Patent ID: 11947740
Assignee: QINGDAO PICO TECHNOLOGY CO., LTD.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 8:
9. A six degrees of freedom (6DoF) positioning tracking method, comprising:
obtaining complete image data of a current environment collected by each of first, second and third tracking cameras uniformly distributed at three vertexes of a triangle and at preset angles in a 360° physical area of the current environment, and extracting an image feature of the image data;
matching the image features of different tracking cameras pairwise to obtain a three-dimensional feature corresponding to the image data;
performing pose estimation and feature tracking on a 6DoF positioning tracking device in the current environment based on the three-dimensional feature and state information obtained by an inertial navigation unit; and
determining 6DoF data of the 6DoF positioning tracking device based on a result of the pose estimation and a result of the feature tracking.