MOTT模块化光学工具跟踪框架,可以实现高效的基准测试
Federico Salerno1, Alessandro Contenti2, Luca Ulrich2
1Department of Production and Management Engineering, Politecnico di Torino, Corso Duca degli Abruzzi, 24, 10129, Turin, Italy. federico.salerno@polito.it.
Scientific reports
|October 24, 2025
概括
本研究介绍了模块化光学工具跟踪 (MOTT) 框架,这是一个开发和比较光学跟踪系统的统一平台. MOTT简化了用于机器人和增强现实应用的多种跟踪方法的集成和比较.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 软件工程 软件工程 软件工程
背景情况:
- 光学工具跟踪通过视觉数据实时确定物体的6DoF姿势.
- 当前的系统通常具有紧密的硬件和软件集成,阻碍了管理和基准测试.
- 对于各种各样的光学跟踪解决方案,需要进行标准化的评估.
研究的目的:
- 介绍模块化光学工具跟踪 (MOTT) 框架,这是一个实现,集成和比较光学跟踪解决方案的统一平台.
- 解决当前光学跟踪系统的复杂性和缺乏标准化的问题.
- 为光学跟踪方法开发提供灵活和可扩展的架构.
主要方法:
- 采用基于需求的设计方法,使用质量功能部署 (QFD).
- 开发了一个软件框架,具有灵活的面向对象架构.
- 使用RGB摄像头实施和评估了两种基于标记器的追踪方法.
主要成果:
- MOTT框架使光学跟踪方法的标准化实施和比较成为可能.
- 案例研究证明了方法集成和性能分析的框架实用性.
- 报告了计算指标 (率,CPU/内存使用量) 和姿势可视化.
结论:
- MOTT框架促进了光学跟踪系统的标准化评估和基准测试.
- 它为未来的扩展提供了基础,包括非光学跟踪和大规模研究.
- 开源实现可供社区使用和开发.
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