CN103968829A - Three-dimensional space orientation tracking method and three-dimensional space orientation tracking system based on virtual marker - Google Patents
Three-dimensional space orientation tracking method and three-dimensional space orientation tracking system based on virtual marker Download PDFInfo
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Abstract
The invention discloses a three-dimensional space orientation tracking method and a three-dimensional space orientation tracking system based on a virtual marker. The method comprises the steps of selecting a naked eye three-dimensional display device, and fixing a projection part on the surface of a positioned trace substance or a positioning instrument, wherein the positioned trace substance is traced by the tail end of the positioning instrument; designing a virtual marker and a corresponding naked eye three-dimensional display image source; inputting the naked eye three-dimensional display image source to the projection part so as to display the corresponding virtual marker in the space, wherein the relative position of the virtual marker and the projection part is kept constant; acquiring multiple views and videos of a scene to be shot, wherein the multiple views and videos comprise an actual environment space and the virtual marker; and processing according to the multiple views and videos to obtain the positioning information and the movement information of the positioned trace substance. According to the method and system, a real marker does not need to be arranged in the space, only does the virtual image of the marker need to be displayed in the space, and the advantages of small occupied space, high operation flexibility, high positioning precision and the like are achieved.
Description
Technical field
The present invention relates to space orientation technique, be specifically related to a kind of three-dimensional fix method for tracing and system based on virtual signage thing.
Background technology
Traditional space orientation technique is mainly near-infrared optical location and magnetic orientation.Taking the product P OLARIS of Northern Digital Inc (NDI) company as example, its Main Basis Binocular Vision Principle, take the apparatus that mark reflective small ball is installed with two video cameras that post near infrared filter, obtain image, image is processed to the locus that obtains apparatus.Surround lighting can be suppressed after by near infrared filter, therefore on image, substantially there is no environmental information, only can obtain mark reflective small ball image clearly.Electromagnetic positioning system mainly comprises main frame, transmitter and three parts of receiver, taking the product A URORA of NDI as example, transmitter is to spatial emission magnetic field, the signal of position is passed to main frame by receiver, Framework computing is processed just can obtain position and the direction of receiver with respect to transmitter, thereby realizes the space orientation of apparatus.These two kinds main space orientation technique products have all been ignored surrounding environment factor, only collect the positional information of monumented point.But in some cases,, except obtaining the space bit of apparatus, also wish to obtain the environmental information in operation.
For obtaining environmental information and mark locus in art, the companies such as Claron Technology Inc have developed a kind of new optical positioning system, this optical alignment technology is based on Binocular Vision Principle, utilize common camera group to take the apparatus place scene that chessboard trellis mark is installed, extract the space orientation of two tessellated angle points for apparatus.This technology can obtain the environmental information except apparatus locus with respect to near-infrared optical location technology, assisted surgery navigation preferably after combining environmental information and apparatus spatial positional information.
The current system such as near-infrared optical location and visible ray optical alignment is to detect the posture changing of whole operating theater instruments in space, and three or three above mark reflective small ball or chessboard trellis marks that can ensure spatial degrees of freedom need to be installed.Therefore, the locating device adopting at present need to consider to ensure marker position, degree of freedom etc. in the time of design and installation, thereby more complicated, and spatial volume is all larger, can affect to a certain extent operation technique.Especially at the position of narrow space, be difficult to use the locating apparatus of larger volume.Meanwhile, limited mark can be limited for positioning precision.
Summary of the invention
The present invention one of is intended to solve the problems of the technologies described above at least to a certain extent or at least provides a kind of useful business to select.For this reason, the object of the invention is to propose a kind of three-dimensional fix method for tracing and system based on virtual signage thing that requisite space degree is narrow and small, flexible operation degree is large that have.
For achieving the above object, according to the three-dimensional fix method for tracing based on virtual signage thing of the embodiment of the present invention, comprise the following steps: S1. selects a kind of bore hole three-dimensional display apparatus, projection part in described bore hole three-dimensional display apparatus is fixed on to the surface of the tracer that is positioned or is fixed on locating apparatus, wherein, the end of described locating apparatus follow the trail of described in the tracer that is positioned; S2. design the bore hole 3-D display image source that virtual signage thing and described virtual signage thing are corresponding; S3. described projection part is inputted to described bore hole 3-D display image source, to demonstrate corresponding virtual signage thing in space, wherein, the relative position of described virtual signage thing and described projection part remains constant; S4. obtain the multi-view video of scene to be taken the photograph, described multi-view video comprises actual environment space and described virtual signage thing; S5. according to described multi-view video, process locating information and the movable information of the tracer that is positioned described in obtaining.
According to the three-dimensional fix method for tracing based on virtual signage thing of above-described embodiment, compared to existing technology, need in real space, place at least three not marks of full conllinear, the method is without real mark is set in space, but only need in space, demonstrate virtual signage thing by the projection part in bore hole three-dimensional display apparatus.Three-dimensional fix method for tracing based on virtual signage thing of the present invention has and takes up space littlely, and flexible operation degree is large, positioning precision advantages of higher.
The three-dimensional fix method for tracing based on virtual signage thing of the embodiment of the present invention can also have following technical characterictic:
In one embodiment of the invention, described step S2 comprises: S21. designs the spatial relation of number, shape, size and described virtual signage thing and the described projection part of described virtual signage thing; S22. design the bore hole 3-D display image source that described virtual signage thing is corresponding, wherein, the algorithm that designs described bore hole 3-D display image source is relevant with described bore hole three-dimensional display apparatus type.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned allows fixing projection part, the number of described projection part is one, the surface of the tracer that is positioned described in described projection part is fixed on, and the number of described virtual signage thing is one.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned does not allow fixing projection part, the number of described projection part is at least three, at least three described projection parts are separately fixed on same described locating apparatus, and ensure the inwhole conllinear of at least three corresponding described virtual signage things.
In one embodiment of the invention, when bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, described projection part is lens arra; When bore hole three-dimensional display apparatus is while being poly-talented based on light field, described projection part is lens arra; When bore hole three-dimensional display apparatus is during based on holographic technique type, described projection part is interference device.
In one embodiment of the invention, described step S5 comprises: S51. extracts the unique point of described virtual signage thing; S52. the described unique point in the different views of multi-view video described in a certain moment is mated, obtain matching characteristic point right; S53. according to described matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the described virtual signage thing in a certain moment; S54. according to described virtual signage thing with described in the be positioned spatial relation of tracer, obtain a certain moment described in the be positioned spatial value of tracer; S55. by more in the same time described in the be positioned spatial value of tracer, the movement locus of the tracer that is positioned described in obtaining.
For achieving the above object, according to the three-dimensional fix tracing system based on virtual signage thing of the embodiment of the present invention, comprise following part: bore hole three-dimensional display apparatus, projection part in described bore hole three-dimensional display apparatus is fixed on the surface of the tracer that is positioned or is fixed on locating apparatus, wherein, the end of described locating apparatus follow the trail of described in the tracer that is positioned; Design module, described design module is connected with the input end of described projection part, for designing virtual signage thing and bore hole 3-D display image source corresponding to described virtual signage thing, wherein, described design module sends to described projection part to demonstrate described virtual signage thing in actual environment space described bore hole 3-D display image source, and the relative position of described virtual signage thing and described projection part remains constant; Many orders video acquisition module, for obtaining the multi-view video of scene to be taken the photograph, described in scene to be taken the photograph comprise actual environment space and described virtual signage thing; Analysis and processing module, described analysis and processing module is connected with described many orders video acquisition module, for according to described multi-view video, processes locating information and the movable information of the tracer that is positioned described in obtaining.
According to the three-dimensional fix tracing system based on virtual signage thing of above-described embodiment, compared to existing technology, need in real space, place at least three not marks of full conllinear, this system is without real mark is set in space, but only need in space, demonstrate virtual signage thing by the projection part in bore hole three-dimensional display apparatus.Three-dimensional fix tracing system based on virtual signage thing of the present invention has and takes up space littlely, and flexible operation degree is large, positioning precision advantages of higher.
The three-dimensional fix tracing system based on virtual signage thing of the embodiment of the present invention can also have following technical characterictic:
In one embodiment of the invention, described design module comprises: the first design module, for designing the spatial relation of number, shape, size and described virtual signage thing and described projection part of described virtual signage thing; The second design module, for designing the bore hole 3-D display image source that described virtual signage thing is corresponding, wherein, the algorithm that designs described bore hole 3-D display image source is relevant with described bore hole three-dimensional display apparatus type.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned allows fixing projection part, the number of described projection part is one, the surface of the tracer that is positioned described in described projection part is fixed on, and the number of described virtual signage thing is one.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned does not allow fixing projection part, the number of described projection part is at least three, at least three described projection parts are separately fixed on same described locating apparatus, and ensure the inwhole conllinear of at least three corresponding described virtual signage things by adjusting position.
In one embodiment of the invention, when bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, described projection part is lens arra; When bore hole three-dimensional display apparatus is while being poly-talented based on light field, described projection part is lens arra; When bore hole three-dimensional display apparatus is during based on holographic technique type, described projection part is interference device.
In one embodiment of the invention, described analysis and processing module comprises: feature point extraction submodule, for extracting the unique point of described virtual signage thing; Feature Points Matching submodule, described Feature Points Matching submodule is connected with described feature point extraction submodule, described Feature Points Matching submodule mates for the described unique point of the different views to multi-view video described in a certain moment, obtains matching characteristic point right; Space reconstruction submodule, described space reconstruction submodule is connected with described Feature Points Matching submodule, described space reconstruction submodule for according to described matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the described virtual signage thing in a certain moment; Locator module, described locator module is connected with described space reconstruction submodule, described locator module for according to described virtual signage thing with described in the be positioned spatial relation of tracer, obtain a certain moment described in the be positioned spatial value of tracer; Follow the trail of submodule, described tracking submodule is connected with described locator module, described tracking submodule be used for by more in the same time described in the be positioned spatial value of tracer, the movement locus of the tracer that is positioned described in obtaining.
Additional aspect of the present invention and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Brief description of the drawings
Above-mentioned and/or additional aspect of the present invention and advantage accompanying drawing below combination is understood becoming the description of embodiment obviously and easily, wherein:
Fig. 1 is the three-dimensional fix method for tracing process flow diagram based on virtual signage thing of the embodiment of the present invention.
Fig. 2 a and Fig. 2 b are the exemplary plot of the difform mark of embodiment of the present invention design.
Fig. 3 is the schematic diagram that the surface of the tracer that is positioned of the first embodiment is fixed with projection part.
Fig. 4 is the schematic diagram that the surface of the tracer that is positioned of the second embodiment can not be fixed with projection part.
Fig. 5 is the structured flowchart of the three-dimensional fix system of the embodiment of the present invention.
Fig. 6 is the schematic diagram of the three-dimensional fix system of the embodiment of the present invention.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, be intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of instructions such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of device or the element of instruction or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.
In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relative importance or the implicit quantity that indicates indicated technical characterictic.Thus, one or more these features can be expressed or impliedly be comprised to the feature that is limited with " first ", " second ".In description of the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the terms such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or connect integratedly; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can understand as the case may be above-mentioned term concrete meaning in the present invention.
Any process of otherwise describing in process flow diagram or at this or method are described and can be understood to, represent to comprise that one or more is for realizing module, fragment or the part of code of executable instruction of step of specific logical function or process, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by contrary order, carry out function, this should be understood by embodiments of the invention person of ordinary skill in the field.
As shown in Figure 1, the present invention proposes a kind of three-dimensional fix method for tracing based on virtual signage thing, can comprise the following steps:
Step S1. selects a kind of bore hole three-dimensional display apparatus, and the projection part in described bore hole three-dimensional display apparatus is fixed on to the surface of the tracer that is positioned or is fixed on locating apparatus, wherein, the end of the described locating apparatus tracer that is positioned described in following the trail of.In other words, the end of locating apparatus is placed in to tracked position, can be used for following the trail of this position.
Bore hole three-dimensional display apparatus refers to based on optical imaging concept, by see the device of the picture with three-dimensional stereopsis to demonstrating observed person's bore hole in space after projection part's input bore hole 3-D display image source.Wherein, the relative position relation of the projection part in this picture with three-dimensional stereopsis and bore hole three-dimensional display apparatus remains unchanged.Bore hole three-dimensional display apparatus is technology well known by persons skilled in the art, can select flexibly as required.For example, when bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, projection part is lens arra.When bore hole three-dimensional display apparatus is while being poly-talented based on light field, projection part is lens arra; When bore hole three-dimensional display apparatus is during based on holographic technique type, projection part is interference device.It should be noted that, can also select other the bore hole three-dimensional display apparatus of type well known by persons skilled in the art, do not change principle of the present invention.
In the time that the surface of the tracer that is positioned allows fixing projection part, the directly projection part surface of tracer that is positioned described in being fixed on.Fixed form can be the form such as bonding, selects flexibly as required.In the time that the surface of the tracer that is positioned does not allow fixing projection part, can, in addition by the fixing projection part of locating apparatus, projection part be fixed on locating apparatus and make the end of locating apparatus follow the trail of the tracer that is positioned.It should be noted that, this locating apparatus should be rigid, indeformable apparatus in use, and its shape is not construed as limiting, and can be position probe etc.
S2. design the bore hole 3-D display image source that virtual signage thing and described virtual signage thing are corresponding.
Particularly, step S2 comprises the following steps:
S21. need to design the spatial relation of number, shape, size and virtual signage thing and the projection part of virtual signage thing.The shape of virtual signage thing can be adjusted flexibly.For example Fig. 2 a and Fig. 2 b show respectively plane chessboard shape, these two kinds of virtual signage things of cube pattern shape.Their surface coverage has chessboard textured pattern, includes the unique point that is easy to identification in chessboard textured pattern.In addition, can also be the virtual signage thing of ball-type shape.The virtual signage thing of ball-type needn't be coated with pattern, can extract the profile of ball in follow-up image is processed---circle, and then calculate home position, using this centre point as unique point.The size of virtual signage thing is adjusted flexibly according to application scenario space size.If need to design multiple virtual signage things, their concrete locus also can be adjusted flexibly according to the concrete condition of application scenario, only needs to ensure to meet the requirement that degree of freedom is measured.It is emphasized that these virtual signage things have certain locus, therefore with three-dimensional, three-dimensional feature.Even if this virtual signage thing itself is a planar grains pattern or multiple planar grains combinations of patterns, but because we have given certain space position to it, it is also with three-dimensional feature.Itself can comprise multiple unique points virtual tag thing, follows the trail of multiple unique points and can improve positioning precision.
S22. need to design the bore hole 3-D display image source that virtual signage thing is corresponding.Wherein, the algorithm of design bore hole 3-D display image source is relevant with bore hole three-dimensional display apparatus type.For example, bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, first write computer program, utilize in the method simulated three-dimensional space object of volume drawing or iso-surface patch certain some rays pass through lens array of transmitting, process and obtain bore hole 3-D display image source.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned allows fixing projection part, the number of projection part is one, and projection part is fixed on the surface of the tracer that is positioned, and the number of virtual signage thing is one.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned does not allow fixing projection part, the number of projection part is at least three, and at least three projection parts are separately fixed on same locating apparatus, and ensures the inwhole conllinear of at least three corresponding virtual signage things.Particularly, can be in the time of fixing link by adjust the particular location of each projection part or in the time of design link by the content of adjusted design, realize whole conllinear of multiple virtual signage things.
S3. to projection part's input bore hole 3-D display image source, to demonstrate corresponding virtual signage thing in space, the relative position of virtual signage thing and projection part remains constant.
As shown in Figure 3, in the time that the surface of the tracer that is positioned allows fixing projection part, in space, demonstrate a unique virtual signage thing, this virtual tag thing and the tracer Complete Synchronization motion that is positioned.
As shown in Figure 4, in the time that the surface of the tracer that is positioned does not allow fixing projection part, in space, demonstrate at least three virtual signage things.The motion of these virtual signage things has correlativity with the motion of the tracer self that is positioned but is not Complete Synchronization.
S4. obtain the multi-view video of scene to be taken the photograph, multi-view video comprises actual environment space and virtual signage thing.Wherein, the implication of many views refers at least two-way view.
Particularly, can adopt the equipment such as multi-lens camera to obtain the multi-view video of scene to be taken the photograph, scene to be taken the photograph comprises the virtual representation of actual environment space and at least three marks.Technician can also select other devices to obtain multi-view video flexibly, does not change principle of the present invention.
S5. according to multi-view video, process locating information and the movable information of the tracer that obtains being positioned.Step S5 specifically comprises the following steps:
S51. extract the unique point of virtual signage thing.
For example, taking the virtual signage thing of plane gridiron pattern form as example, can select Robust Algorithm of Image Corner Extraction extract minutiae.Robust Algorithm of Image Corner Extraction can be the methods such as Harris operator.
S52. the unique point in the different views of a certain moment multi-view video is mated, obtain matching characteristic point right.This step is those skilled in the art's known knowledge, does not repeat herein.
S53. according to matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the virtual signage thing in a certain moment.This step is those skilled in the art's known knowledge, does not repeat herein.
S54. according to the spatial relation of virtual signage thing and the tracer that is positioned, obtain the spatial value of the tracer that is positioned in a certain moment.
In the time that the surface of the tracer that is positioned allows fixing projection part, can be according to the coordinate of unique virtual signage thing, the position relationship of combined with virtual mark and projection part, infers out the coordinate of projection part.And projection part sticks together with the tracer that is positioned, the coordinate of the tracer that therefore also just obtained being positioned.
In the time that the surface of the tracer that is positioned does not allow fixing projection part, in space, demonstrate at least three virtual signage things.Because projection part is fixed on locating apparatus, that is to say that the distance of projection part and locating apparatus end is known and constant all the time, thereby the distance of the end of virtual signage thing and locating apparatus is known and thick-and-thin.So at a time known at least three not after the coordinate of the virtual signage thing of conllinear, the range data in conjunction with these virtual signage things to the end of locating apparatus, can obtain the coordinate of the end of locating apparatus.And the end of locating apparatus is followed the trail of the tracer that is positioned, the coordinate of the tracer that therefore also just obtained being positioned.
S55. by the spatial value of the tracer that is positioned in the same time more not, the movement locus of the tracer that obtains being positioned.This step is those skilled in the art's known knowledge, does not repeat herein.
According to the three-dimensional fix method for tracing based on virtual signage thing of above-described embodiment, compared to existing technology, need in real space, place at least three not marks of full conllinear, the method is without real mark is set in space, but only need in space, demonstrate virtual signage thing by the projection part in bore hole three-dimensional display apparatus.Three-dimensional fix method for tracing based on virtual signage thing of the present invention has and takes up space littlely, and flexible operation degree is large, positioning precision advantages of higher.
Fig. 5 is the structured flowchart of the three-dimensional fix system of the embodiment of the present invention, and Fig. 6 is the schematic diagram of the three-dimensional fix system of the embodiment of the present invention.As shown in Figure 5 and Figure 6, the present invention proposes a kind of three-dimensional fix tracing system based on virtual signage thing, can comprise the following steps: bore hole three-dimensional display apparatus 100, design module 200, many orders video acquisition module 300 and analysis and processing module 400.Wherein:
Projection part 101 in bore hole three-dimensional display apparatus 100 is fixed on the surface of the tracer that is positioned or is fixed on locating apparatus, and wherein, the end of locating apparatus is followed the trail of the tracer that is positioned.The type of bore hole three-dimensional display apparatus 100 can be selected as required flexibly.When bore hole three-dimensional display apparatus 100 is during based on 3 D full-figure technique type, projection part 101 is lens arra; When bore hole three-dimensional display apparatus 100 is while being poly-talented based on light field, projection part 101 is lens arra; When bore hole three-dimensional display apparatus 100 is during based on holographic technique type, projection part 101 is interference device.It should be noted that, can also select other the bore hole three-dimensional display apparatus of type well known by persons skilled in the art, do not change principle of the present invention.
Design module 200 is for designing the bore hole 3-D display image source that virtual signage thing and virtual signage thing are corresponding.Design module 200 is connected with the input end of the projection part 101 in bore hole three-dimensional display apparatus 100.Design module sends to projection part 101 to demonstrate virtual signage thing in actual environment space bore hole 3-D display image source.Wherein, the relative position of virtual signage thing and projection part 101 remains constant.
In one embodiment of the invention, in design module 200, specifically comprise: the first design module, for designing number, shape, size and the virtual signage thing of virtual signage thing and the spatial relation of projection part 101; And second design module, for designing the bore hole 3-D display image source that virtual signage thing is corresponding, wherein, the algorithm of design bore hole 3-D display image source is relevant with bore hole three-dimensional display apparatus type.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned allows fixing projection part 101, the number of projection part 101 is one, and projection part 101 is fixed on the surface of the tracer that is positioned, and the number of virtual signage thing is one.
In one embodiment of the invention, in the time that the surface of the tracer that is positioned does not allow fixing projection part 101, the number of projection part 101 is at least three, at least three projection parts 101 are separately fixed on same locating apparatus, and ensure the inwhole conllinear of at least three corresponding virtual signage things by adjusting position.
Many orders video acquisition module 300 is for obtaining the multi-view video of scene to be taken the photograph, and scene to be taken the photograph comprises actual environment space and virtual signage thing.Wherein, many objects implication refers at least two orders.
Analysis and processing module 400 is connected with many orders video acquisition module 300, for according to multi-view video, processes locating information and the movable information of the tracer that obtains being positioned.
In one embodiment of the invention, analysis and processing module 400 specifically comprises: feature point extraction submodule, for extracting the unique point of virtual signage thing; Feature Points Matching submodule, Feature Points Matching submodule is connected with feature point extraction submodule, and Feature Points Matching submodule mates for the unique point of the different views to a certain moment multi-view video, obtains matching characteristic point right; Space reconstruction submodule, space reconstruction submodule is connected with Feature Points Matching submodule, space reconstruction submodule for according to matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the virtual signage thing in a certain moment; Locator module, locator module is connected with space reconstruction submodule, and locator module, for the spatial relation with the tracer that is positioned according to virtual signage thing, obtains the spatial value of the tracer that is positioned in a certain moment; Follow the trail of submodule, follow the trail of submodule and be connected with locator module, follow the trail of submodule and be used for by the spatial value of the tracer that is positioned in the same time more not, the movement locus of the tracer that obtains being positioned.
According to the three-dimensional fix tracing system based on virtual signage thing of above-described embodiment, compared to existing technology, need in real space, place at least three not marks of full conllinear, this system is without real mark is set in space, but only need in space, demonstrate virtual signage thing by the projection part in bore hole three-dimensional display apparatus.Three-dimensional fix tracing system based on virtual signage thing of the present invention has and takes up space littlely, and flexible operation degree is large, positioning precision advantages of higher.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And specific features, structure, material or the feature of description can be with suitable mode combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention in the situation that not departing from principle of the present invention and aim, amendment, replacement and modification.
Claims (12)
1. the three-dimensional fix method for tracing based on virtual signage thing, is characterized in that, comprises the following steps:
S1. select a kind of bore hole three-dimensional display apparatus, the projection part in described bore hole three-dimensional display apparatus is fixed on to the surface of the tracer that is positioned or is fixed on locating apparatus, wherein, the end of the described locating apparatus tracer that is positioned described in following the trail of;
S2. design the bore hole 3-D display image source that virtual signage thing and described virtual signage thing are corresponding;
S3. described projection part is inputted to described bore hole 3-D display image source, to demonstrate corresponding virtual signage thing in space, wherein, the relative position of described virtual signage thing and described projection part remains constant;
S4. obtain the multi-view video of scene to be taken the photograph, described multi-view video comprises actual environment space and described virtual signage thing; And
S5. according to described multi-view video, process locating information and the movable information of the tracer that is positioned described in obtaining.
2. three-dimensional fix method as claimed in claim 1, is characterized in that, described step S2 comprises:
S21. design the spatial relation of number, shape, size and described virtual signage thing and the described projection part of described virtual signage thing; And
S22. design the bore hole 3-D display image source that described virtual signage thing is corresponding, wherein, the algorithm that designs described bore hole 3-D display image source is relevant with described bore hole three-dimensional display apparatus type.
3. method as claimed in claim 1 or 2, it is characterized in that, in the time that the surface of the tracer that is positioned allows fixing projection part, the number of described projection part is one, be positioned described in described projection part the is fixed on surface of tracer, the number of described virtual signage thing is one.
4. the method as described in claim 1-3, it is characterized in that, in the time that the surface of the tracer that is positioned does not allow fixing projection part, the number of described projection part is at least three, at least three described projection parts are separately fixed on same described locating apparatus, and ensure the inwhole conllinear of at least three corresponding described virtual signage things.
5. the method as described in claim 1-4, is characterized in that,
When bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, described projection part is lens arra;
When bore hole three-dimensional display apparatus is while being poly-talented based on light field, described projection part is lens arra;
When bore hole three-dimensional display apparatus is during based on holographic technique type, described projection part is interference device.
6. the method as described in claim 1-5, is characterized in that, described step S5 comprises:
S51. extract the unique point of described virtual signage thing;
S52. the described unique point in the different views of multi-view video described in a certain moment is mated, obtain matching characteristic point right;
S53. according to described matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the described virtual signage thing in a certain moment;
S54. according to described virtual signage thing with described in the be positioned spatial relation of tracer, obtain a certain moment described in the be positioned spatial value of tracer; And
S55. by more in the same time described in the be positioned spatial value of tracer, the movement locus of the tracer that is positioned described in obtaining.
7. the three-dimensional fix tracing system based on virtual signage thing, is characterized in that, comprises following part:
Bore hole three-dimensional display apparatus, the projection part in described bore hole three-dimensional display apparatus is fixed on the surface of the tracer that is positioned or is fixed on locating apparatus, wherein, the end of the described locating apparatus tracer that is positioned described in following the trail of;
Design module, described design module is connected with the input end of described projection part, for designing virtual signage thing and bore hole 3-D display image source corresponding to described virtual signage thing, wherein, described design module sends to described projection part to demonstrate described virtual signage thing in actual environment space described bore hole 3-D display image source, and the relative position of described virtual signage thing and described projection part remains constant;
Many orders video acquisition module, for obtaining the multi-view video of scene to be taken the photograph, described in scene to be taken the photograph comprise actual environment space and described virtual signage thing; And
Analysis and processing module, described analysis and processing module is connected with described many orders video acquisition module, for according to described multi-view video, processes locating information and the movable information of the tracer that is positioned described in obtaining.
8. system as claimed in claim 7, is characterized in that, described design module comprises:
The first design module, for designing the spatial relation of number, shape, size and described virtual signage thing and described projection part of described virtual signage thing; And
The second design module, for designing the bore hole 3-D display image source that described virtual signage thing is corresponding, wherein, the algorithm that designs described bore hole 3-D display image source is relevant with described bore hole three-dimensional display apparatus type.
9. system as claimed in claim 7 or 8, it is characterized in that, in the time that the surface of the tracer that is positioned allows fixing projection part, the number of described projection part is one, be positioned described in described projection part the is fixed on surface of tracer, the number of described virtual signage thing is one.
10. the system as described in claim 7-9, it is characterized in that, in the time that the surface of the tracer that is positioned does not allow fixing projection part, the number of described projection part is at least three, at least three described projection parts are separately fixed on same described locating apparatus, and ensure the inwhole conllinear of at least three corresponding described virtual signage things by adjusting position.
11. systems as described in claim 7-10, is characterized in that,
When bore hole three-dimensional display apparatus is during based on 3 D full-figure technique type, described projection part is lens arra;
When bore hole three-dimensional display apparatus is while being poly-talented based on light field, described projection part is lens arra;
When bore hole three-dimensional display apparatus is during based on holographic technique type, described projection part is interference device.
12. systems as described in claim 7-11, is characterized in that, described analysis and processing module comprises:
Feature point extraction submodule, for extracting the unique point of described virtual signage thing;
Feature Points Matching submodule, described Feature Points Matching submodule is connected with described feature point extraction submodule, described Feature Points Matching submodule mates for the described unique point of the different views to multi-view video described in a certain moment, obtains matching characteristic point right;
Space reconstruction submodule, described space reconstruction submodule is connected with described Feature Points Matching submodule, described space reconstruction submodule for according to described matching characteristic point to carrying out three dimensions reconstruction, obtain the spatial value of the described virtual signage thing in a certain moment;
Locator module, described locator module is connected with described space reconstruction submodule, described locator module for according to described virtual signage thing with described in the be positioned spatial relation of tracer, obtain a certain moment described in the be positioned spatial value of tracer; And
Follow the trail of submodule, described tracking submodule is connected with described locator module, described tracking submodule be used for by more in the same time described in the be positioned spatial value of tracer, the movement locus of the tracer that is positioned described in obtaining.
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