| 主权项 |
1. A method for optimizing fiducial marker positions and orientations comprising the steps of;
acquiring a mesh data representing possible an active marker positions and feasible orientation boundaries of markers on a tracked object; a pose data representing possible poses of tracked object under working conditions; initializing a control parameter defining the relative importance of local search with respect to global search, creating the initial solution strings comprising a bit string to specify the presence of a marker and a vector string to specify orientation of a marker, evaluating the quality of a current LED maker placement solution by taking pose coverage, pose accuracy number of placed markers into account a new solution, determining if a stopping criterion is within a range of desired pose error, pose coverage, number of markers, if the stopping criterion is satisfied, then outputting the best marker placement solution, if the stopping criterion is not satisfied, then determining if new solution has smaller cost than previous one, if the new solution does not have a smaller cost than the solution of the previous iteration, rolling back to the previous solution with some probability, which is a function of new cost, old cost and the control parameter, decreasing the control parameter, perturbing the current solution to create a new solution for evaluation in the evaluating step until the stopping criterion is satisfied, wherein perturbation of the solution models as a series of simple moves on the current solution. |
