Device and method for recognizing 3D posture and location of a movable body
Accordingly the embodiment herein provides a device for recognizing a 3D posture and a location of a movable body. The device includes: a plurality of polarization modules individually attached to a plurality of surfaces of a 3D figure; a plurality of illumination modules individually corresponding to the polarization modules and generating and outputting illumination value information in which polarized light emitted from a polarization light source penetrates the corresponding polarization module to be received; and an interpretation unit generating posture information and location information of the movable body by using the illumination value information received from the illumination modules corresponding to the polarization modules attached to at least three considered target surfaces.
1. A device for recognizing a 3D posture and a location of a movable body, the device comprising:
a plurality of polarization modules individually attached to a plurality of surfaces of a 3D figure;
a plurality of illumination modules, individually corresponding to the polarization modules, configured to generate and output illumination value information in which polarized light emitted from a polarization light source penetrates the corresponding polarization module to be received; and
an interpretation unit configured to generate posture information and location information of the movable body by using the illumination value information received from the illumination modules corresponding to the polarization modules attached to at least three considered target surfaces,
wherein a condition is met, in which three considered target surfaces selected among the plurality of surfaces of the 3D figure exist at a location to which the light emitted from the polarization light source is irradiated and an area vector of the other one considered target surface is not made through synthesis of the area vectors of two other considered target surfaces.
2. The device of claim 1 , wherein each of the plurality of polarization modules includes a plurality of polarization units in which optical transmission axes are set differently from each other.
3. The device of claim 1 , wherein generate the posture information of the movable body comprises:
rotate an acquired polarization surface formed by the polarized light emitted from the polarization light source in the 3D figure at an inclination angle Tp in a 3D space so as to coincide with a prestored reference polarization surface, and
generate the posture information of the movable body by using an equation given below, which uses the illumination value information for two considered target surfaces among the three considered target surfaces,
[
A
1
cos
θ
-
B
1
sin
θ
B
1
cos
θ
+
A
1
sin
θ
C
1
]
·
l
→
[
A
2
cos
θ
-
B
2
sin
θ
B
2
cos
θ
+
A
2
sin
θ
C
2
]
·
l
→
=
s
1
s
2
where {right arrow over (l)} represents direction vector of introduced polarized light, s1 represents an illumination value measured with respect to a first considered target surface, (A 1 , B 1 , C 1 ) represents an area vector of a first considered target surface after rotating as the inclination angle Tp, s2 represents measured illumination value of a second considered target surface, and (A 2 , B 2 , C 2 ) represents the area vector of the second considered target surface after rotating at the inclination angle Tp, and θ represents a rotational angle indicating the posture information of the movable body.
4. The device of claim 1 , generate the location information of the movable body comprises:
rotate an acquired polarization surface formed by the polarized light emitted from the polarization light source in the 3D figure at an inclination angle Tp in a 3D space so as to coincide with a prestored reference polarization surface, and
generate the positional information of the movable body by using an equation given below, which uses the illumination value information for three considered target surfaces,
s
i
=
kz
A
i
2
+
B
i
2
+
C
i
2
(
x
2
+
y
2
+
z
2
)
2
(
A
i
x
+
B
i
y
+
C
i
z
)
where i is designated as 1, 2, or 3 corresponding to each of three considered target surfaces, k represents a predetermined constant, (A i , B i , C i ) represents area vector of three considered target surfaces, (x, y, z) represent the location information of the movable body when a location coordinate of the polarization light source is designated as (0, 0, 0), and s i represents an illumination value of each of the three considered target surfaces.
5. The device of claim 1 , wherein the 3D figure is a concrete 3D figure attached to the movable body to which the polarization module is attached, wherein the 3D figure is a virtual 3D figure formed by virtually extending each considered target surface to which the polarization module is attached.
6. A method for recognizing a 3D posture and a location of a movable body, the method comprising:
generating and outputting, by a plurality of illumination modules, illumination value information in which polarized light emitted from a polarization light source penetrates polarization modules to be received; and
generating by an interpretation unit posture information and location information of the movable body by using the illumination value information received from the illumination modules corresponding to the polarization modules attached to at least three considered target surfaces of a 3D figure,
wherein a condition is met, in which three considered target surfaces selected among the plurality of surfaces of the 3D figure exist at a location to which the light emitted from the polarization light source is irradiated and an area vector of the other one considered target surface is not made through synthesis of the area vectors of two other considered target surfaces.
7. The method of claim 6 , wherein each of the polarization modules includes a plurality of polarization units in which optical transmission axes are set differently from each other.
8. The method of claim 6 , wherein generating the posture information of the movable body comprises:
rotating an acquired polarization surface formed by the polarized light emitted from the polarization light source in the 3D figure at an inclination angle Tp in a 3D space so as to coincide with a prestored reference polarization surface, and
generating the posture information of the movable body by using an equation given below, which uses the illumination value information for two considered target surfaces among the three considered target surfaces,
[
A
1
cos
θ
-
B
1
sin
θ
B
1
cos
θ
+
A
1
sin
θ
C
1
]
·
l
→
[
A
2
cos
θ
-
B
2
sin
θ
B
2
cos
θ
+
A
2
sin
θ
C
2
]
·
l
→
=
s
1
s
2
where {right arrow over (l)} represents direction vector of introduced polarized light, s1 represents an illumination value measured with respect to a first considered target surface, (A 1 , B 1 , C 1 ) represents an area vector of a first considered target surface after rotating as the inclination angle Tp, s2 represents measured illumination value of a second considered target surface, and (A 2 , B 2 , C 2 ) represents the area vector of the second considered target surface after rotating at the inclination angle Tp, and θ represents a rotational angle indicating the posture information of the movable body.
9. The method of claim 6 , generating the location information of the movable body comprises:
rotating an acquired polarization surface formed by the polarized light emitted from the polarization light source in the 3D figure at an inclination angle Tp in a 3D space so as to coincide with a prestored reference polarization surface, and
generating the positional information of the movable body by using an equation given below, which uses the illumination value information for three considered target surfaces,
s
i
=
kz
A
i
2
+
B
i
2
+
C
i
2
(
x
2
+
y
2
+
z
2
)
2
(
A
i
x
+
B
i
y
+
C
i
z
)
where i is designated as 1, 2, or 3 corresponding to each of three considered target surfaces, k represents a predetermined constant, (A i , B i , C i ) represents area vector of three considered target surfaces, (x, y, z) represent the location information of the movable body when a location coordinate of the polarization light source is designated as (0, 0, 0), and s i represents an illumination value of each of the three considered target surfaces.
10. The method of claim 6 , wherein the 3D figure is a concrete 3D figure attached to the movable body to which the polarization module is attached, wherein the 3D figure is a virtual 3D figure formed by virtually extending each considered target surface to which the polarization module is attached.