用闪烁LED标记+事件相机实现狭窄空间内高精度运动捕捉
A Monocular Event-Camera Motion Capture System
- 用不同闪烁频率的LED标记，单目相机即可识别并定位
- 系统达毫米级精度、毫秒级延迟，可实时驱动小型无人机
- 适合船舱等多相机无法部署的狭小空间使用
运动捕捉系统广泛用于记录物体的真值姿态。商用系统依赖粘在物体上的反光标记，并通过多视角三角测量获取姿态，因此要求物体同时被多个摄像头看到，难以应用于狭窄空间（如船舶压载舱）。本文提出一种单目事件相机运动捕捉系统，克服此限制，特别适用于狭小空间。系统采用主动闪烁的LED标记，每个标记通过独特闪烁频率可被唯一识别；标记位于物体已知位置上，通过求解透视-多点（PnP）问题获得物体的位置与朝向。该系统达到毫米级精度、毫秒级延迟，并实验证明其状态估计可用于控制小型敏捷四旋翼无人机飞行。
原文摘要 · Abstract (English)
Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangulate pose of the object from multiple camera views. Consequently, the object must be visible to multiple cameras which makes such multi-view motion capture systems unsuited for deployments in narrow, confined spaces (e.g. ballast tanks of ships). In this technical report we describe a monocular event-camera motion capture system which overcomes this limitation and is ideally suited for narrow spaces. Instead of passive markers it relies on active, blinking LED markers such that each marker can be uniquely identified from the blinking frequency. The markers are placed at known locations on the tracking object. We then solve the PnP (perspective-n-points) problem to obtain the position and orientation of the object. The developed system has millimeter accuracy, millisecond latency and we demonstrate that its state estimate can be used to fly a small, agile quadrotor.
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