Method, apparatus, terminal and system for measuring trajectory tracking accuracy of target
Described herein are a method, apparatus, terminal, and system for measuring a trajectory tracking accuracy of a target. Using each method, apparatus, terminal, and system to measure the trajectory tracking accuracy of the target includes determining a location information of the actual tracking trajectory of the target; comparing the location information of the actual tracking trajectory with a location information of the target trajectory to determine a variance between the location information of the actual tracking trajectory and the location information of the target trajectory; and determining the tracking accuracy of the target based on the variance.
1. A method for measuring a trajectory tracking accuracy of a target, comprising:
establishing a world coordinate system, a camera coordinate system and an image coordinate system;
determining a location parameter of a camera; and
determining a location information of an actual tracking trajectory of the target in the world coordinate system, based on the location parameter;
comparing the location information of the actual tracking trajectory with a location information of a target trajectory to determine a variance between the location information of the actual tracking trajectory and the location information of the target trajectory; and
determining the tracking accuracy of the target based on the variance;
wherein the location parameter comprises an internal location parameter and an external location parameter, wherein the internal location parameter is an optical parameter of the camera, and the external location parameter is a conversion coefficient from the world coordinate system to the camera coordinate system.
2. The method for measuring the trajectory tracking accuracy of the target of claim 1 , wherein determining the location information of the actual tracking trajectory of the target comprises:
acquiring an image data of the actual tracking trajectory of the target, and determining the location information of the actual tracking trajectory of the target based on the image data.
3. The method for measuring the trajectory tracking accuracy of the target of claim 1 , wherein the optical parameter comprises the focal length of the camera and the optical center position of the camera.
4. The method for measuring the trajectory tracking accuracy of the target of claim 1 , wherein determining the location parameter of the camera comprises:
determining the location parameter of the target in the image coordinate system by using an image of the target captured by the camera in a tracking process.
5. The method for measuring the trajectory tracking accuracy of the target of claim 1 , wherein the location information of the actual tracking trajectory of the target is acquired according to the following formula:
[
u
v
1
]
=
k
[
f
x
0
u
0
0
0
fy
v
0
0
0
0
1
0
]
[
R
T
0
1
]
[
X
Y
Z
1
]
wherein R is a rotation matrix of the camera coordinate system with respect to the world coordinate system,
T is a translation matrix of the camera coordinate system with respect to the world coordinate system,
fx is an equivalent focal length along an XC-axis of the camera,
fy is an equivalent focal length along a YC-axis of the camera,
the point (uo, vo) is the intersection of an optical axis of the camera and a two-dimensional plane where the image coordinate system is located, wherein uo is a coordinate value of an intersection on an x′-axis of the image coordinate system, and vo is a coordinate value of an intersection on a y′-axis of the image coordinate system,
u is a coordinate value of the target on the x′-axis of the image coordinate system in the image of the target captured in the tracking process,
v is a coordinate value of the target on the y′-axis of the image coordinate system in the image of the target captured in the tracking process,
Z is a height of the target, and Z is a coordinate value of the target on a Z-axis of the world coordinate system,
X is a coordinate value of the target on an X-axis of the world coordinate system,
Y is a coordinate value of the target on a Y-axis of the world coordinate system, and
k is the reciprocal of a coordinate value of the target on a ZC-axis of the camera coordinate system.
6. The method for measuring the trajectory tracking accuracy of the target of claim 1 , wherein said determining the tracking accuracy of the target based on the variance comprises:
selecting corresponding identification points in the actual tracking trajectory and the target trajectory, and calculating the variances between the corresponding identification points, wherein the corresponding identification points comprise the same components;
calculating an average of the variances to determine a mean variance; and
determining the tracking accuracy of the target by using the mean variance according to an accuracy rule.
7. The method for measuring the trajectory tracking accuracy of the target of claim 6 , wherein the mean variance is acquired from the following formula:
error
=
∑
i
=
1
i
<
N
+
1
abs
(
xi
′
-
xi
)
N
wherein error is the value of the mean variance,
N is a number of identification points selected from the actual tracking trajectory or the target trajectory,
xi′ is a component of the identification point on the target trajectory apart from the same component, and
xi is a component of the identification point on the actual tracking trajectory apart from the same component.
8. The method for measuring the trajectory tracking accuracy of the target of claim 7 , wherein the accuracy rule is expressed by the following formula:
accuracy=1−error
wherein, accuracy is the tracking accuracy of the target.
9. The method for measuring the trajectory tracking accuracy of the target of claim 6 , wherein said comparing the location information of the actual tracking trajectory with the location information of the target trajectory to determine the variance between the location information of the actual tracking trajectory and the location information of the target trajectory comprises:
comparing the location information of the actual trajectory point on the actual tracking trajectory with the location information of the target trajectory point on the target trajectory closest to the actual trajectory point, to determine the variance between the location information of the actual tracking trajectory and the location information of the target trajectory.
10. A non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the method for measuring the trajectory tracking accuracy of the target according to claim 1 .
11. An apparatus for measuring a trajectory tracking accuracy of a target, comprising a location information determining module, a variance calculation module and an accuracy calculation module, wherein
the location information determining module is configured to determine a location parameter of a camera and determine a location information of an actual tracking trajectory of the target in a world coordinate system based on the location parameter, wherein the location parameter comprises an internal location parameter and an external location parameter, wherein the internal location parameter is an optical parameter of the camera, and the external location parameter is a conversion coefficient from the world coordinate system to a camera coordinate system;
the variance calculation module is configured to compare the location information of the actual tracking trajectory with a location information of a target trajectory to determine the variance between the location information of the actual tracking trajectory and the location information of the target trajectory, and
the accuracy calculation module is configured to determine a tracking accuracy of the target based on the variance.
12. A terminal for measuring a trajectory tracking accuracy of a target, comprising a processor and a memory for storing a computer program, wherein the computer program, when executed by the processor, implements a method for measuring a trajectory tracking accuracy of a target, comprising:
establishing a world coordinate system, a camera coordinate system and an image coordinate system;
determining a location parameter of a camera; and
determining a location information of an actual tracking trajectory of the target in the world coordinate system, based on the location parameter;
comparing the location information of the actual tracking trajectory with a location information of a target trajectory to determine a variance between the location information of the actual tracking trajectory and the location information of the target trajectory; and
determining the tracking accuracy of the target based on the variance;
wherein the location parameter comprises an internal location parameter and an external location parameter, wherein the internal location parameter is an optical parameter of the camera, and the external location parameter is a conversion coefficient from the world coordinate system to the camera coordinate system.
13. A system for measuring a trajectory tracking accuracy of a target, comprising a camera and the terminal for measuring the trajectory tracking accuracy of the target according to claim 12 , wherein the camera and the terminal for measuring the trajectory tracking accuracy of the target cooperate to determine the trajectory tracking accuracy.
14. The system for measuring the trajectory tracking accuracy of the target of claim 13 , wherein a light source is installed on the top of the target, and the camera identifies the location information of the actual tracking trajectory of the target by means of the light emitted by the light source.
15. The system for measuring the trajectory tracking accuracy of the target of claim 13 , wherein the target is a robot.