| 摘要 |
The invention relates to a method and system for spatial localisation of an object (10) in a three-dimensional environment (11), comprising at least one luminous marker, comprising a stereo camera (12) for capturing a first image frame in a current moment and a second image frame in a previous moment, an angle-measuring device (13) for obtaining an angle of rotation of the object (10), a signal processor (14) with access to a memory (15) that stores, inter alia, a radius of the at least one marker detected in a real-time moment and in a previous moment n-1, said signal processor being configured to calculate coordinates (x-., y) of the object (10) in a moment in time i as follows: if the angle of rotation in the real-time moment and in the previous moment are different, (Xn, Yn )=(Xn-1, Yn-1 ); if the two image frames are the same, (Xn, Yn )=(Xn-1, Yn-1 ); in another case: if the radii are the same and there are a number of markers, (Xn, Yn) are calculated by means of triangulation using both image frames; if the radii are different and there are a number of markers, (Xn, Yn ) are calculated by means of triangulation using a single image frame; if the radii are different and there is a single marker, (Xn, Yn) are calculated by means of stereo geometry; if the radii are the same and there is a single marker, (Xn, Yn) are calculated using image coordinates of the marker in the current moment and in the previous moment. |
