觉系统在复杂环境或快速运动物体下常难以实现高精度与高准确度。为解决此问题，我们研究了激光散斑成像（LSI）这一新兴光学追踪技术，其在提升姿态估计精度方面展现出巨大潜力。本文提出的基于LSI的追踪方法（SpecTrack），利用无透镜相机与带有编码孔径的逆向反射标记的捕获数据，实现了高精度的多轴旋转姿态估计。通过自建测试平台进行的大量实验表明，SpecTrack实现了0.31°的精度（标准差0.43°），显著优于当前最先进方法，精度提升最高达200%。
原文摘要 · Abstract (English)
Precision pose detection is increasingly demanded in fields such as personal fabrication, Virtual Reality (VR), and robotics due to its critical role in ensuring accurate positioning information. However, conventional vision-based systems used in these systems often struggle with achieving high precision and accuracy, particularly when dealing with complex environments or fast-moving objects. To address these limitations, we investigate Laser Speckle Imaging (LSI), an emerging optical tracking method that offers promising potential for improving pose estimation accuracy. Specifically, our proposed LSI-Based Tracking (SpecTrack) leverages the captures from a lensless camera and a retro-reflector marker with a coded aperture to achieve multi-axis rotational pose estimation with high precision. Our extensive trials using our in-house built testbed have shown that SpecTrack achieves an accuracy of 0.31° (std=0.43°), significantly outperforming state-of-the-art approaches and improving accuracy up to 200%.
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