CN101477617A - Optical tracking method, apparatus and system thereof - Google Patents
Optical tracking method, apparatus and system thereof Download PDFInfo
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- CN101477617A CN101477617A CNA2008100559513A CN200810055951A CN101477617A CN 101477617 A CN101477617 A CN 101477617A CN A2008100559513 A CNA2008100559513 A CN A2008100559513A CN 200810055951 A CN200810055951 A CN 200810055951A CN 101477617 A CN101477617 A CN 101477617A
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Abstract
The invention provides an optical tracking method, and a device and a system thereof. The optical tracking method comprises the following steps: light filtering with at least two different wave lengths is performed on invisible light sent out by traced objects and disturbing light sent out by a disturbing light source; at least two images are acquired after light filtering; a comparison is made between the at least two images; and the invisible light images sent out by the traced objects can be determined. Optical tracking can be exactly performed in various environments according the optical tracking method provided by the invention.
Description
Technical field
The present invention particularly relevant for the technology of following the tracks of according to optical characteristics, is a kind of optical tracking method, device and system thereof relevant for optical technical field specifically.
Background technology
The optical tracking technology is a virtual reality all the time, important research direction in the research fields such as man-machine interaction.Characteristics the such as wherein optical tracker based on infrared spectrum has the tracking accuracy height, follows the tracks of and stablizes, and real-time performance of tracking is good have obtained using widely.
Present infrared optics tracker generally all comprises following several important: the infrared monumented point of active, video camera, infrared fileter, processor.When system moved, the infrared monumented point of active produced infrared signature, and video camera is taken the image of monumented point and by infrared fileter incident ray filtered.The image that finally obtains is handled by processor, and the image that collects of analysis-by-synthesis and calculate the three-dimensional position of infrared monumented point.
A core devices in this system is an infrared fileter, filters just because of the light that has used infrared fileter to the incident video camera, just makes the subsequent image processing work to carry out smoothly.
And existing in the infrared optics tracker employed infrared fileter generally be high-pass filter or bandpass filter.This optical filter can filter out the incident ray of non-interest wave band effectively, and obtains the incident ray of required wave band.
If in tracking environmental, there is certain full wave luminophor (equipment luminous) as high temperature such as tungsten lamps, because its spectral range of sending is very wide, the infrared band of often having contained infra-red tracing system, only can't filter it effectively, so just cause wrong data by the mode of existing monolithic optical filter.
Because the monumented point in the existing infra-red tracing system photographic images all only is independent hot spot generally, be very difficult in addition so above-mentioned misdata is filtered by Flame Image Process.This causes the infrared optics tracker for tracking environmental the requirement of comparison strictness to be arranged, and has limited the application of this system in some occasion greatly.
At this, quote Chinese patent Granted publication number for CN1235037C " infrared target detects and follows the tracks of and recognition system ", the Chinese patent Granted publication number content for CN2901736C " thermal infrared imager and video camera all-in-one " as prior art of the present invention.
Summary of the invention
The present invention is in view of the shortcoming of above-mentioned prior art, and providing a kind of can both accurately carry out optically tracked optical tracking method, device and system thereof in various environment.
One of purpose of the present invention is, a kind of optical tracking method is provided, and this method comprises and may further comprise the steps: the stray light that invisible light that tracked thing is sent and jamming light source are sent carries out the optical filtering of at least two kinds of different wave lengths; At least two images after picked-up filters; Described at least two images are compared, judge the image of the invisible light that described tracked thing sends.
Another object of the present invention is to, a kind of optical tracker is provided, this optical tracker comprises: filter unit is used for the stray light that invisible light that the tracked thing that receives is sent and jamming light source send and carries out the optical filtering of at least two kinds of different wave lengths; Image unit is used to absorb at least two images by after the described filter unit optical filtering; Data processing unit is used for described at least two images are compared, and judges the image of the invisible light that described tracked thing sends.
Another purpose of the present invention is, a kind of optical tracking system is provided, this optical tracking system comprises tracked thing and optical tracker, described tracked thing is used to send the invisible light of certain wavelength, it is characterized in that, described optical tracker comprises: filter unit is used for respectively that stray light that invisible light that tracked thing is sent and jamming light source send carries out the optical filtering that is complementary by passband and described wavelength and by passband and the unmatched optical filtering of described wavelength; Image unit is used to obtain two images by after the described filter unit optical filtering; Data processing unit is used for described two images are compared, and judges the image of the invisible light that described tracked thing sends.
Optical tracking system of the present invention can both accurately be carried out optical tracking in various environment.
Description of drawings
Shown in Figure 1 is the structured flowchart of optical tracking system of the present invention.
Shown in Fig. 2 A is the synoptic diagram of the optical tracking system of embodiments of the invention 1.
Shown in Fig. 2 B is the structured flowchart of the optical tracking system of embodiments of the invention 1.
Shown in Fig. 2 C is the image formation synoptic diagram of the optical tracking system of embodiments of the invention 1.
Shown in Figure 3 is the process flow diagram of the optical tracking method of embodiments of the invention 1.
Shown in Fig. 4 A is the synoptic diagram of the optical tracking system of embodiments of the invention 2.
Shown in Fig. 4 B is the structured flowchart of the optical tracking system of embodiments of the invention 2.
Shown in Fig. 5 A is the synoptic diagram of the optical tracking system of embodiments of the invention 3.
Shown in Fig. 5 B is the structured flowchart of the optical tracking system of embodiments of the invention 3.
Shown in Fig. 6 A is the colored CCD image-forming principle synoptic diagram of embodiments of the invention 4.
Shown in Fig. 6 B is the CCD image-forming principle synoptic diagram of the optical tracking system of embodiments of the invention 4.
Embodiment
Below the embodiment that present invention will be described in detail with reference to the accompanying.
Fig. 1 is the structured flowchart of optical tracking system of the present invention, wherein optical tracking system comprises tracked thing 101 and optical tracker 102, this tracked thing 101 is used to send the invisible light of certain wavelength, as infrared light, ultraviolet light, and optical tracker 102 comprises: filter unit 103 is used for the stray light that light that above-mentioned tracked thing is sent and jamming light source send and carries out the optical filtering of multiple different wave length; Image unit 104 is used to obtain by filter unit 103 and has carried out a plurality of images after the optical filtering of multiple different wave length; Data processing unit 105 is used to receive above-mentioned a plurality of image and handles, and these a plurality of images are compared, and judges whether image for the invisible light that sends of tracked thing according to result relatively.
Shown in Fig. 2 A is shown in the synoptic diagram, Fig. 2 B of the optical tracking system of embodiments of the invention 1 to be shown in the structured flowchart, Fig. 2 C of the optical tracking system of embodiments of the invention 1 to be that the image of the optical tracking system of embodiments of the invention 1 forms synoptic diagram, wherein this optical tracking system comprises tracked thing 201 and optical tracker 202, this tracked thing 201 is used to send the light (being infrared light in the present embodiment) of certain wavelength, and optical tracker 202 comprises filter unit 203, video camera 204 and data processing unit 205.
Wherein, filter unit 203 also comprises: prism 206, and the light that is used for receiving penetrates to different directions; The matching strip pass filter mirror 207 and the bandpass filtering mirror 208 that do not match, the light that is respectively applied for penetrating from above-mentioned different directions filters.This prism 206 is positioned at video camera 204 the place aheads, makes video camera 204 can access a plurality of pictures of same object, and above-mentioned matching strip pass filter mirror 207 is installed in respectively on two different faces of prism with the bandpass filtering mirror 208 that do not match.
The passband of the above-mentioned matching strip pass filter mirror 207 and the bandpass filtering mirror 208 that do not match is different, wherein the wavelength of the Infrared sent of matching strip pass filter mirror 207 and tracked thing 201 is complementary, and the wavelength of the Infrared that the bandpass filtering mirror 208 that do not match then sends with tracked thing 201 does not match.
By prism 206 and the matching strip pass filter mirror 207 and the bandpass filtering mirror 208 that do not match, two pictures that same object forms have different positions on camera review, the image of diverse location is considered as two width of cloth images 1 and 2 (not shown), wherein image, image 2 the image for by do not match bandpass filtering mirror 208 form of image 1 for forming by matching strip pass filter mirror 207.
In data processing unit 205, above-mentioned two images are compared,, and be not present in image 2, think that then this luminophor is tracked thing 201 if the hot spot of a certain luminophor only is present in image 1.If the hot spot of a certain luminophor is present in the image 1,2 simultaneously, think that then this luminophor is full wave luminophor, not the tracked thing 201 that we will follow the tracks of.
Shown in Figure 3 is the process flow diagram of the optical tracking method of embodiments of the invention 1, and its concrete steps are as follows:
At first, receive infrared light (step S301) from tracked thing 201;
The 206 back beam split of infrared light process prism, and respectively by the matching strip pass filter mirror 207 and the bandpass filtering mirror 208 (step S302) that do not match;
The above-mentioned image that receives 1, image 2 are exported to data processing equipment (step S304);
Data processing equipment 105 receives above-mentioned image 1, image 2 and carries out comparison process (step S305);
Whether is is the hot spot of a certain luminophor only present in image 1 and present in image 2? (step S306);
In step S306, be judged as "Yes", judge that then this hot spot belongs to tracked thing 201 (step S307);
Be judged as "No" in step S306, promptly hot spot not only had been present in image 1 but also had been present in 2 of images and judged that this hot spot did not belong to tracked thing thing (step S308).
In the present embodiment, by above-mentioned formation when tracked thing is infrared emission point, even exist around this tracked thing incandescent lamp etc. to cover the full wave shiner of infrared light, the optical tracking system of present embodiment also can be judged tracked thing exactly, because the infrared light that tracked thing sends can appear on the image 1 after being filtered by matching strip pass filter mirror 207, same incandescent lamp also can appear at image 1, just can not appear on the image 2 after bandpass filtering mirror 208 filters but infrared light is not matched, and incandescent lamp still can appear on the image 2.At this moment, movement images 1 and image 2 exist only in image 1 as can be known and the shiner that is not present in image 2 is tracked thing, and the shiner that is present in image 1 and image 2 simultaneously is an incandescent lamp.
In addition, what use in the present embodiment is prism, but those skilled in the art should think and to utilizing various forms of polygon prisms.
From as can be known above-mentioned, the optical tracking system of present embodiment can both be carried out the tracking to tracked thing in any environment exactly.
Embodiment 2
Shown in Fig. 4 A is shown in the synoptic diagram, Fig. 4 B of the optical tracking system of embodiments of the invention 2 to be the structured flowchart of the optical tracking system of embodiments of the invention 2, wherein this optical tracking system comprises tracked thing 401 and optical tracker 402, this tracked thing 401 is used to send the light (being ultraviolet light in the present embodiment) of certain wavelength, and optical tracker 402 comprises filter unit 403, video camera 407,408 and data processing unit 409.
Wherein, filter unit 403 also comprises: semi-transparent semi-reflecting lens 404 is used for the transmittance with half that receives, and second half is reflected away; The matching strip pass filter mirror 405 and the bandpass filtering mirror 406 that do not match are respectively applied for filtering from transmission and the light that reflects.
Wherein, shown in Fig. 4 A, two vertical mutually installations of video camera 407,408, and sensing semi-transparent semi-reflecting lens 404, on the upright perpendicular bisector with two video cameras 407,408 of semi-transparent semi-reflecting lens 404, the picture that makes video camera 407,408 obtain same reflected by objects, transmission respectively and form, and above-mentioned matching strip pass filter mirror 405 and the bandpass filtering mirror 406 that do not match are installed in respectively on the camera lens of two video cameras 407,408.
The passband of the above-mentioned matching strip pass filter mirror 405 and the bandpass filtering mirror 406 that do not match is different, wherein the wavelength of the ultraviolet light that sends of matching strip pass filter mirror 405 and tracked thing 401 is complementary, and the wavelength of the ultraviolet light that the bandpass filtering mirror 406 that do not match then sends with tracked thing 401 does not match.
Transmission and reflection and on semi-transparent semi-reflecting lens 404 by the matching strip pass filter mirror 405 and the bandpass filtering mirror 406 that do not match, two pictures that same object forms form different images on video camera 407,408, these two different images are considered as image 1 and 2 (not shown), wherein establish image, image 2 the image for by do not match bandpass filtering mirror 406 form of image 1 for forming by matching strip pass filter mirror 405.
Then, above-mentioned image 1, image 2 are outputed on the data processing unit 409, and data processing unit 409 pairs of above-mentioned images 1, images 2 compare processing, if the hot spot of a certain luminophor only is present in image 1, and be not present in image 2, think that then this luminophor is tracked thing 401.If the hot spot of a certain luminophor is present in the image 1,2 simultaneously, think that then this luminophor is full wave luminophor, not the tracked thing 401 that we will follow the tracks of.
Embodiment 3
Shown in Fig. 5 A is shown in the synoptic diagram, Fig. 5 B of the optical tracking system of embodiments of the invention 3 to be the structured flowchart of the optical tracking system of embodiments of the invention 3, wherein this optical tracking system comprises tracked thing 501 and optical tracker 502, this tracked thing 501 is used to send the light (being infrared light in the present embodiment) of certain wavelength, and optical tracker 502 comprises filter unit 503, video camera 506,507 and data processing unit 508.
Wherein, filter unit 503 also comprises: the matching strip pass filter mirror 504 and the bandpass filtering mirror 505 that do not match, the light that is respectively applied for being received filters.
Wherein, shown in Fig. 5 A, two video cameras 506,507 are installed mutually at an angle, and the above-mentioned matching strip pass filter mirror 504 and the bandpass filtering mirror 505 that do not match are installed in respectively on the camera lens of two video cameras 506,507.
The passband of the above-mentioned matching strip pass filter mirror 504 and the bandpass filtering mirror 505 that do not match is different, wherein the wavelength of the ultraviolet light that sends of matching strip pass filter mirror 504 and tracked thing 501 is complementary, and the wavelength of the ultraviolet light that the bandpass filtering mirror 505 that do not match then sends with tracked thing 501 does not match.
Same object forms on video camera 506,507 at two pictures and takes from different perspectives and different images, these two different images are considered as image 1 and 2 (not shown), wherein establish image, image 2 the image for by do not match bandpass filtering mirror 506 form of image 1 for forming by matching strip pass filter mirror 504.
Then, above-mentioned image 1, image 2 are outputed on the data processing unit 508, data processing unit 508 is considered the factor that two video cameras 506,507 are taken with different angles, after image 1, image 2 compensated processing, above-mentioned image 1, image 2 are compared processing, if the hot spot of a certain luminophor only is present in image 1, and is not present in image 2, think that then this luminophor is tracked thing 501.If the hot spot of a certain luminophor is present in the image 1,2 simultaneously, think that then this luminophor is full wave luminophor, not the tracked thing 501 that we will follow the tracks of.
In the present embodiment, be not limited to only be provided with two video cameras and optical filtering, those skilled in the art should easily think and to also three or more video cameras and optical filtering being set, set the passband that pass through of optical filtering this moment respectively, with this remove a certain specific wavelength generation interference light source or can judge tracked thing more accurately by above-mentioned combination by the different optical filtering of passband.
Embodiment 4
Shown in Fig. 6 A is shown in existing colored CCD image-forming principle synoptic diagram, Fig. 6 B to be the CCD image-forming principle synoptic diagram of the optical tracking system of embodiments of the invention 4.
Realize optical tracking method by the CCD imaging optical filter device in the existing colored CCD imaging in the present embodiment.The optical tracking system of present embodiment is by some infrared monumented points, a video camera, and CCD imaging optical filter that a slice is special and processor constitute.Wherein infrared monumented point outwards sends the light of infrared spectrum, and only sends the light in the specific passband.The composition of video camera CCD in the existing colored CCD imaging is mainly by grid, the light-collecting lens of a similar mosaic and fill up in lowermost electronic circuit matrix and formed.Each pixel all corresponding a lattice light-collecting lens, color lump and electronic induction device (as shown in Figure 6A), the color lump of common colored CCD imaging partly is red, green, blue RGB three primary colours or CMYK color lump, being used for filtering spectrum makes each lattice electronic induction device only receive the light of a color, as white light by after being filtered by a ruddiness color lump optical filtering behind the light-collecting lens, sensed device receives, promptly obtain the numerical value of this pixel ruddiness again by analog to digital conversion, so each color of pixel is described by three primary colours, can represent a width of cloth color digital image.
In the present embodiment with original red, green of color lump, blue filter change into one with the logical optical filtering of infrared band and the logical optical filtering of unmatched band of infrared monumented point coupling, so each color of pixel is described by the numerical value of the light of the infrared light of a passband and non-this passband.Each pixel of this image is decomposed, can be expressed as a width of cloth infrared digital image, promptly image 1; With the digital picture of non-this passband, promptly image 2.If the hot spot of a certain luminophor only is present in image 1, and is not present in image 2, think that then this luminophor is infrared monumented point.If the hot spot of a certain luminophor is present in the image 1,2 simultaneously, think that then this luminophor is full wave luminophor, not monumented point.
The above only is preferred embodiment of the present invention, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (14)
1. optical tracking method, this method may further comprise the steps:
The stray light that invisible light that tracked thing is sent and jamming light source are sent carries out the optical filtering of at least two kinds of different wave lengths;
At least two images after picked-up filters;
Described at least two images are compared, judge the image of the invisible light that described tracked thing sends.
2. optical tracking method as claimed in claim 1 is characterized in that, the optical filtering of described at least two kinds of different wave lengths is meant the optical filtering of two kinds of different wave lengths:
Described light carried out the optical filtering that is complementary by passband and described wavelength;
Described light is carried out by passband and the unmatched optical filtering of described wavelength.
3. optical tracking method as claimed in claim 2 is characterized in that, the described image of judging the invisible light that described tracked thing sends comprises:
Only be present in when hot spot on the image after the optical filtering of carrying out being complementary by passband and described wavelength, do not carry out by on the image after passband and the unmatched optical filtering of described wavelength the time and be not present in, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
4. an optical tracker is characterized in that, described optical tracker comprises:
Filter unit is used for the stray light that invisible light that the tracked thing that receives is sent and jamming light source send and carries out the optical filtering of at least two kinds of different wave lengths;
Image unit is used to absorb at least two images by after the described filter unit optical filtering;
Data processing unit is used for described at least two images are compared, and judges the image of the invisible light that described tracked thing sends.
5. optical tracker as claimed in claim 4 is characterized in that, described filter unit comprises:
Polygon prism, it is positioned at described image unit the place ahead, is used for stray light that invisible light that described tracked thing is sent and described jamming light source send to the both direction beam split;
Matching strip pass filter mirror, it is complementary by the invisible light wavelength that passband and described tracked thing send, and is arranged on the one side in the exit facet of described polygon prism;
The bandpass filtering mirror that do not match, it does not match by the invisible light wavelength that passband and described tracked thing send, and is arranged on the another side in the exit facet of described polygon prism.
6. optical tracker as claimed in claim 5, it is characterized in that, described data processing unit, on hot spot only is present in image by described matching strip pass filter mirror, and be not present in by on the image of the described bandpass filtering mirror that do not match the time, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
7. optical tracker as claimed in claim 4 is characterized in that,
Described filter unit comprises:
Semi-transparent semi-reflecting lens, a part that is used to make light that described tracked thing sends and described stray light is by, another part reflection;
Matching strip pass filter mirror, it is complementary by the light wavelength that passband and described tracked thing send, be used for filtering described by or of the light of reflection; And
The bandpass filtering mirror that do not match, it does not match by the light wavelength that passband and described tracked thing send, be used for filtering described by or another of the light of reflection,
Described image unit comprises:
Two video cameras are used for obtaining respectively the image by described matching strip pass filter mirror and the described bandpass filtering mirror that do not match.
8. optical tracker as claimed in claim 7, it is characterized in that, described data processing unit, on hot spot only is present in image by described matching strip pass filter mirror, and be not present in by on the image of the described bandpass filtering mirror that do not match the time, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
9. optical tracker as claimed in claim 4 is characterized in that,
Described image unit comprises:
Two video cameras, these two video cameras are installed mutually at an angle,
Described filter unit comprises:
Matching strip pass filter mirror, it is complementary by the light wavelength that passband and described tracked thing send, and is configured in described two video cameras one;
The bandpass filtering mirror that do not match, it does not match by the light wavelength that passband and described tracked thing send, and is configured in described two video cameras another.
10. optical tracker as claimed in claim 9, it is characterized in that, described data processing unit, on hot spot only is present in image by described matching strip pass filter mirror, and be not present in by on the image of the described bandpass filtering mirror that do not match the time, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
11. optical tracker as claimed in claim 4 is characterized in that,
Described filter unit is a CCD imaging optical filter, this CCD imaging optical filter is made up of the spaced matching strip pass filter mirror successively and the bandpass filtering mirror that do not match, and wherein light wavelength that passband and described tracked thing send be complementary, the do not match light wavelength that passband and described tracked thing send of passing through of bandpass filtering mirror of passing through of matching strip pass filter mirror does not match;
Described image unit is the electronic circuit matrix, and it comprises the electronic induction device, is used to respond to described transmitted light by the matching strip pass filter mirror and the bandpass filtering mirror that do not match.
12. optical tracker as claimed in claim 11 is characterized in that,
Described data processing unit, light to described induction carries out analog to digital conversion, color of pixel on each described CCD imaging optical filter is described as the numerical value of the light of the light of passband and non-this passband, and with each described pixel decomposition, when hot spot only is present in image by described matching strip pass filter mirror, and when not being present in image by the described bandpass filtering mirror that do not match, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
13. an optical tracking system, this optical tracking system comprises tracked thing and optical tracker, and described tracked thing is used to send the invisible light of certain wavelength, it is characterized in that,
Described optical tracker comprises:
Filter unit is used for respectively that stray light that invisible light that tracked thing is sent and jamming light source send carries out the optical filtering that is complementary by passband and described wavelength and by passband and the unmatched optical filtering of described wavelength;
Image unit is used to obtain two images by after the described filter unit optical filtering;
Data processing unit is used for described two images are compared, and judges the image of the invisible light that described tracked thing sends.
14. optical tracking system as claimed in claim 13 is characterized in that,
Described data processing unit, image after hot spot only is present in the described optical filtering of carrying out being complementary by passband and described wavelength, and be not present in describedly when carrying out by passband and the unmatched optical filtering of described wavelength, judge that described hot spot is the image of the invisible light that sends of described tracked thing.
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| CNA2008100559513A CN101477617A (en) | 2008-01-03 | 2008-01-03 | Optical tracking method, apparatus and system thereof |
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| CNA2008100559513A CN101477617A (en) | 2008-01-03 | 2008-01-03 | Optical tracking method, apparatus and system thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102203800A (en) * | 2010-01-21 | 2011-09-28 | 计量仪器公司 | Indicia reading terminal including optical filter |
| CN102376156A (en) * | 2010-08-17 | 2012-03-14 | 苏州工业园区凯艺精密科技有限公司 | Camera infrared active tracking device and camera control system employing the same |
| CN104969239A (en) * | 2012-12-04 | 2015-10-07 | 光壳科技股份有限公司 | Device and methods for detecting a camera |
| CN108701363A (en) * | 2017-07-07 | 2018-10-23 | 广东虚拟现实科技有限公司 | The method, apparatus and system of object are identified and tracked using polyphaser |
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2008
- 2008-01-03 CN CNA2008100559513A patent/CN101477617A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102203800A (en) * | 2010-01-21 | 2011-09-28 | 计量仪器公司 | Indicia reading terminal including optical filter |
| CN102203800B (en) * | 2010-01-21 | 2015-09-23 | 计量仪器公司 | Comprise the tag reader terminal of optical filter |
| US9292723B2 (en) | 2010-01-21 | 2016-03-22 | Honeywell International Inc. | Indicia reading terminal including optical filter |
| US9501678B2 (en) | 2010-01-21 | 2016-11-22 | Honeywell Internations, Inc. | Indicia reading terminal including optical filter |
| CN102376156A (en) * | 2010-08-17 | 2012-03-14 | 苏州工业园区凯艺精密科技有限公司 | Camera infrared active tracking device and camera control system employing the same |
| CN104969239A (en) * | 2012-12-04 | 2015-10-07 | 光壳科技股份有限公司 | Device and methods for detecting a camera |
| CN108701363A (en) * | 2017-07-07 | 2018-10-23 | 广东虚拟现实科技有限公司 | The method, apparatus and system of object are identified and tracked using polyphaser |
| WO2019006735A1 (en) * | 2017-07-07 | 2019-01-10 | Guangdong Virtual Reality Technology Co., Ltd. | Methods, devices, and systems for identifying and tracking an object with multiple cameras |
| CN108701363B (en) * | 2017-07-07 | 2021-06-29 | 广东虚拟现实科技有限公司 | Method, apparatus and system for identifying and tracking objects using multiple cameras |
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