| 摘要 |
The invention relates to a training simulator for use in teaching plumbing skills. The simulator includes a controller, including a gyroscope, magnetometer and accelerometer. The controller is formed of two rotatable connected portions, and includes a bending sensor, to measure the relative angle between the two portions and a pressure sensor. The simulator includes a method and apparatus for 3-dimensional position recognition of the controller. A camera and infrared camera are provided, for capturing images of the controller. The infrared image is processed using an active contour model to produce a training image from an image from the camera. An OT-MACH filter is constructed from the training image, which is correlated with images from the camera to measure the position of the controller. |
