CN100399835C - Enhancement actual fixed-point observation system for field digital three-dimensional reestablishing - Google Patents
Enhancement actual fixed-point observation system for field digital three-dimensional reestablishing Download PDFInfo
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- CN100399835C CN100399835C CNB200510105577XA CN200510105577A CN100399835C CN 100399835 C CN100399835 C CN 100399835C CN B200510105577X A CNB200510105577X A CN B200510105577XA CN 200510105577 A CN200510105577 A CN 200510105577A CN 100399835 C CN100399835 C CN 100399835C
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Abstract
The present invention relates to an enhanced reality fixed-point observation system used for field digital three-dimensional reestablishment, which belongs to the technical field of virtual reestablishment and enhanced reality. The present invention mainly comprises a lens cone part used for image gathering and displaying, a rotary stand angle measuring mechanism and a swinging mounting part. The space attitude information of viewpoint is obtained by the angle measuring of a photoelectric encoder, and a computer completes the 3D registration to real-object images according to the information. Simultaneously, a virtual scene after the relevant coordinate conversion and a real scene are fused and superimposed; the system can match an IC charging card by that a control system of a monolithic computer gathers the angle data of the space attitude of a lens cone, and the control of charging power supply of a backlight power supply of a double screen display is realized. The present invention can be used for virtual reestablishment of history ancient cultural relic, restoration of cultural relics and historic relics, conceptual design of municipal construction, education, training, etc.; the present invention can reduce the reestablishment cost of material objects, and can increase the expressive force of objects.
Description
Technical field
The present invention relates to a kind of scene on the spot and carry out the observing system that real time information strengthens, especially can be placed in the system that the real-time three-dimensional digital reconstruction is carried out in the fixed outdoor position specified scope.Belong to virtual reconstruction and augmented reality technical field.
Background technology
Augmented reality (AR, Augmented Reality) technology is the new important research direction that development is come out on the basis of virtual reality research in the world in recent years.Augmented reality combines enhancing information and the user's real world on every side that computer generates together by Display Technique, interaction technique, sensing technology and computer graphics techniques, represent simultaneously to the user, make it believe that from sensory effects enhancing information is the organic component of its surrounding environment
[1-2]This enhancing information can be the dummy object that coexists with real-world object in true environment, also can be the non-geological information about the real-world object that exists.The augmented reality technology still is in laboratory stage, and the registration technology of having succeeded in developing at present all need just can obtain accurate tracking results under the condition of ambient controlled.Although on the registration problem of indoor augmented reality system, obtained bigger progress, still there are not ripe outdoor augmented reality tracking scheme and application system.
Mainly there are following two aspects in the technological difficulties that hinder the extensive use of augmented reality system at present:
1, the Display Technique of augmented reality.The augmented reality system uses following two kinds of perspective formula displays: video perspective formula Helmet Mounted Display and optical perspective helmet display device.
2, the three-dimensional registration technology of augmented reality.For realizing the fusion between virtual and true environment, the three-dimensional environment registration is the guardian technique of augmented reality system, also is the major criterion of weighing systematic function.The task that the registration of three-dimensional environment location will be finished is position and the direction of visual lines that detects user's head in real time, computer is determined the mapping position of virtual information in the real space coordinate that will add according to these information, and these information is presented in real time the tram of display screen.At present the registration localization method that adopts in the world mainly comprise registration location based on tracking equipment, based on the registration location of computer vision, based on the mixing registration location of vision and tracking equipment etc.Wherein the orientation tracking equipment mainly comprises mechanically tracking equipment, electromagnetism tracking equipment, optictracking device and ultrasonic wave tracking equipment etc.These hardware trackers respectively have pluses and minuses, but are subjected to the influence of external interference mostly easily.Compare with the three-dimensional registration algorithm that adopts the hardware tracker, three-dimensional registration algorithm based on computer vision is foundation with the theory on computer vision, the actual environment image that ccd video camera photographs is handled and discerned, follow the tracks of the change in user's head orientation, highly versatile, equipment are simple, with low cost.Registration technology research based on computer vision is in leading position in the AR field at present.It is by the image processing to the one or more video image, obtains trace information, judges position and the direction of video camera in true environment that is fixed on user's head.Only the information that provides according to head tracing system is carried out three-dimensional registration and is belonged to open cycle control, and the matching degree between enhancing information and true environment is not fed back by system, thereby is difficult to obtain the optimum Match effect.And can utilize the method for image processing and computer vision to assist registration based on the AR system of vision, therefore can make the registration error be confined to Pixel-level, but having relatively high expectations to arithmetic speed and ability.
Owing to many-sided reasons such as time, history, natural environments, more or less there is damage in various degree in special articles such as historical sites or antique historical relic.The damage of these article partly is difficult to by its original appearance situations of displaying such as traditional way of presentation such as comment, picture, sand table, miniatures.And the value of these article and the particularity that has thereof make most of article to carry out truly material object reduction by existing means.Therefore utilize computer graphical, virtual reality, the contour technological means of augmented reality to carry out the digital virtual reconstruction of object, can on the basis of the original article outward appearance of complete maintenance, comprehensively, three-dimensionally, exquisite reproduce article original appearance originally with the gimmick that actual situation merges.
Existing view telescope or scope adopt the traditional optical image-forming principle more, only the actual state of object reflects strictly according to the facts to external world, the situation that the beholder saw also is the two dimensional surface information demonstration of extraneous scene, can't obtain the demonstration of enhancing information such as having the object of 3 D stereo display effect and on existing object, reduce, and have only visual experience, lack multimedia messagess such as sound, man-machine interaction.
List of references
1.R.T.Azuma.?A?survey?of?augmented?reality.?Presence：Teleoperators?and?VirtualEnvironments，1997，4：355-385
2.R.T.Azuma，Y.Baillot，R.Behringer，et?al.Recent?advances?in?augmented?reality.IEEE?ComputerGraphics?and?Applications，2001，21(6)：34-47
Summary of the invention
The objective of the invention is to overcome the view telescope of existing fixed point placement and the deficiency that scope shows object information; a kind of novel device that scene is observed is provided; the device of being invented can not only reflect the situation of object strictly according to the facts; and can offer the object that the beholder has the 3 D stereo display effect, and can on existing object, carry out the demonstration of the information that strengthens such as cultural relics and historic sites reduction, interpolation sound, image, video and roaming etc.
Concrete technical scheme of the present invention is as follows:
The augmented reality fixed-point observation system that is used for digital reconstruction is by IMAQ and display part, photoelectric encoder, rotary head body, swinging mounting, computer etc. are partly formed synchronously.This cover system adopts fixed point revolving mirror core structure, wherein IMAQ shows that lens barrel chest portion branch comprises two-way video camera, left and right sides Biscreen display, single chip machine controlling circuit, left and right sides binary channels visual optical imaging system, control panel and audio amplifier, single chip machine controlling circuit is taken two video cameras to object situation alternately shows on the Biscreen display of the left and right sides respectively with certain frequency, can watch the object with 3 D stereo display effect after synthesizing through the binocular optical imaging system; Drive the photoelectric encoder interlock that is installed on the rotary platform body by rotation lens barrel casing, and its output signal is transferred to the tracking of finishing lens barrel (being viewpoint) orientation in the computer in real time demarcate, the computer mapping point of image information in real scene that can be enhanced according to measured azimuth information, then through calculating 3-dimensional digital reconstruction model or the enhancing information such as related text, sound effect of obtaining, and be superimposed upon and synthesize demonstration on original object, dummy object and real-world object are mated fully, realize three-dimensional reconstruction reduction the original.This system can also provide multimedia messagess such as sound, image, video and convergent-divergent control simultaneously, makes the user experience submergence sense on the spot in person.
The present invention compares with prior art has following characteristics: carry out 3-dimensional digital with computer and rebuild; the three-dimensional stereoscopic visual effect that can watch the virtual three-dimensional object to combine by the binocular imaging system of left and right sides Biscreen display with the real scene actual situation; increase multimedias such as literal, sound, image, video simultaneously and strengthened information; make things convenient for manipulating of spectators, enriched the technological means that cultural historic site or some showpiece are learnt to understand.Patent of the present invention has track positioning accuracy height, actual situation in conjunction with stable, submergence sense characteristics strong, easy and simple to handle, occasions such as the virtual field that can be used for historical sites is rebuild, the field digital of cultural relics and historic sites recovers, the virtual on the spot preview of urban construction planning and designing and educational training, can reduce the sky high cost of rebuilding in kind in the past effectively, improve the manifestation mode of the multiple information media of object simultaneously.
Description of drawings
Fig. 1 is the overall structure schematic diagram of patent of the present invention;
Fig. 2 shows lens barrel part theory structure block diagram for IMAQ;
Fig. 3 is a rotary head angle measurement mechanism principle structured flowchart;
Fig. 4 is a swinging mounting part theory structure block diagram;
Fig. 5 is the schematic block circuit diagram of system.
Wherein: the 1-IMAQ shows lens barrel part, 2-rotary head angle measurement mechanism, 3-swinging mounting part, 4-left side video camera, the right video camera of 5-, 6-single chip machine controlling circuit plate, 7-left side display, the right display of 8-, 9-left side road visual optical imaging passage, 10-right wing visual optical imaging passage, 11-IC card charging device, 12-controls button, the 13-left voice box, 14-right voice box, 15-industrial computer; 16-rotary head body, 17-angle of pitch photoelectric encoder, 18-horizontal angle photoelectric encoder, the 19-pitching is to gear drive, and the 20-level is to gear drive, the 21-single chip machine controlling circuit; The 22-double layer sleeve barrel, 23-bearing, 24-current collection slip ring, 25-industrial computer casing, 26-uninterrupted power supply case; 27-system chassis, 28-data and electric interfaces, the synchronous rotation platform of 29-, 30-The Cloud Terrace gangbar; 31-CCD two-way video camera, 32-LCD two-way LCDs, 33-RS-232 data cable, 34-horizontal angle differential decoder, 35-angle of pitch differential decoder.
Embodiment
Below in conjunction with drawings and Examples patent of the present invention is further specified.
The present invention is based on augmented reality and digital virtual reconstruction technique carries out fixed point observation, reach embodiment in conjunction with the accompanying drawings and be described in detail as follows:
Theory structure signal of the present invention comprises that IMAQ shows lens barrel part 1, rotary head angle measurement mechanism 2 and swinging mounting part 3 as shown in Figure 1.
Fig. 2 shows lens barrel part theory structure block diagram for IMAQ.Wherein the casing part is by left video camera 4, right video camera 5, single chip machine controlling circuit plate 6, left display 7, right display 8, left road visual optical imaging passage 9, right wing visual optical imaging path 10, IC-card taximeter 11 is controlled button 12 and left voice box 13, right voice box 14 formations.Single chip machine controlling circuit is taken the two-way video camera to object situation alternately shows on the Biscreen display of the left and right sides respectively with certain frequency, can watch the object of 3 D stereo display effect after synthesizing through left and right sides binary channels visual optical imaging system.Single chip machine controlling circuit is counted control simultaneously, and when the IC radio-frequency card was billed to zero, single chip machine controlling circuit was to the IC-card zero clearing, and closed display.Control button and audio amplifier multimedia and human-machine interactive informations such as sound, image, video and convergent-divergent control are provided.
Fig. 3 is a rotary head angle measurement mechanism principle structured flowchart.Rotary head angle measurement mechanism is by rotary head body 10, angle of pitch photoelectric encoder 17, horizontal angle photoelectric encoder 18, and pitching constitutes to gear drive 20 to gear drive 19, level.Angle of pitch photoelectric encoder 17, horizontal angle photoelectric encoder 18 are fixed by fixed mount and The Cloud Terrace body 16, its rotating shaft respectively by pitching to gear drive 19, level to pitch orientation and the horizontal direction interlock of gear drive 20 with the rotary head body, obtain pitching and the level angle signal outputs in the single chip machine controlling circuit 21.The user can drive the photoelectric encoder angle measurement mechanism kinematic that is installed on the The Cloud Terrace body 16 by rotation lens barrel casing, and with its output angle message transmission to computer, finishing the tracking in lens barrel (being viewpoint) orientation in real time demarcates, computer obtains the mapping point of 3-dimensional digital reconstruction model in true environment of respective objects original appearance through computed in software according to the orientation log-on message of gained, and utilize image fusion technology that it is joined among the image of true environment, realize the enhancing of information.
Fig. 4 is a swinging mounting part theory structure block diagram.The swinging mounting part is by double layer sleeve barrel 22, bearing 23, current collection slip ring 24, industrial computer casing 25, uninterrupted power supply case 26, system chassis 27, data and electric interfaces 28 and rotation platform 29, The Cloud Terrace gangbar 30 are formed synchronously.The internal layer of double layer sleeve barrel 22 and system chassis 27 are fixing, and skin can freely rotate; Industrial computer casing 25, uninterrupted power supply case 26 devices such as grade are installed on the synchronous rotation platform 29 with the interlock of the outer layer sleeve of double layer sleeve barrel 22.The uninterrupted power supply case 26 of current collection slip ring 24 on synchronous rotation platform 29 provides three phase mains.The user drives the outer layer sleeve rotation of double layer sleeve barrels 22 by the The Cloud Terrace gangbar that is connected with the The Cloud Terrace body 30, and then drives synchronous rotation platform 29, with and on industrial computer casing 25, uninterrupted power supply case 26 etc. carry out with moving rotation.It can either realize 360.The omnidirectional rotation of horizontal plane, can prevent the wrapping phenomena that power supply and signal cable in use occur again, can also guarantee under the outdoor environments whole system to be realized safe and reliable continued power by uninterrupted power supply case 26 simultaneously.
Fig. 5 is the schematic block circuit diagram of system.It is made up of parts such as CCD two-way video camera 31, LCD two-way LCDs 32, RS-232 data cable 33, horizontal angle differential decoder 34, angle of pitch differential decoder 35, IC-card taximeter 11, industrial computer 15, angle of pitch photoelectric encoder 17, horizontal angle photoelectric encoder 18, single chip machine controlling circuits 21.Industrial computer 15 obtains the stereoscopic parallax image that CCD two-way video camera 31 photographs scene in real time, and the IMAQ of gathering single chip machine controlling circuit 21 outputs simultaneously shows the spatial attitude data of lens barrel (Fig. 2).These data are provided through the decoding of angle of pitch differential decoder 35, horizontal angle differential decoder 34 by the angle of pitch photoelectric encoder 17 in the The Cloud Terrace angle measurement mechanism (Fig. 3), horizontal angle photoelectric encoder 18, measurement data is transferred to industrial computer 15 through single chip machine controlling circuit 21 by RS-232 data cable 33.Industrial computer 15 utilizes this attitude measurement result, to the 3D conversion that the model of place that strengthens has the stereoscopic parallax effect accordingly, finishes image registration.To merge stack with real scene image through the virtual scene of playing up then, deliver to LCD two-way LCDs 32.The observer can see the scene image of the enhancing with stereoeffect by left road visual optical imaging passage 9 and right wing visual optical imaging path 10.Simultaneously can provide stereo audio information by left voice box 13, right voice box 14, the system that makes has the augmented reality function of multimedia effect.IC-card taximeter 11 links to each other with single chip machine controlling circuit 21.In use IC-card taximeter 11 can be deducted the remaining sum in the IC-card, when remaining sum reduces to null value, triggers single chip machine controlling circuit 21, turn-offs the backlight electric power of LCD two-way LCDs 32, has played the effect of chargeing and using.For improving useful life, native system uses contactless RF IC card.
Present embodiment can realize that the 3-dimensional digital of object is rebuild and fixed point is watched, watch range of movement in 360 ° in direction, just ± 30 ° scope, the user can browse in current angle of visual field scope by the formula of the looking in the distance two-way optics eyepiece at system rear, " enhancing " scene image of the actual situation combination that system shows in this scene areas in real time and relevant multimedia messages.
Claims (4)
1. an augmented reality fixed-point observation system that is used for field digital three-dimensional reestablishing comprises IMAQ demonstration lens barrel part, rotary head angle measurement mechanism, swinging mounting part, it is characterized in that:
A. IMAQ shows that lens barrel partly comprises: first video camera (4), second video camera (5), first display (7), second display (8), single chip machine controlling circuit plate (6), first via visual optical imaging passage (9), the second tunnel visual optical imaging passage (10), IC-card taximeter (11), control button (12) and first audio amplifier (13), second audio amplifier (14), described IMAQ shows that lens barrel partly is used to form the image with 3 D stereo display effect and passes through described first, the second tunnel visual optical imaging passage represents to the user, described single chip machine controlling circuit plate (6) is counted control simultaneously, when the IC radio-frequency card is billed to zero, single chip machine controlling circuit plate (6) is to the IC-card zero clearing, and closes display;
B. rotary head angle measurement mechanism, it is connected in described IMAQ and shows the lens barrel part, be used for carrying out the tracking demarcation that described IMAQ shows lens barrel part orientation according to the rotation of described IMAQ demonstration lens barrel part, described rotary head angle measurement mechanism comprises: rotary head body (16), angle of pitch photoelectric encoder (17), horizontal angle photoelectric encoder (18) and pitching are to gear drive (19), level is to gear drive (20), wherein, said angle of pitch photoelectric encoder (17), horizontal angle photoelectric encoder (18) is fixing by fixed mount and rotary head body (16), its rotating shaft respectively by pitching to gear drive (19), level is to pitch orientation and the horizontal direction interlock of gear drive (20) with rotary head body (16), pitching that obtains exporting and level angle signal;
C. swinging mounting part, it is connected in described rotary head angle measurement mechanism, be used to support described IMAQ and show lens barrel part and described rotary head angle measurement mechanism, and described observing system omnidirectional on horizontal plane is rotated, described swinging mounting partly comprises: double layer sleeve barrel (22), bearing (23), current collection slip ring (24), industrial computer casing (25), uninterrupted power supply case (26), system chassis (27), data and electric interfaces (28), and synchronous rotation platform (29), The Cloud Terrace gangbar (30), wherein, the internal layer of double layer sleeve barrel (22) and system chassis (27) are fixed, and outer the connection by bearing (23) rotates.
2. a kind of augmented reality fixed-point observation system that is used for field digital three-dimensional reestablishing according to claim 1, it is characterized in that, described observing system is placed on the fixed location, adopt the rotary head body to drive the lens barrel mode and carry out the augmented reality observation, multimedia messagess such as sound, image, video and control are provided.
3. a kind of augmented reality fixed-point observation system that is used for field digital three-dimensional reestablishing according to claim 1, it is characterized in that, IC-card taximeter (11) is when counting down to zero, and single chip machine controlling circuit is to the IC-card zero clearing, and closes first display (7) and second display (8).
4. a kind of augmented reality fixed-point observation system that is used for field digital three-dimensional reestablishing according to claim 1 is characterized in that, utilizes the uninterrupted power supply case (26) of current collection slip ring (24) on synchronous rotation platform (29) that the three-phase electrical source of power is provided.
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| TWI457839B (en) * | 2012-06-04 | 2014-10-21 | Pegatron Corp | Induction sysyem of augmented reality, induction device of augmented reality and induction method for augmented reality |
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| CN101976461A (en) * | 2010-10-25 | 2011-02-16 | 北京理工大学 | Novel outdoor augmented reality label-free tracking registration algorithm |
| TW201248423A (en) * | 2011-05-17 | 2012-12-01 | Ind Tech Res Inst | Localization device and localization method with the assistance of augmented reality |
| US20130215132A1 (en) * | 2012-02-22 | 2013-08-22 | Ming Fong | System for reproducing virtual objects |
| JP5891125B2 (en) * | 2012-06-29 | 2016-03-22 | 株式会社ソニー・コンピュータエンタテインメント | Video processing apparatus, video processing method, and video processing system |
| CN106254852A (en) * | 2015-11-10 | 2016-12-21 | 深圳市拓丰源电子科技有限公司 | Image capture method, image-capturing apparatus and virtual reality strengthen system |
| CN105971364A (en) * | 2016-05-27 | 2016-09-28 | 中铁第四勘察设计院集团有限公司 | Vertical camera supporting rod for evacuation platform |
| CN106371586B (en) * | 2016-08-24 | 2018-10-26 | 同济大学 | A kind of adjustable augmented reality implementation method of interaction area |
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