The detection of mobile robot performance often requires costly and high-precision trajectory tracking equipment, which
is often difficult for testing laboratories to afford. Therefore, it becomes a difficult problem to find the equipment that is
cheap and can meet the detection requirements. HTC's Vive Tracker, as an inexpensive virtual reality (VR) accessory,
provides good measurement accuracy. In this study, the Vive Tracker is used for the purpose of mobile robot performance
detection, mainly focusing on the ability of the device to capture and analyze the mobile robot's movement trajectory.
Through the test and analysis of Vive Tracker, it is verified that Vive Tracker can meet the accuracy requirements of
mobile robot detection, and can well capture the mobile robot's movement trajectory and be used for mobile robot
performance analysis.
OptiTrack system was the most advanced optical motion capture system in recent years. Camera calibration was an indispensable part of optical motion capture. Its function was to convert 2D data obtained by each camera into spatial 3D data by multiple cameras. The mean error reflected the numerical relationship between the system coordinates and the world coordinates of the measurement area, so the mean error was related to the measurement accuracy of OptiTrack system directly. In this paper, the influence of average calibration error on measurement stability and accuracy was obtained by repeated calibration and sampling under control variables
Optical motion capture systems have been widely used in biomechanical, medical treatment, uav control and other fields. At present, the accuracy of optical motion system has been studied, but the relationship between the layout of optical camera in the detection area and the detection space boundary and the accuracy stability of the calibration system within the detection space has not been studied. In this paper, the optical motion capture system is composed of 8 Optitrack Prime 13 cameras arranged in a single ring with equal height and equal spacing. According to the size of the detection object, the pitch angle of the camera is adjusted through calculation, and the maximum detection volume is determined. The system is calibrated within the detection volume to upgrade the calibration accuracy. The quantization of the layout data of the optical motion capture system makes the system test data stable and reproducible, and the consistency of the test system parameters is realized.
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