Design Of Real-time 6-DoF Pose Positioning Controller Based On Monocular Vision

In recent years,as virtual reality(VR)technology has become more mature,VR headsets have gradually become more abundant.However,among the existing products in China,there is still no perfect solution to the positioning problem of VR equipment and its controller.Some positioning technologies based on lidar sensors are expensive and large in volume.Focusing on the localization problem in VR field,this paper proposes a real-time and robust six-degree-of-freedom(6DOF)handle controller positioning solution based on infrared LEDs,which has small size and low cost.The paper proposes to design a ring-shaped positioning structure on the handle controller,and infrared LEDs are evenly distributed on the structure according to a certain rule.Observing the structure through a monocular camera with an infrared filter,according to the matching relationship between the LED and the image,the P3 P algorithm can be used to estimate the position and posture relationship of the handle relative to the camera coordinate system,and finally by minimizing the reprojection error optimize the posture of the handle.The main work of this paper is as follows:(1)Designed a marker based on infrared LED and its matching algorithm.The Marker based on the infrared LED cluster has many advantages over the passive reflective Marker.In all black environment,the positioning system based on self luminous marker can still work normally.Compared with the visible light Marker,infrared light is invisible to the naked eye and has less interference to users.In addition,a camera with an infrared filter can filter the visible light in the environment,which makes the preprocessing and the extraction of the LED center coordinate simple.In the part of the LED matching for this paper,the visual positioning matching algorithm can deal with the real-time one-to-one matching between 12 LED feature points and corresponding images.With the IMU fusion matching link,the system can run at 30 Fps in real time and robustly.(2)Basing on the proposed positioning scheme,this paper completed the experimental platform of the handle positioning system.The experimental platform includes a hardware part and a software part.The hardware part serves the visual positioning system,which mainly focusing on the LED light and shade control,IMU data acquisition and processing and Wi Fi communication.The software part implements the positioning algorithm proposed in this article,which can output 6DOF pose information in real time and be packaged into SDK interface for using.The platform has carried out some exploratory work in the direction of positioning system realization and product.(3)On the designed hardware platform,this paper has completed the algorithm link test of the positioning system and the overall system index test,quantitatively analyzes the reprojection error of the P3 P algorithm before and after the nonlinear iterative optimization link,and gives the weight of the system.Projection error level.Experiments have proved that the system can accurately,robustly and real-time track the 6DOF pose information of the hand under the PC platform,which meeting the needs of the handle in the interaction of VR equipment.Finally,according to the existing experimental results,the future research and improvement direction are proposed in the paper.