IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
UP-0105630
(2008-04-18)
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등록번호 |
US-7697148
(2010-05-20)
|
우선권정보 |
TW-96113579 A(2007-04-18) |
발명자
/ 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
2 |
초록
▼
The present invention relates to a method of recognizing and tracking multiple spatial points, and more particularly to a method of measuring coordinates of a plurality of point light sources by an optical system comprised of a plurality of 1D optical lens modules and a logical analysis method to ac
The present invention relates to a method of recognizing and tracking multiple spatial points, and more particularly to a method of measuring coordinates of a plurality of point light sources by an optical system comprised of a plurality of 1D optical lens modules and a logical analysis method to achieve the purpose of recognizing and tracking multiple spatial points.
대표청구항
▼
What is claimed is: 1. A method of recognizing and tracking multiple spatial points, comprising: a plurality of point light sources, each being capable of moving freely, having an arbitrary wavelength and a variable quantity of N point light sources; an optical system, comprised of a plurality of 1
What is claimed is: 1. A method of recognizing and tracking multiple spatial points, comprising: a plurality of point light sources, each being capable of moving freely, having an arbitrary wavelength and a variable quantity of N point light sources; an optical system, comprised of a plurality of 1D focusing lens modules; and a logical analysis method, for eliminating an image superimposition phenomenon and performing a computation to obtain coordinates of object points of the plurality of point light sources. 2. The method of recognizing and tracking multiple spatial points of claim 1, wherein the plurality of point light sources are an active point light source capable of emitting point scattering lights or a passive point light source, which reflects a point light source. 3. The method of recognizing and tracking multiple spatial points of claim 1, wherein the 1D focusing lens module is comprised of a 1D focusing lens and a rectangular 1D image sensor. 4. The method of recognizing and tracking multiple spatial points of claim 1, wherein the 1D focusing lens module is comprised of a 1D focusing lens, an aberration correction lens module, and a rectangular 1D image sensor. 5. The method of recognizing and tracking multiple spatial points of claim 1, wherein the optical system is comprised of three 1D focusing lens modules. 6. The method of recognizing and tracking multiple spatial points of claim 1, wherein the optical system is comprised of at least four 1D focusing lens modules. 7. The method of recognizing and tracking multiple spatial points of claim 3, wherein the 1D focusing lens has a focusing direction same as the direction along the longer axis of the 1D image sensor. 8. The method of recognizing and tracking multiple spatial points of claim 4, wherein the 1D focusing lens has a focusing direction same as or perpendicular to the direction along the longer axis of the 1D image sensor. 9. The method of recognizing and tracking multiple spatial points of claim 5 or 6, wherein the 1D focusing lens modules are installed at arbitrary positions in the visual space. 10. The method of recognizing and tracking multiple spatial points of claim 5 or 6, wherein the focusing directions of 1D focusing lenses modules are installed in arbitrary orientation in the visual space. 11. The method of recognizing and tracking multiple spatial points of claim 5 or 6, wherein the 1D focusing lens modules have arbitrary focal lengths or equal focal lengths. 12. The method of recognizing and tracking multiple spatial points of claim 5 or 6, wherein all 1D focusing lens modules are installed at positions along the transverse axis of the visual space coordinate system and equidistant with each other, and arranged symmetrically with the origin of the visual space coordinates. 13. The method of recognizing and tracking multiple spatial points of claim 1, wherein the logical analysis method comprises: an initial setting step, for setting and recording an initial value of each angle (Ω,Θ,Φ,θj,ρj), and reading the number N of point light sources Pi(Xi,Yi,Zi); an image processing step, for reading images of all 1D optical lenses Lj, and obtaining the number Nj of the line image and the coordinates ysij of the line image; an image superimposition eliminating step, for eliminating an image superimposition by changing the focusing directions of 1D focusing lenses modules, if the image superimposition occurs and the number Nj of the line image of the lenses Lj is not equal to N; an image corresponding to an object point coordinate computing step, for computing the object point coordinates (Xi,Yi,Zi) after finding the corresponding point image (ysi1,ysi2,ysi3) of the point light sources Pi(Xi,Yi,Zi) by a corresponding logic; and an object point group tracking step, for changing the angle of the optical axis of the optical system after computing the center coordinates (XC,YC,ZC) of the object point group, such that the optical axis is aligned with the center coordinates of the object point group to achieve the purpose of tracking the object point group. 14. The method of recognizing and tracking multiple spatial points of claim 13, wherein the initial setting step sets the initial values of (Ω,Θ,Φ,θj,ρj), and the values of (Ω,Θ,Φ,θj,ρj) are arbitrary, or the values of (Ω,Θ,Φ) are set to (Ω=0°,Θ=0°,Φ=0°), and if the center coordinates (XC,YC,ZC) of the object point group are known, the angles (Θ,Φ) are changed and recorded, so that the Z-axis aligns with (XC,YC,ZC). 15. The method of recognizing and tracking multiple spatial points of claim 13, wherein the initial values of (Ω,Θ,Φ,θj,ρj) are set, and (θj,ρj) are set to (θ1=0°,θ2=0°,θ3=0°) and (ρ1=90 °,ρ2=0°, ρ3=90°) when the number of the 1D focusing lens module is three. 16. The method of recognizing and tracking multiple spatial points of claim 13, wherein the initial values of (Ω,Θ,Φ,θj,ρj) are set, and (θj,ρj) are set to (θ1=θ,θ2=0°,θ3=−θ), (ρ1=90°,ρ2=0°,ρ3=90°), and θ≧0° when the number of the 1D focusing lens module is three. 17. The method of recognizing and tracking multiple spatial points of claim 13, wherein the image superimposition eliminating step is achieved by adjusting one of the angles ρj,θj, and Ω. 18. The method of recognizing and tracking multiple spatial points of claim 13, wherein the image superimposition eliminating step is achieved by rotating the angle Ω with a constant angular velocity. 19. The method of recognizing and tracking multiple spatial points of claim 13, wherein the object point coordinates of the point light sources Pi(Xi,Yi,Zi) is computed by (fjrj21+rj31ysij)Xi+(fjrj22+rj32ysij)Yi+(fjrj23+rj33ysij)Zi=(fjrj21+rj31ysij)hxj+(fjrj22+rj32ysij)hyj+(fjrj23+rj33ysij)hzj+fjysij. 20. The method of recognizing and tracking multiple spatial points of claim 13, wherein the center coordinates (XC,YC,ZC) of the object point group is computed by X C = ∑ i = 1 , N X i N ; Y C = ∑ i = 1 , N Y i N ; Y C = ∑ i = 1 , N Z i N . 21. The method of recognizing and tracking multiple spatial points of claim 13, wherein the method of tracking the object point group is achieved by adjusting the angle (Θ,Φ) to align the Z-axis with the (XC,YC,ZC). 22. The method of recognizing and tracking multiple spatial points of claim 6, wherein the origin of the image coordinate system are disposed at positions (0,h,0) (0,0,0) (−H,0,H) (H,0,H) in the visual space coordinate system respectively, and h and H are real numbers when the number of the 1D focusing lens module is four. 23. The method of recognizing and tracking multiple spatial points of claim 13, wherein the focusing directions of the four 1D focusing lens modules are set at angles of (θ1=0°,θ2=0°,θ3=90°,θ4=−90°) and (ρ1=90°,ρ2=0°,ρ3=90°,ρ4=90°) when the number of the 1D focusing lens module is four.
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