CN103106665A - Method capable of automatically tracking moving object in space-augmented reality system - Google Patents
Method capable of automatically tracking moving object in space-augmented reality system Download PDFInfo
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- CN103106665A CN103106665A CN2011103881905A CN201110388190A CN103106665A CN 103106665 A CN103106665 A CN 103106665A CN 2011103881905 A CN2011103881905 A CN 2011103881905A CN 201110388190 A CN201110388190 A CN 201110388190A CN 103106665 A CN103106665 A CN 103106665A
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Abstract
Provided is a method capable of extending viewport range of a single projector and automatically tracking a moving object in a space-augmented reality system. The method utilizes a disc-shaped rotating base capable of automatically feeding a rotating angle back, the single projector is fixed on the disc-shaped rotating base, and an optical axis of the projector is coincided with an axis of the disc-shaped rotating base. A projection matrix of the projector is simultaneously confirmed and dynamically updated according to a rotation matrix of the projector and a translation matrix of an object. The multiplying order of the matrixes includes that the rotation matrix is multiplied by the current projection matrix, and then multiplied by the translation matrix of the object to acquire a new projection matrix.
Description
Technical field
The present invention relates in the spatial enhance reality system the limited viewport scope of expansion single projector and from the method for motion tracking mobile object, especially follow the tracks of the object that moves along certain curvilinear path in extensive environment.The method that specifically be exactly to adopt the projector of rotation and dynamically update projection matrix realize the object that moves along certain track from motion tracking.
Background technology
The spatial enhance reality technology is by digital projector, multi-form numerical information (as word, figure, image, video, animation etc.) to be projected on the real-world objects surface, thereby strengthens the description of real-world objects and mutual.The augmented reality system has the characteristics of actual situation combination and real-time, interactive, and prospect is widely used in many fields such as medical research, educational training, industrial design, national defense construction, urban planning, historical relic's protection, entertainments.For example, the doctor can utilize the augmented reality system that illness information (as position, shape) is projected to the patient body relevant position with real-time guiding operating operation or assists doctor's planning of performing an operation.The validity of existing augmented reality system usually is subject to the limited viewport size of projector.In actual applications, the user may need projection strengthen information to the object that moves along certain track so that object is followed the tracks of, as object mobile on industrial streamline being followed the tracks of and mutual.In the augmented reality system, single projector usually can't strengthen the object that exceeds its viewport scope in extensive environment due to the size restrictions of its viewport.When mobile object being followed the tracks of and strengthen, single projector can't be followed the tracks of the moving object that exceeds its viewport scope.For the tracking of the object that moves as the circular trace centered by projector along certain special track, single fixing projector is helpless especially.
For mobile on a large scale object is strengthened, prior art adopts a plurality of projector to overcome the limitation of single projector viewport usually.Prior art adopts the multiple different method based on hardware or software to realize track and localization: 1) optical profile type tracking: adopt camera to add the optical sensor reception and have the light source of certain how much distributions or the light that witch ball sends, calculate the six-degree-of-freedom information of moving object by the image of reception and the locus of light source and sensor, a major defect of the method is that occlusion issue is arranged.2) electromagnetic type tracking: determine the orientation of measurand according to the coupled relation between emission of magnetic field signal and magnetic induction signal, the method is subject to the impact in magnetic field and metal object in working environment.3) mechanical type tracking: measure position and the direction of moving object with the physical connection of mechanical joint, the working range of the method is little.Other tracking also comprises based on computer vision and and the method that combines of hardware.But prior art improves greatly due to expense and the complexity that the extra hardware device of needs is realized system on the one hand, lacks on the other hand necessary dirigibility, as the tracking to object mobile on the circular trace centered by projector.
Summary of the invention
The object of the invention is to announce a kind of method of the object of expanding single projector viewport scope and moving along curvilinear path on the motion tracking plane.The present invention has the drop shadow spread that can not only expand single projector, and in the situation that does not use other hardware devices such as camera or optical sensor etc. automatically to follow the tracks of on given trace mobile object.The present invention has reduced the projector number that the tracking mobile object needs, the reduced complexity that system realizes.The present invention can follow the tracks of the arbitrarily angled upper object that moves along certain track centered by projector, has improved the dirigibility of augmented reality system.The technical problem to be solved in the present invention is: 1) adopt rotating and projection instrument extended projection instrument viewport scope; 2) object that moves along curvilinear path from motion tracking.
The technical solution adopted for the present invention to solve the technical problems is as follows: the present invention adopts the disc rotating base of the current anglec of rotation of energy automatic feedback, and projector is fixed on this disc rotating base.When object of which movement, realize the rotation of projector by the rotation of disc rotating base, the present invention has proposed to calculate for moving object the method for the projection matrix of rotating and projection instrument simultaneously, thus can realize projector to the tracking of the object of arbitrarily angled motion and projection numerical information to body surface.The system configuration of the technical solution adopted in the present invention is seen shown in accompanying drawing.
The computation process of projection matrix of the present invention is as follows: establishing current projection matrix is M
View, projector is that θ (is expressed as R with rotation matrix based on the anglec of rotation of rotating circular disk
Proj), the movement of object can be expressed in matrix as T
objIn system's operation phase, take movement locus as the circular arc track as example, at first 3 A, the B not overlapping arbitrarily and the C that choose on movement locus of object calibrate projector respectively, and this calibration steps obtains object (being also the movement locus point) at the world coordinates of A, B and C.According to geological theorems, this world coordinates of 3 is unique has determined the world coordinates equation of movement locus of object on the plane.To the movement locus of other shapes, need to choose and depend in the plane for counting of projector calibration and can uniquely determine counting of this Movement Locus Equation.After the world coordinates equation of the movement locus of determining object, can obtain the rotation matrix R of projector in any time of system's operation phase
ProjTranslation matrix T with object
objBased on rotation matrix R
ProjWith the translation matrix T
obj, the new projection matrix M of moving object '
ViewCan be expressed as:
M′
view＝R
proj×M
view×T
obj.(1)
When projector rotates on rotating circular disk, projection matrix M '
ViewAlong with the variation of the anglec of rotation and the movement of object are upgraded automatically, thereby realize that the projector automatic real-time track is along the object of orbiting motion.
Description of drawings
The system configuration of the technical solution adopted in the present invention as shown in drawings.In the accompanying drawings, 1 is the disc rotating base of the current anglec of rotation of energy automatic feedback, and 2 is projector, and 3 is object, and 4 are the movement locus of object (in this example, movement locus is circular arc), 5 positions for place after projector rotation θ angle.O is the rotation center of rotating circular disk, and D is the projection centre of projector, and E is the projection centre position of projector after disc rotary θ angle, and the distance between disc rotary center and projector projection centre is r.The optical axis that patent of the present invention is set projector overlaps with the axis (passing the straight line of rotation center) of rotating circular disk.
Embodiment
The embodiment of patent of the present invention comprises the following steps:
＜1〉according to the configuration of accompanying drawing, projector 2 is fixed on rotating base 1, the optical axis of projector 2 is overlapped with the axis of rotating base 1 (by a line at rotating circular disk center);
＜2〉choose any 3 points on movement locus of object 4 (take the circular arc track as example), and respectively projector is calibrated on the position of three points choosing, the world coordinates of three some correspondences of this Procedure Acquisition is according to geological theorems and calculate the world coordinates equation of movement locus of object on the plane based on the world coordinates of three points;
＜3〉object is placed on movement locus certain some position, beginning rotational circle dish type rotating base and simultaneously along the movement locus mobile object obtains rotation matrix R according to the anglec of rotation and displacement
ProjTranslation matrix T with object
obj, the projection matrix M new according to formula (1) calculating '
View
＜4〉projector in new position according to new projection matrix M '
ViewProjection strengthens information and realizes tracking to object to the body surface.
The method of new projection matrix is calculated in the program code segments explanation of below writing with C language and OpenGL function in the augmented reality system:
Claims (4)
1. the method for extended projection instrument viewport scope and the object that moves along curvilinear path from motion tracking in a spatial enhance reality system; use single projector that the object in extensive environment is strengthened; it is characterized in that: the disc rotating base that uses an energy automatic feedback anglec of rotation; and projector is fixed on the disc rotating base, the projection matrix of projector upgrades automatically according to the rotation of projector and the translation of object.
2. according to claim＜1〉method of described extended projection instrument viewport scope and the object that moves along curvilinear path from motion tracking, it is characterized in that: the dead in line of the optical axis of projector and disc rotary base.
3. according to claim＜1〉method of described extended projection instrument viewport scope and the object that moves along curvilinear path from motion tracking, it is characterized in that: choose any 3 points (for the circular arc track) on movement locus of object, and in selected point, projector is calibrated.
4. according to claim＜1〉method of described extended projection instrument viewport scope and the object that moves along curvilinear path from motion tracking, it is characterized in that: projector is determined according to the rotation matrix of projector and the translation matrix of object simultaneously at the projection matrix of new position, matrix multiple is sequentially: at first rotation matrix and current projection matrix multiply each other, then obtain new projection matrix with the object translation matrix multiple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011103881905A CN103106665A (en) | 2011-11-11 | 2011-11-11 | Method capable of automatically tracking moving object in space-augmented reality system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103881905A CN103106665A (en) | 2011-11-11 | 2011-11-11 | Method capable of automatically tracking moving object in space-augmented reality system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105184825A (en) * | 2015-10-29 | 2015-12-23 | 丽水学院 | Indoor-scene-oriented mobile augmented reality method |
| CN106796453A (en) * | 2014-10-07 | 2017-05-31 | 微软技术许可有限责任公司 | Projecting apparatus is driven to generate the experience of communal space augmented reality |
| CN108870160A (en) * | 2017-05-10 | 2018-11-23 | 中山市品匠电子科技有限公司 | Intelligent LED lighting lamps and lanterns with projection display funciton |
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| CN101253538A (en) * | 2005-07-01 | 2008-08-27 | 索尼电影娱乐公司 | Mobile motion capture cameras |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106796453A (en) * | 2014-10-07 | 2017-05-31 | 微软技术许可有限责任公司 | Projecting apparatus is driven to generate the experience of communal space augmented reality |
| CN106796453B (en) * | 2014-10-07 | 2020-06-05 | 微软技术许可有限责任公司 | Driving a projector to generate a shared space augmented reality experience |
| CN105184825A (en) * | 2015-10-29 | 2015-12-23 | 丽水学院 | Indoor-scene-oriented mobile augmented reality method |
| CN108870160A (en) * | 2017-05-10 | 2018-11-23 | 中山市品匠电子科技有限公司 | Intelligent LED lighting lamps and lanterns with projection display funciton |
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