基于视觉的传感器位置记忆追踪方法

在采用某些特殊传感器测量参数时，需要在传感器移除后确定出原来的测量位置，比如采用穴位传感器测量出患者多个经络穴位的异常表现后，需要确定出异常穴位的实际位置，对其施加干预措施，缓解患者疼痛并改善身体状况。为此，研究了传感器的记忆追踪问题，提出了一种基于视觉的传感器位置记忆追踪方法，在传感器和被测对象上分别粘贴AprilTag，在测量过程中，采用AprilTag检测算法计算出传感器与被测对象之间的位置关系；在传感器移除后，利用这种位置关系和被测对象上的AprilTag追踪到传感器的测量位置，追踪精度达1 mm以内，为进一步处置提供参考。

Memory tracking method of sensor location based on vision

When some special sensors are used to measure parameters, the original measurement position needs to be determined after the sensor is removed. For example, after using the acupoint sensor to measure the abnormal performance of multiple meridians and acupoints of the patients, it is necessary to determine the actual position of abnormal acupoints and apply the intervention measures to them, which can relieve the pain and improve the physical condition of the patients. To solve this problem, the memory tracking problem of the sensor was studied, and a vision-based memory tracking method of sensor location was proposed. The AprilTag was pasted on the sensor and the tested object respectively. In the process of measurement, the AprilTag detection algorithm was used to calculate the position relationship between the sensor and the tested object. After the sensor was removed, the measurement position of the sensor was tracked by using the position relationship and AprilTag on the tested object, and the tracking accuracy was within 1 mm, which could provide reference for the further disposal