CN101339654A - Reinforced real environment three-dimensional registering method and system based on mark point - Google Patents
Reinforced real environment three-dimensional registering method and system based on mark point Download PDFInfo
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- CN101339654A CN101339654A CNA2007101182666A CN200710118266A CN101339654A CN 101339654 A CN101339654 A CN 101339654A CN A2007101182666 A CNA2007101182666 A CN A2007101182666A CN 200710118266 A CN200710118266 A CN 200710118266A CN 101339654 A CN101339654 A CN 101339654A
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Abstract
The invention provides a registration method for augmenting reality three dimensions based on an index point and a system thereof. The method comprises the following steps: an invisible light index point is generated and the invisible light index point generated is projected on a bearing surface of reality environment; a camera with an invisible light optical filter shoots the invisible light index point projected on the bearing surface, thus obtaining two-dimension coordinate data of the invisible light index point on a screen; the invisible light index point is identified according to the two-dimension coordinate data, thereby obtaining the mapping of three dimensional coordinate of the invisible light index point in the reality environment and the two-dimension coordinate on the screen; the attitude of a camera is calculated according to the mapping. The method and the system are used for leading the index point to be constructed simply and conveniently, the tracking is stable and the positioning accuracy is improved.
Description
Technical field
The present invention is about the augmented reality technology, and particularly the three-dimensional registration technology in the augmented reality technology is three-dimensional register method of a kind of augmented reality based on monumented point and system concretely.
Background technology
Augmented reality (augmented reality, AR) technology can merge to virtual object in the reality scene, and can support the user to carry out with it alternately, it has become a key areas in the virtual reality research, also is an important directions of human machine interface technologies development.
Three-dimensional registration technology is the gordian technique of augmented reality system, also is the major criterion of weighing the augmented reality system performance.The task that three-dimensional registration will be finished is the attitude that detects video camera in real time, that is: the position of video camera and direction.Computing machine is determined the mapping position of virtual information in the real space coordinate that will add according to detected video camera attitude information, and these information is presented in real time the tram of screen.
In the prior art, three-dimensional register method mainly adopts the method based on the visible light monumented point.The visible light monumented point that needs at first in actual environment, to place some based on the method for visible light monumented point, when moving, system takes monumented point by video camera, thereby obtain the screen coordinate of monumented point in images acquired, feature by distinguishing mark point then is to distinguish each monumented point.After identifying is finished, just can obtain the three-dimensional location coordinates of each monumented point and the mapping between the two-dimensional screen coordinate.With the input of these mappings as computing machine, just can calculate the attitude of video camera, finish three-dimensional registration.
But there is following defective in above-mentioned three-dimensional register method:
The first, in order to realize three-dimensional registration, need in true environment, place the visible mark point of some, these visible mark points have not only caused destruction to existing environment, and deployment is got up and also bothered very much.
The second, the detection of visible light monumented point and identification are easy to be subjected to the influence that extraneous illumination condition changes, thereby cause the failure of three-dimensional registration.
Summary of the invention
In order to solve above-mentioned shortcoming of the prior art, this provides three-dimensional register method of a kind of augmented reality based on monumented point and system, with so that monumented point build easy, follow the tracks of stable, the raising bearing accuracy.
Technical scheme of the present invention is:
The three-dimensional register method of a kind of augmented reality based on monumented point said method comprising the steps of: generate the invisible light monumented point; The invisible light monumented point that generates is projected on the loading end of actual environment; Employing has the video camera of invisible light optical filter takes the invisible light monumented point that is projected on the loading end, obtains the two-dimensional coordinate data of described invisible light monumented point in screen; According to described two-dimensional coordinate data described invisible light monumented point is discerned, obtained of the mapping of invisible light monumented point at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen; Calculate the attitude of described video camera according to described mapping.
The three-dimensional Accreditation System of a kind of augmented reality based on monumented point, described system comprises: invisible light monumented point generating apparatus is used to generate the invisible light monumented point, and the invisible light monumented point that generates is projected on the loading end of actual environment; Video camera, this video camera has the invisible light optical filter, is used for the invisible light monumented point that is projected on the loading end is taken, and output image data; Computing machine, be used to receive the pictorial data that described video camera is exported, and this computing machine further comprises: image acquisition and processing unit are used for obtaining the two-dimensional coordinate data of described invisible light monumented point at screen according to pictorial data; Recognition unit is used for according to described two-dimensional coordinate data described invisible light monumented point being discerned, and obtains the mapping of invisible light monumented point at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen; Attitude Calculation and output unit are used for calculating according to described mapping the attitude of described video camera.
Beneficial effect of the present invention is, adopts the effective generation projection of powerful infrared laser monumented point, can realize stable three-dimensional registration; The projection monumented point has the sightless characteristics of human eye, thereby can not bring any visual influence to the observer, and has eliminated the visible light monumented point to existing environment damage; Because the spectrum of monumented point is positioned at region of ultra-red, so avoided the interference of the luminophor of full spectrum to the process of probe mark point.
The present invention has the bearing accuracy height, monumented point is followed the tracks of and stablize, build characteristics easy, that can realize in the environment of any inconvenience placement monumented point.The problems that have now based on the three-dimensional register method of visible light monumented point have effectively been solved.
Description of drawings
Fig. 1 is the structured flowchart of embodiment of the invention system;
Fig. 2 is the process flow diagram of the position and attitude tracking of the embodiment of the invention;
Fig. 3 is the workflow diagram of infrared launcher of the present invention;
Fig. 4 is the structural drawing of infrared launcher of the present invention;
Fig. 5 is the structural drawing of the regulating device of infrared launcher of the present invention;
Fig. 6 is the calculation flow chart of the embodiment of the invention;
Fig. 7 is the synoptic diagram of infrared projection monumented point of the present invention;
Fig. 8 is that the embodiment of the invention is used synoptic diagram.
Embodiment
Followingly embodiments of the invention are elaborated with reference to accompanying drawing.As shown in Figure 1, the three-dimensional Accreditation System of the augmented reality based on monumented point of the present invention comprises: invisible light monumented point generating apparatus is used to generate the invisible light monumented point, and the invisible light monumented point that generates is projected on the loading end of actual environment; Video camera, this video camera has the invisible light optical filter, is used for the invisible light monumented point that is projected on the loading end is taken, and output image data; Computing machine, be used to receive the pictorial data that described video camera is exported, and this computing machine further comprises: image acquisition and processing unit are used for obtaining the two-dimensional coordinate data of described invisible light monumented point at screen according to pictorial data; Recognition unit is used for according to described two-dimensional coordinate data described invisible light monumented point being discerned, and obtains the mapping of invisible light monumented point at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen; Attitude Calculation and output unit are used for calculating according to described mapping the attitude of described video camera.
Figure 2 shows that the process flow diagram of the position and attitude tracking of the embodiment of the invention.As step S201, at first generate the invisible light monumented point and the invisible light monumented point that generates is projected on the loading end of actual environment, adopt video camera to filter light at step S202 with invisible light optical filter, then the invisible light monumented point that is projected on the loading end is taken at step S203, obtain the two-dimensional coordinate data of described invisible light monumented point in screen at step S204, according to described two-dimensional coordinate data described invisible light monumented point is discerned, obtain of the mapping of invisible light monumented point, calculate the attitude of described video camera at last at step S205 according to described mapping at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen.
Three-dimensional register method based on the projection monumented point need be placed a monumented point generation device in actual environment.This device is made up of powerful infrared laser pipe, is used for producing infrared monumented point at environment.The video camera that is used to follow the tracks of need install an infrared fileter additional before camera lens, be used to take the infrared projection monumented point to obtain the screen coordinate information of monumented point.The monumented point generator arrives the laser projections that the infrared laser pipe produces such as places such as ceiling, walls.During tracking, the video camera probe mark point that installs infrared fileter additional is to obtain their two-dimensional positions in screen.And then carry out the identification of monumented point and the calculating of video camera attitude.
The outward appearance of projection monumented point generator as shown in Figure 4.Comprise a base 303, support 302, infrared laser pipe 301, direction regulon 304.Order is installed several pieces of powerful infrared laser pipes 301 on support 302.Devices such as control circuit and power supply (figure does not show) are installed on support 302 and the base 303.The workflow diagram of infrared launcher each infrared laser pipe 301 as shown in Figure 3 all is connected with power supply by control circuit, and control circuit is used to control the light on and off of infrared laser pipe 301, and its duty is separated fully with computing machine.Power supply links to each other with control circuit, and the direct current of output 9V.The direction regulon 304 of monumented point generator, be used to regulate ultrared projecting direction, as shown in Figure 5, in the present embodiment, the infrared laser tube side is an oscillating bearing to regulon 304, infrared laser pipe 502 is inserted in the oscillating bearing 501, utilize oscillating bearing 501 control laser tube projecting directions.
The effect of monumented point generator is exactly to go out the projection monumented point according to pre-designed mode producing.The monumented point generator is made up of powerful infrared laser pipe.Install infrared fileter before the camera lens additional and be used for surveying infrared monumented point.The system works synoptic diagram as shown in Figure 6, three-dimensional register flow path is as follows: at first the monumented point generator is placed on certain position, opens generator monumented point is projected to the visible place of video camera.Image in step S401 camera acquisition scene, then import image into computing machine at step S402, program is at first carried out the image that collects binaryzation with the influence of the noise in the minimizing image to registering result, image after step S403 is to binaryzation carries out scanning line by line then, therefrom seek the projection monumented point, searching finishes and obtains the monumented point sequence of some, adopt the method for geometrical calculation to discern each monumented point at step S404 then, thereby obtain their two-dimensional screen coordinate and the corresponding relation between the pre-set three-dimensional world coordinate at step S405, and then finish three-dimensional registration in the attitude that step S406 calculates video camera.
Fig. 7 is an image of taking the projection monumented point that the video camera of infrared image photographs.Round dot among the figure is exactly the picture that becomes on screen through laser projection monumented point behind the infrared fileter.
A concrete mark point recognition process is as follows:
Five than dot be the laser projection monumented point in screen imaging (image is a black white image, Fig. 7 is problem for convenience of description just, that is to say, all is white round dot in screen than dot, and other zones are black in screen), obtaining the monumented point sequence is 5 two-dimensional screen coordinates than dot in the way, identifying is as follows: at first calculate 5 than dot distance between any two, nearest person is No. 1 point and aid identification point, calculate then 5 screen coordinate additions than dot are averaged, obtain the coordinate of its center of gravity, promptly among the figure than the coordinate of large circle point, the distance point far away than large circle point is point No. 1 among two nearest in twos points, so far finished the identification to No. 1 point.Find after No. 1 point, searching can be determined point respectively 2,3, No. 4 counterclockwise, thus with in the screen 5 without any difference in appearance distinguished than dot, finished the process of discerning.
Fig. 8 is that the embodiment of the invention is used synoptic diagram.At first monumented point generator 801 is placed on the suitable position such as corner of the room, starting monumented point generation device 801 shines infrared laser on the indoor ceiling, like this under the control of generation device, the monumented point 802 that will occur on wall and the ceiling.System start-up then, user 804 wears optical perspective helmet display device or hand-held panel computer is walked about freely indoor, the tracking means 803 of user's head is equipped with No. 1 and No. 2 two video cameras 805, wherein install infrared fileter additional before No. 2 camera lens, be used for taking infrared monumented point 802 to determine user's head pose.No. 1 video camera is installed in user's head and directly takes the true scenery in the place ahead, the two imports the image that obtains into computing machine simultaneously, computing machine at first from infrared image, survey tracked to monumented point, and utilize their world coordinates and the screen coordinate attitude of calculating video camera and then the attitude of definite user's head.Then, computing machine just can be on the true scene image that No. 1 video camera is taken the virtual information of stack.Finish after the stack of image, utilize the image after display device will finally strengthen to present to the user.
Patent of the present invention is compared with existing technology has following characteristics: adopt the effective generation projection of powerful infrared laser monumented point, can realize stable three-dimensional registration; The projection monumented point has the sightless characteristics of human eye, thereby can not bring any visual influence to the observer, and has eliminated the visible light monumented point to existing environment damage; Because the spectrum of monumented point is positioned at region of ultra-red, so avoided the interference of the luminophor of full spectrum to the process of probe mark point.
Patent of the present invention has the bearing accuracy height, monumented point is followed the tracks of and stablize, build characteristics easy, that can realize in the environment of any inconvenience placement monumented point.The problems that have now based on the three-dimensional register method of visible light monumented point have effectively been solved.
Above embodiment only is used to illustrate the present invention, but not is used to limit the present invention.
Claims (7)
1. the three-dimensional register method of the augmented reality based on monumented point is characterized in that, said method comprising the steps of:
Generate the invisible light monumented point;
The invisible light monumented point that generates is projected on the loading end of actual environment;
Employing has the video camera of invisible light optical filter takes the invisible light monumented point that is projected on the loading end, obtains the two-dimensional coordinate data of described invisible light monumented point in screen;
According to described two-dimensional coordinate data described invisible light monumented point is discerned, obtained of the mapping of invisible light monumented point at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen;
Calculate the attitude of described video camera according to described mapping.
2. method according to claim 1 is characterized in that, described invisible light monumented point is the infrared ray monumented point; Described invisible light optical filter is an infrared fileter.
3. method according to claim 1 is characterized in that, described generation invisible light monumented point is meant: generate a plurality of invisible light monumented points according to predefined pattern.
4. one kind based on the three-dimensional Accreditation System of the augmented reality of monumented point, it is characterized in that described system comprises:
Invisible light monumented point generating apparatus is used to generate the invisible light monumented point, and the invisible light monumented point that generates is projected on the loading end of actual environment;
Video camera, this video camera has the invisible light optical filter, is used for the invisible light monumented point that is projected on the loading end is taken, and output image data;
Computing machine be used to receive the pictorial data that described video camera is exported, and this computing machine further comprises:
Image acquisition and processing unit are used for obtaining the two-dimensional coordinate data of described invisible light monumented point at screen according to pictorial data;
Recognition unit is used for according to described two-dimensional coordinate data described invisible light monumented point being discerned, and obtains the mapping of invisible light monumented point at the three-dimensional coordinate of actual environment and the two-dimensional coordinate in screen;
Attitude Calculation and output unit are used for calculating according to described mapping the attitude of described video camera.
5. system according to claim 4 is characterized in that, described invisible light monumented point is the infrared ray monumented point; Described invisible light optical filter is an infrared fileter.
6. system according to claim 5 is characterized in that, described invisible light monumented point generating apparatus comprises: a plurality of infrared laser pipes, gauge tap and power supply; Wherein
Each infrared laser Guan Jun is connected with power supply by described gauge tap, and gauge tap is used to control the light on and off of infrared laser pipe.
7. system according to claim 6 is characterized in that, described invisible light monumented point generating apparatus comprises: the infrared laser tube side is used to regulate ultrared projecting direction to regulon.
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| CN111290567A (en) * | 2018-12-06 | 2020-06-16 | 中国科学院长春光学精密机械与物理研究所 | Intelligent home decoration imaging system and virtual furniture placing method |
| CN111290566A (en) * | 2018-12-06 | 2020-06-16 | 中国科学院长春光学精密机械与物理研究所 | AR-based intelligent home experience method and experience system |
| CN111290566B (en) * | 2018-12-06 | 2021-09-17 | 中国科学院长春光学精密机械与物理研究所 | AR-based intelligent home experience method and experience system |
| CN111290567B (en) * | 2018-12-06 | 2022-03-22 | 中国科学院长春光学精密机械与物理研究所 | Intelligent home decoration imaging system and virtual furniture placing method |
| CN110796703A (en) * | 2019-11-18 | 2020-02-14 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Pose tracking system, pose tracking method and storage medium |
| CN110796703B (en) * | 2019-11-18 | 2022-07-12 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Pose tracking system, pose tracking method and storage medium |
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