CN102214000B - Hybrid registration method and system for target objects of mobile augmented reality (MAR) system - Google Patents
Hybrid registration method and system for target objects of mobile augmented reality (MAR) system Download PDFInfo
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Abstract
The invention discloses a hybrid registration method and system for target objects of a mobile augmented reality (MAR) system. The method comprises the following steps: (1) obtaining current geographical position information and target object information; (2) obtaining the target objects appeared in the current screen of mobile equipment and corresponding screen coordinate values of the target objects according to the current orientation and attitude data of the mobile equipment; (3) obtaining global motion parameters of the current mobile equipment according to the current continuous scene image of the mobile equipment; and (4) adjusting the screen coordinate value in corresponding registration information of each target object appeared in the current screen of the mobile equipment in real time according to the global motion parameters. The system comprises the mobile equipment, and the mobile equipment comprises a sensor unit, a sensor information processing unit, an image acquisition unit, a visual information processing unit and a hybrid registration unit. The hybrid registration method and system have the advantages of good real-time property, fast speed, high accuracy and wide application range.
Description
Technical field
The present invention relates to the mobile augmented reality field, be specifically related to a kind of target object mixing register method and system for the mobile augmented reality system.
Background technology
Augmented reality (Augmented Reality, AR) be at virtual reality (Virtual Reality, VR) a kind of novel computer that grows up on the basis is used and human-computer interaction technology, its by various computer technologies with virtual information and the seamless fusion of real world, reach the effect to reality scene " enhancing ", lay particular emphasis on the combination of actual environment and virtual information with alternately.Mobile augmented reality is the product of augmented reality and Mobile portable equipment combination.Because popularizing fast of the mobile computing platforms such as smart mobile phone, the mobile augmented reality technology has very wide market outlook.
Registration technology is the core technology of mobile augmented reality system, it is generally with the special object in identification, the tracking scene, or estimate video camera the position, towards and the positional information of obtaining in advance special object be the basis, the virtual information that computing machine is generated be registered in real time, accurately user awareness to real scene in.Registration technology commonly used can be divided into visible sensation method and non-visible sensation method in the mobile augmented reality system at present; Visible sensation method namely carries out analyzing and processing by the realtime graphic that camera is obtained, and realizes the registration of virtual information is finally finished in identification, the tracking of registration target; Non-visible sensation method is namely by being used in combination a plurality of sensors, obtain mobile device the position and towards etc. relevant information, and calculate target at the imager coordinate of device screen in conjunction with the geographic position of registration target, finish the registration of virtual information.
In visible sensation method, the most frequently used register method that is based on mark is namely manually placed some predefined marks in advance in scene, system can identify these marks easily, virtual information often is displayed on these signs, or is masked as on the locus of reference point with these; Document " H.Billinghurst, M.Marker Tracking and HMD calibration for a video-based augmented reality conferencing system.Proceedings of the 2nd International Workshop on Augmented Reality.San Francisco, USA, October.1999 " a kind of register method based on mark proposed, and developed thus an Open-Source Tools bag ARToolkit, it mainly uses the black and white two-value pattern of regular shape as the handmarking.These class methods are by using the handmarking can realize well registering effect, but have also universally brought unnecessary restriction to what mobile augmented reality was used.
Document " Markus
David J.Murphy.Mara:Sensor based augmented reality system for mobile imaging device.Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality.Santa Barbara, USA, October.2006 " a kind of use GPS proposed, magnetometer, the mobile augmented reality register method of the equipment such as acceleration transducer, it obtains the current geographic position of user by GPS, by magnetometer and acceleration transducer judgment device towards with attitude, obtain the information of registration target from Internet, and use these data messages to calculate the imager coordinate of target on screen, finish registration.This register method calculated amount is little, and robustness is high, but because some sensor self has the long characteristic of time-delay, so that have certain hysteresis quality when obtaining its data, system can have certain time-delay aspect the target following registration.
Summary of the invention
The purpose of this invention is to provide a kind of in real time, quick, accurate, applied widely, be applicable to the target object mixing register method and the system that are used for the mobile augmented reality system of mobile device.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The invention provides a kind of target object mixing register method for the mobile augmented reality system, implementation step is as follows:
1) obtains the current geographic position information of mobile device, and obtain the current geographic position interior information on target object of certain limit on every side;
2) obtain mobile device current towards and attitude data, according to described current towards obtaining target object and the corresponding screen coordinate value of target object that occurs in the mobile device current screen with attitude data;
3) obtain the current continuous scene image of mobile device, obtain the globe motion parameter of current mobile device according to the same characteristic features point of current continuous scene image adjacent data frames;
4) judge according to described globe motion parameter whether current mobile device is in mobile status, if mobile device is in mobile status, then according to described globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message.
Further improvement as the inventive method:
Information on target object is stored on the remote equipment in the described step 1), described mobile device obtains information on target object corresponding around the backward remote equipment request of the geographical location information current geographic position, and remote equipment sends institute's current geographic position of ask information on target object of correspondence on every side according to request to mobile device.
Described step 2) in by magnetometer and acceleration transducer can obtain mobile device current towards and attitude data.
Described step 2) basis in
Obtain the target object and the corresponding screen coordinate value of target object, the wherein p that occur in the mobile device current screen
WaBe the universal geography coordinate of certain target object, p
WcBe the our times geographic coordinate of mobile device for the video camera that obtains scene image, p
Ca=(x
c, y
c, z
c) be target object at the coordinate of camera coordinate system, ρ is the angle of camera intrinsic x axle rotation in the computation process, ω be the angle of rotating around the z axle,
Be the angle around the rotation of y axle, z axle forward be video camera towards direction, f is the focal length of video camera, (x
Cam, y
Cam) be the coordinate of this target object on the video camera imaging plane.
The detailed step that obtains the globe motion parameter of current mobile device in the described step 3) comprises:
A) borderline region of continuous scene image present frame is rejected, get remaining part as region-of-interest, region-of-interest is divided into a plurality of little rectangular areas, and extracts a unique point of angle point response maximum in each little rectangular area by Corner Detection Algorithm;
B) all unique points of search in the next frame scene image are obtained each unique point in two frame scene image zero-mean squared difference and the minimum displacement displacement in two frame scene images as this unique point;
C) set up the two continuous frames scene image with the global motion model of the angle parameter that rotates along x axle, the axial displacement parameter of y, around picture centre, and use the random sampling consistency algorithm to reject the exterior point that the local motion estimation stage may exist;
D) use least square method that remaining interior some data after rejecting exterior point are carried out match, obtain globe motion parameter;
E) use Kalman filter that globe motion parameter is carried out filtering and obtain final globe motion parameter.
Adjust in the described step 4) current appearance in the mobile device screen each target object the screen coordinate value detailed step of corresponding log-on message comprise:
A) set up the structure chained list that is used for storage current screen information on target object, and according to the described structure chained list of the variation real-time update of target object in the current screen;
B) obtain in the structure chained list each target object for the distance of the required movement of each frame scene image according to described globe motion parameter, if continuous multiple frames need to move apart from sum greater than critical value, judge that then mobile device is in mobile status, otherwise judge that mobile device remains static;
C) if mobile device is in mobile status, then according to described globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message, and whether appear in the mobile device screen and corresponding screen coordinate value is upgraded described structure chained list according to target object.
The present invention also provides a kind of target object hybrid registration system for the mobile augmented reality system, it comprises interconnective mobile device and remote equipment, described mobile device comprises be used to obtaining the mobile device geographical location information, towards with the sensor unit of attitude data, be used for according to towards with attitude data obtain target object that the mobile device current screen occurs and target object the sensor information processing unit of corresponding screen coordinate value, be used for obtaining the image acquisition units of the current continuous scene image of mobile device, be used for according to continuous scene image obtain current mobile device globe motion parameter the Vision information processing unit and be used for according to described globe motion parameter adjust in real time the current appearance of mobile device screen each target object the mixing registering unit of screen coordinate value of corresponding log-on message, described sensor unit links to each other with the sensor information processing unit, described image acquisition units links to each other with the Vision information processing unit, described mixing registering unit respectively with the sensor information processing unit, the Vision information processing unit links to each other; Described remote equipment comprise interconnective for the information on target object data, services is provided to mobile device information on target object service processing unit and be used for the information on target object storage unit of storage information on target object, mix registering unit and link to each other with information on target object service processing unit by mobile radio networks.
The inventive method has following advantage:
(1) in technical scheme of the present invention, need not in scene, to use the handmarking, greatly widened the range of application of mobile augmented reality technology, its vision algorithm module detects unique point in the natural scene by the Harris Corner Detection Algorithm, follow the tracks of and analyze these feature motion of points, estimate the globe motion parameter between consecutive frame, with the tracking registration of realize target.
(2) in technical scheme of the present invention, with sensor obtain the current geographic position of mobile device and towards etc. information, and according to the geographic position from the target information of given server around obtaining, just can be finished quickly and accurately the identification of registration target by these data messages, do not need system in advance the registration scene to be carried out off-line learning, effectively adapted to the mobility of mobile device.
(3) in technical scheme of the present invention, vision is followed the tracks of registration algorithm and the sensor algorithm carries out combination, both solved the long problem of response time of simple sensor registration algorithm, and solved again simple unmarked vision and followed the tracks of the problem that error can't be eliminated in the registration algorithm.
(4) in technical scheme of the present invention, the computation complexity of register method is low, registration and procedure for displaying all can be on mobile device complete independently, the mobile augmented reality system that uses this register method to realize only need carry a mobile device (such as smart mobile phone) and get final product, and need not the miscellaneous equipments such as Helmet Mounted Display.
Therefore device of the present invention also possesses the advantage corresponding with said method owing to having the hardware configuration corresponding with method.
Description of drawings
Fig. 1 is the schematic flow sheet of the embodiment of the invention.
Fig. 2 is the xml file layout schematic diagram that the embodiment of the invention is used for the transmission objectives object information.
Fig. 3 is the video camera imaging principle schematic of using in the embodiment of the invention.
Fig. 4 is the schematic flow sheet that unmarked vision is followed the tracks of registration algorithm among the present invention.
Fig. 5 is that unmarked vision is followed the tracks of the global motion model schematic diagram that registration algorithm is selected among the present invention.
Fig. 6 mixes the registration algorithm workflow diagram among the present invention.
Fig. 7 is the framed structure schematic diagram of the embodiment of the invention.
Marginal data: 1, mobile device; 11, sensor unit; 12, sensor information processing unit; 13, image acquisition units; 14, Vision information processing unit; 15, mix registering unit; 16, first communication module; 2, remote equipment; 21, information on target object service processing unit; 22, information on target object storage unit; 23, second communication module.
Embodiment
As shown in Figure 1, the target object mixing register method that is used for the mobile augmented reality system of the embodiment of the invention, implementation step is as follows:
1) obtains the current geographic position information of mobile device, and obtain the current geographic position interior information on target object of certain limit on every side;
2) obtain mobile device current towards and attitude data, according to current towards obtaining target object and the corresponding screen coordinate value of target object that occurs in the mobile device current screen with attitude data;
3) obtain the current continuous scene image of mobile device, obtain the globe motion parameter of current mobile device according to the same characteristic features point of current continuous scene image adjacent data frames;
4) judge according to globe motion parameter whether current mobile device is in mobile status, if mobile device is in mobile status, then according to globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message.
Information on target object is stored on the remote equipment in the step 1), mobile device obtains information on target object corresponding around the backward remote equipment request of the geographical location information current geographic position, and remote equipment sends institute's current geographic position of ask information on target object of correspondence on every side according to request to mobile device.Adopt XML data communication format exchange message between mobile device and the remote equipment.As shown in Figure 2, information on target object comprises registration target object, target object latitude, target object longitude, target object title, the description of target object log-on message and target object height, and information on target object all is to anticipate and be stored on the remote equipment.
Step 2) in by magnetometer and acceleration transducer can obtain mobile device current towards and attitude data.
As shown in Figure 3, the present embodiment adopts the video camera imaging principle to obtain target object and the corresponding screen coordinate value of target object that occurs in the mobile device current screen.Step 2) basis in
Obtain the target object and the corresponding screen coordinate value of target object, the wherein p that occur in the mobile device current screen
WaBe the universal geography coordinate of certain target object, p
WcBe the our times geographic coordinate of mobile device for the video camera that obtains scene image, p
Ca=(x
c, y
c, z
c) be target object at the coordinate of camera coordinate system, ρ is the angle (yaw) of camera intrinsic x axle rotation in the computation process, ω be the angle (roll) of rotating around the z axle,
Be the angle (pitch) around the rotation of y axle, z axle forward be video camera towards direction, f is the focal length of video camera, (x
Cam, y
Cam) be the coordinate of this target object on the video camera imaging plane.Wherein, ω,
Can read from the sensor of mobile device with three angle-datas of z, for example at present than the smart mobile phone inside of main flow all with above-mentioned three sensor data interface, can directly obtain above-mentioned three kinds of angle-datas by data-interface.
As shown in Figure 4, the detailed step that adopts unmarked vision tracking registration algorithm to obtain the globe motion parameter of current mobile device in the step 3) comprises:
A) the feature point detection stage: the borderline region of continuous scene image present frame is rejected, get remaining part as region-of-interest (Region Of Interest, be called for short ROI), the ROI region-of-interest is divided into a plurality of 4 * 4 little rectangular area, and extracts a unique point of angle point response maximum in each little rectangular area by the Harris Corner Detection Algorithm; In the present embodiment, just detected in the current frame image 16 be evenly distributed, unique point that quality is higher; To these unique points that detect, the gray-scale value of each pixel is described in the neighborhood of 5 * 5 sizes of use centered by unique point
B) the local motion estimation stage: all unique points of search in the next frame scene image, obtain each unique point in two frame scene image zero-mean squared difference and the minimum displacement displacement in two frame scene images as this unique point; In the present embodiment, in being the square region of 12 pixels, radius searches for coupling, estimate the moving displacement information of each unique point from the previous frame to the present frame, with zero-mean squared difference and the matching degree of weighing two unique points, the displacement that makes it obtain minimum value is exactly the moving displacement of this unique point;
C) reject the exterior point stage: set up the two continuous frames scene image with the global motion model of the angle parameter that rotate along x axle, the axial displacement parameter of y, around picture centre, and use the exterior point that the random sampling consistency algorithm rejecting local motion estimation stage may exist; Select the global motion model that comprises three parameters as shown in Figure 5 in the present embodiment, it is the angle parameter that image rotates along x axle, the axial displacement parameter of y, around picture centre on two dimensional surface, and use the random sampling consistency algorithm, reject the exterior point that the local motion estimation stage may exist;
D) globe motion parameter calculation stages: use least square method that remaining interior some data after rejecting exterior point are carried out match, obtain globe motion parameter;
E) kinematic parameter filtering stage: use Kalman filter that globe motion parameter is carried out filtering and obtain final globe motion parameter.
As shown in Figure 6, realize adjusting the screen coordinate value of the corresponding log-on message of each target object institute of current appearance in the mobile device screen in the step 4) by mixing registration algorithm, the detailed step of mixing registration algorithm comprises:
A) set up to be used for the structure chained list of storage current screen information on target object, and according to the variation real-time update structure chained list of target object in the current screen;
B) obtain in the structure chained list each target object for the distance of the required movement of each frame scene image according to globe motion parameter, if continuous multiple frames need to move apart from sum greater than critical value, judge that then mobile device is in mobile status, otherwise judge that mobile device remains static; For each node in the chained list, can draw this displacement d that need to adjust of this target registered information by the vision registration algorithm, if recently the displacement d sum of N continuous frame is greater than threshold value D, then thinks the current mobile status that is in of equipment, otherwise think and remain static;
C) if mobile device is in mobile status, then according to globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message, and whether appear in the mobile device screen and corresponding screen coordinate value is upgraded the structure chained list according to target object.
If V
iAnd S
iRepresent that respectively vision algorithm and sensor algorithm adjust the corresponding data of registered location, S to the equipment moving of synchronization
iThan V
iRetardation time be M interFrameGap, preserved at least recently M adjustment record of vision algorithm in each node of chained list; Carve at a time (M+t) and use vision data V
M+tWhen target is followed the tracks of registration, also according to sensing data S
tVision is before adjusted data V
tThe middle error that may exist is revised, and is V at constantly (M+t) to the final adjustment result of log-on message position namely
M+t+ (S
t-V
t), so just finished the correction of vision registration error; After finishing adjustment, the more historical adjustment information of the vision of new node is still only preserved the vision data V in this moment this moment
M+tIf certain registration target is not in current chained list in the device screen of sensor identification, then will set up node corresponding to this registration target and insert chained list, if the coordinate figure of certain target registered information is in outside the screen after using the vision algorithm adjustment, then node corresponding to this target of deletion from chained list so just finished the identification of registration target; Remain static if equipment is current, then only according to sensor arithmetic result registration target information.
As shown in Figure 7, the target object hybrid registration system that is used for the mobile augmented reality system of the embodiment of the invention comprises interconnective mobile device 1 and remote equipment 2, mobile device 1 comprises be used to obtaining mobile device 1 geographical location information, towards with the sensor unit 11 of attitude data, be used for according to towards with attitude data obtain target object that mobile device 1 current screen occurs and target object the sensor information processing unit 12 of corresponding screen coordinate value, be used for obtaining the image acquisition units 13 of mobile device 1 current continuous scene image, be used for according to continuous scene image obtain current mobile device 1 globe motion parameter Vision information processing unit 14 and be used for according to globe motion parameter adjust in real time the current appearance of mobile device screen each target object the mixing registering unit 15 of screen coordinate value of corresponding log-on message, sensor unit 11 links to each other with sensor information processing unit 12, image acquisition units 13 links to each other with Vision information processing unit 14, mix registering unit 15 respectively with sensor information processing unit 12, Vision information processing unit 14 links to each other; Remote equipment 2 comprise interconnective for the information on target object data, services is provided to mobile device 1 information on target object service processing unit 21 and be used for the information on target object storage unit 22 of storage information on target object, mix registering unit 15 and link to each other with information on target object service processing unit 21 by mobile radio networks.
In the present embodiment, mobile device 1 is provided with and the first communication module 16 that mixes registering unit 15 and link to each other, remote equipment 2 is provided with the second communication module 23 that links to each other with information on target object service processing unit 21, first communication module 16 and second communication module 23 link to each other by mobile radio networks, and wherein first communication module 16 is GPRS communication module or 3G communication module.In the present embodiment, adopt XML communication data form between mobile device 1 and the remote equipment 2.When using this system in new place, mobile device 1 sends current GPS geographic position data to remote equipment 2, information on target object service processing unit 21 performance objective data search in information on target object storage unit 22 of remote equipment 2 is organized into the data message of certain limit internal object object around this position such as the XML document form and sends client-side program to.
The above only is preferred implementation of the present invention, and protection scope of the present invention is not limited in above-mentioned embodiment, and every technical scheme that belongs to the principle of the invention all belongs to protection scope of the present invention.For a person skilled in the art, some improvements and modifications of under the prerequisite that does not break away from principle of the present invention, carrying out, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. target object mixing register method that is used for the mobile augmented reality system is characterized in that implementation step is as follows:
1) obtains the current geographic position information of mobile device, and obtain the current geographic position interior information on target object of certain limit on every side;
2) obtain mobile device current towards and attitude data, according to described current towards obtaining target object and the corresponding screen coordinate value of target object that occurs in the mobile device current screen with attitude data;
3) obtain the current continuous scene image of mobile device, obtain the globe motion parameter of current mobile device according to the same characteristic features point of current continuous scene image adjacent data frames;
4) judge according to described globe motion parameter whether current mobile device is in mobile status, if mobile device is in mobile status, then according to described globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message.
2. the target object mixing register method for the mobile augmented reality system according to claim 1, it is characterized in that: information on target object is stored on the remote equipment in the described step 1), described mobile device obtains information on target object corresponding to the backward remote equipment request of geographical location information current geographic position, remote equipment according to request to mobile device send information on target object corresponding to the current geographic position of asking.
3. the target object mixing register method for the mobile augmented reality system according to claim 2 is characterized in that: described step 2) by magnetometer and acceleration transducer obtain mobile device current towards and attitude data.
4. the target object mixing register method for the mobile augmented reality system according to claim 3 is characterized in that: basis described step 2)
Obtain the target object and the corresponding screen coordinate value of target object, the wherein p that occur in the mobile device current screen
WaBe the universal geography coordinate of certain target object, p
WcBe the our times geographic coordinate of mobile device for the video camera that obtains scene image, p
Ca=(x
c, y
c, z
c) be target object at the coordinate of camera coordinate system, ρ is the angle of camera intrinsic x axle rotation in the computation process, ω be the angle of rotating around the z axle,
Be the angle around the rotation of y axle, z axle forward be video camera towards direction, f is the focal length of video camera, (x
Cam, y
Cam) be the coordinate of this target object on the video camera imaging plane.
5. the target object mixing register method for the mobile augmented reality system according to claim 4 is characterized in that the detailed step that obtains the globe motion parameter of current mobile device in the described step 3) comprises:
A) borderline region of continuous scene image present frame is rejected, get remaining part as region-of-interest, region-of-interest is divided into a plurality of little rectangular areas, and extracts a unique point of angle point response maximum in each little rectangular area by Corner Detection Algorithm;
B) all unique points of search in the next frame scene image are obtained each unique point in two frame scene image zero-mean squared difference and the minimum displacement displacement in two frame scene images as this unique point;
C) set up the two continuous frames scene image with the global motion model of the angle parameter that rotates along x axle, the axial displacement parameter of y, around picture centre, and use the random sampling consistency algorithm to reject the exterior point that the local motion estimation stage may exist;
D) use least square method that remaining interior some data after rejecting exterior point are carried out match, obtain globe motion parameter;
E) use Kalman filter that globe motion parameter is carried out filtering and obtain final globe motion parameter.
6. the target object mixing register method for the mobile augmented reality system according to claim 5, it is characterized in that adjusting in the described step 4) current appearance in the mobile device screen each target object the screen coordinate value detailed step of corresponding log-on message comprise:
A) set up the structure chained list that is used for storage current screen information on target object, and according to the described structure chained list of the variation real-time update of target object in the current screen;
B) obtain in the structure chained list each target object for the distance of the required movement of each frame scene image according to described globe motion parameter, if continuous multiple frames need to move apart from sum greater than critical value, judge that then mobile device is in mobile status, otherwise judge that mobile device remains static;
C) if mobile device is in mobile status, then according to described globe motion parameter adjust in real time current appearance in the mobile device screen each target object the screen coordinate value of corresponding log-on message, and whether appear in the mobile device screen and corresponding screen coordinate value is upgraded described structure chained list according to target object.
7. target object hybrid registration system that is used for the mobile augmented reality system, it is characterized in that: it comprises interconnective mobile device (1) and remote equipment (2), described mobile device (1) comprises be used to obtaining mobile device (1) geographical location information, towards with the sensor unit (11) of attitude data, be used for according to towards with attitude data obtain target object that mobile device (1) current screen occurs and target object the sensor information processing unit (12) of corresponding screen coordinate value, be used for obtaining the image acquisition units (13) of the current continuous scene image of mobile device (1), be used for according to continuous scene image obtain current mobile device (1) globe motion parameter Vision information processing unit (14) and be used for according to described globe motion parameter adjust in real time the current appearance of mobile device screen each target object the mixing registering unit (15) of screen coordinate value of corresponding log-on message, described sensor unit (11) links to each other with sensor information processing unit (12), described image acquisition units (13) links to each other with Vision information processing unit (14), described mixing registering unit (15) respectively with sensor information processing unit (12), Vision information processing unit (14) links to each other; Described remote equipment (2) comprise interconnective for the information on target object data, services is provided to mobile device (1) information on target object service processing unit (21) and be used for the information on target object storage unit (22) of storage information on target object, described mixing registering unit (15) links to each other with information on target object service processing unit (21) by mobile radio networks.
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| CN109101120B (en) * | 2017-06-21 | 2021-09-28 | 腾讯科技（深圳）有限公司 | Method and device for displaying image |
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| CN107885331A (en) * | 2017-11-09 | 2018-04-06 | 北京易讯理想科技有限公司 | A kind of exchange method that Audio conversion is realized based on augmented reality |
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| CN109147055B (en) * | 2018-08-03 | 2023-09-08 | 五八有限公司 | Augmented reality display method, device, equipment and storage medium |
| CN109960402B (en) * | 2018-12-18 | 2022-04-01 | 重庆邮电大学 | Virtual and real registration method based on point cloud and visual feature fusion |
| US11082679B1 (en) | 2021-01-12 | 2021-08-03 | Iamchillpill Llc. | Synchronizing secondary audiovisual content based on frame transitions in streaming content |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090244097A1 (en) * | 2008-03-25 | 2009-10-01 | Leonardo William Estevez | System and Method for Providing Augmented Reality |
| CN101344965A (en) * | 2008-09-04 | 2009-01-14 | 上海交通大学 | Tracking system based on binocular camera shooting |
| US20100309225A1 (en) * | 2009-06-03 | 2010-12-09 | Gray Douglas R | Image matching for mobile augmented reality |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9571986B2 (en) | 2014-05-07 | 2017-02-14 | Johnson Controls Technology Company | Systems and methods for detecting and using equipment location in a building management system |
| EP3410353A1 (en) | 2017-06-01 | 2018-12-05 | eyecandylab Corp. | Method for estimating a timestamp in a video stream and method of augmenting a video stream with information |
| CN111625091A (en) * | 2020-05-14 | 2020-09-04 | 佳都新太科技股份有限公司 | Label overlapping method and device based on AR glasses |
| CN111625091B (en) * | 2020-05-14 | 2021-07-20 | 佳都科技集团股份有限公司 | Label overlapping method and device based on AR glasses |
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