CN103968829B - Three-dimensional fix method for tracing based on virtual signage thing and system - Google Patents
Three-dimensional fix method for tracing based on virtual signage thing and system Download PDFInfo
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- CN103968829B CN103968829B CN201410200222.8A CN201410200222A CN103968829B CN 103968829 B CN103968829 B CN 103968829B CN 201410200222 A CN201410200222 A CN 201410200222A CN 103968829 B CN103968829 B CN 103968829B
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Abstract
The invention discloses three-dimensional fix method for tracing based on virtual signage thing and system, wherein method includes: select a kind of naked eye three-dimensional display device, it is fixed on projection part to be positioned and follows the trail of the surface of thing or be fixed on locating apparatus, wherein, the end of locating apparatus is followed the trail of and is positioned tracking thing；The naked eye three-dimensional display image source of design virtual signage thing and its correspondence；To projection part's input naked eye three-dimensional display image source, to demonstrate the virtual signage thing of correspondence in space, wherein, virtual signage thing remains constant with the relative position of projection part；Obtaining the multi-view video of scene to be taken the photograph, multi-view video includes actual environment space and virtual signage thing；According to multi-view video, process and obtain being positioned location information and the movable information following the trail of thing.The present invention is without arranging real mark in space, it is only necessary to demonstrate the virtual representation of mark in space, has and takes up space little, and flexible operation degree is big, positioning precision advantages of higher.
Description
Technical field
The present invention relates to space orientation technique, be specifically related to a kind of three-dimensional fix method for tracing based on virtual signage thing and be
System.
Background technology
Traditional space orientation technique is mainly near-infrared optical location and magnetic orientation.Public with Northern Digital Inc (NDI)
As a example by product P OLARIS of department, its Main Basis Binocular Vision Principle, clap with two video cameras posting near infrared filter
Take the photograph the apparatus being provided with labelling reflective small ball, obtain image, image is processed the locus obtaining apparatus.Environment
Light can be suppressed by after near infrared filter, does not therefore substantially have environmental information on image, is only capable of obtaining labelling clearly anti-
Light bead image.Electromagnetic positioning system mainly includes main frame, emitter and three parts of receptor, with the product of NDI
As a example by AURORA, emitter is to spatial emission magnetic field, and the signal of position is passed to main frame, Framework computing by receptor
Process and just can obtain receptor relative to the position of emitter and direction, thus realize the space orientation of apparatus.Both is main
Space orientation technique product all have ignored ambient environmental factors, only collect the positional information of index point.But in some situation
Under, in addition to obtaining the space bit of apparatus, it is also desirable to the environmental information in operation can be obtained.
For obtaining environmental information and mark locus in art, the company such as Claron Technology Inc develops a kind of new
Optical positioning system, this optical locating techniques, based on Binocular Vision Principle, utilizes the shooting of common camera group to be provided with gridiron pattern
The apparatus place scene of shape labelling, extracts the space orientation for apparatus of two tessellated angle points.This technology is relative to the reddest
After outer optical locating techniques is obtained in that except the environmental information of instrument spatial position, combining environmental information and instrument spatial positional information
Can preferably assisted surgery navigation.
The systems such as current near-infrared optical location and visible light optical location are the attitude detecting whole operating theater instruments in space
Conversion, needs to install three or more than three the labelling reflective small balls that ensure that spatial degrees of freedom or chessboard trellis mark.
Therefore, the positioner used at present needs when design and installation to consider to ensure marker position, degree of freedom etc., thus compares
Complexity, and spatial volume is the biggest, can affect operation technique to a certain extent.Especially at the position of narrow space, it is difficult to
Use the locating apparatus of bigger volume.Meanwhile, limited mark can be limited for positioning precision.
Summary of the invention
It is contemplated that solve one of above-mentioned technical problem the most to a certain extent or provide at a kind of useful business selection.
To this end, it is an object of the invention to propose a kind of have that requisite space degree is narrow and small, that flexible operation degree is big is based on virtual signage thing
Three-dimensional fix method for tracing and system.
For achieving the above object, three-dimensional fix method for tracing based on virtual signage thing according to embodiments of the present invention, including
Following steps: S1. selects a kind of naked eye three-dimensional display device, the projection part in described naked eye three-dimensional display device is fixed on
It is positioned and follows the trail of the surface of thing or be fixed on locating apparatus, wherein, be positioned described in the end tracking of described locating apparatus and chase after
Track thing；S2. design virtual signage thing and described virtual signage thing corresponding naked eye three-dimensional display image source；S3. to described projection
Parts input described naked eye three-dimensional display image source, to demonstrate the virtual signage thing of correspondence in space, wherein, described virtual
Mark remains constant with the relative position of described projection part；S4. the multi-view video of scene to be taken the photograph is obtained, described many
View video includes actual environment space and described virtual signage thing；S5. according to described multi-view video, process described in obtaining
It is positioned location information and the movable information following the trail of thing.
According to the three-dimensional fix method for tracing based on virtual signage thing of above-described embodiment, compared to existing technology in need in reality
Placing the mark of the full conllinear of at least three in space, border, the method is without arranging real mark in space, but only
Need to demonstrate virtual signage thing in space by the projection part in naked eye three-dimensional display device.The present invention based on virtual mark
The three-dimensional fix method for tracing of will thing has and takes up space little, and flexible operation degree is big, 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 a following technical characteristic:
In an embodiment of the invention, described step S2 includes: S21. design the number of described virtual signage thing, shape,
The spatial relation of size and described virtual signage thing and described projection part；S22. corresponding naked of described virtual signage thing is designed
Eye three dimensional rendered images source, wherein, designs the algorithm of described naked eye three-dimensional display image source and described naked eye three-dimensional display device class
Type is relevant.
In an embodiment of the invention, when being positioned the surface following the trail of thing and allowing fixing projection part, described projection part
Number is one, described projection part be fixed on described in be positioned follow the trail of thing surface, the number of described virtual signage thing is one
Individual.
In an embodiment of the invention, when being positioned the surface following the trail of thing and not allowing fixing projection part, described projection part
Number be at least three, projection part described at least three is separately fixed on same described locating apparatus, and ensures
The inwhole conllinear of virtual signage thing described in corresponding at least three.
In an embodiment of the invention, when naked eye three-dimensional display device is based on 3 D full-figure technique type, described projection part
For lens arra；When naked eye three-dimensional display device be based on light field poly-talented time, described projection part is lens arra；Work as bore hole
When three-dimensional display apparatus is based on holographic technique type, described projection part is interference device.
In an embodiment of the invention, described step S5 includes: S51. extracts the characteristic point of described virtual signage thing；S52.
Described characteristic point in the different views of multi-view video described in a certain moment is mated, obtains matching characteristic point pair；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 and the described spatial relation being positioned tracking thing, obtain being positioned described in a certain moment
Follow the trail of the spatial value of thing；S55. pass through to be positioned described in comparing the most in the same time the spatial value of tracking thing, obtain described
It is positioned the movement locus following the trail of thing.
For achieving the above object, three-dimensional fix tracing system based on virtual signage thing according to embodiments of the present invention, including
With lower part: naked eye three-dimensional display device, the projection part in described naked eye three-dimensional display device is fixed on to be positioned follows the trail of thing
Surface or be fixed on locating apparatus, wherein, the end of described locating apparatus follow the trail of described in be positioned tracking thing；Design module,
Described design module is connected with the input of described projection part, corresponding with described virtual signage thing for designing virtual signage thing
Naked eye three-dimensional display image source, wherein, described naked eye three-dimensional display image source is sent to described projection part by described design module
To demonstrate described virtual signage thing in actual environment space, begin in described virtual signage thing position relative with described projection part
Keep constant eventually；Many mesh video acquisition module, for obtaining the multi-view video of scene to be taken the photograph, described in scene to be taken the photograph include reality
Border environment space and described virtual signage thing；Analysis and processing module, described analysis and processing module and described many mesh video acquisition module
It is connected, for according to described multi-view video, processing and be positioned location information and the movable information following the trail of thing described in obtaining.
According to the three-dimensional fix tracing system based on virtual signage thing of above-described embodiment, compared to existing technology in need in reality
Placing the mark of the full conllinear of at least three in space, border, this system is without arranging real mark in space, but only
Need to demonstrate virtual signage thing in space by the projection part in naked eye three-dimensional display device.The present invention based on virtual mark
The three-dimensional fix tracing system of will thing has and takes up space little, and flexible operation degree is big, 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 a following technical characteristic:
In one embodiment of the invention, described design module includes: the first design module, is used for designing described virtual signage
The number of thing, shape, size and described virtual signage thing and the spatial relation of described projection part；Second design module,
For designing the naked eye three-dimensional display image source that described virtual signage thing is corresponding, wherein, design described naked eye three-dimensional display image source
Algorithm relevant with described naked eye three-dimensional display device type.
In one embodiment of the invention, when being positioned the surface following the trail of thing and allowing fixing projection part, described projection part
Number be one, described projection part be fixed on described in be positioned follow the trail of thing surface, the number of described virtual signage thing is
One.
In one embodiment of the invention, when being positioned the surface following the trail of thing and not allowing fixing projection part, described Projection Division
The number of part is at least three, and projection part described at least three is separately fixed on same described locating apparatus, and leads to
Overregulate position and ensure the inwhole conllinear of virtual signage thing described in corresponding at least three.
In one embodiment of the invention, when naked eye three-dimensional display device is based on 3 D full-figure technique type, described Projection Division
Part is lens arra；When naked eye three-dimensional display device be based on light field poly-talented time, described projection part is lens arra；When naked
When eye three-dimensional display apparatus is based on holographic technique type, described projection part is interference device.
In one embodiment of the invention, described analysis and processing module includes: feature point extraction submodule, is used for extracting described
Characteristic point in virtual signage thing；Feature Points Matching submodule, described Feature Points Matching submodule and described feature point extraction submodule
Block is connected, and described Feature Points Matching submodule is for the described characteristic point in the different views of multi-view video described in a certain moment
Mate, obtain matching characteristic point pair；Space reconstruction submodule, described space reconstruction submodule and described Feature Points Matching
Module is connected, and described space reconstruction submodule is used for according to described matching characteristic point carrying out three dimensions reconstruction, obtains certain for the moment
The spatial value of the described virtual signage thing carved；Locator module, described locator module and described space reconstruction submodule phase
Even, described locator module is for according to described virtual signage thing and the described spatial relation being positioned tracking thing, obtaining certain
The spatial value following the trail of thing it is positioned described in one moment；Follow the trail of submodule, described tracking submodule and described locator module
Being connected, described tracking submodule, for by being positioned the spatial value following the trail of thing described in comparing the most in the same time, obtains described
It is positioned the movement locus following the trail of thing.
The additional aspect of the present invention and advantage will part be given in the following description, and part will become bright from the following description
Aobvious, or recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage the accompanying drawings below description to embodiment will be apparent from from combining and
Easy to understand, wherein:
Fig. 1 is the three-dimensional fix method for tracing flow chart based on virtual signage thing of the embodiment of the present invention.
Fig. 2 a and Fig. 2 b is the exemplary plot of the difform mark of embodiment of the present invention design.
Fig. 3 is that being positioned of first embodiment is followed the trail of the surface of thing and be fixed with the schematic diagram of projection part.
Fig. 4 is that being positioned of the second embodiment is followed the trail of the surface of thing and can not be fixed with the schematic diagram of 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.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most identical or
Similar label represents same or similar element or has the element of same or like function.Describe below with reference to accompanying drawing
Embodiment is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness
Degree ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward ", " suitable
Hour hands ", the orientation of the instruction such as " counterclockwise " or position relationship be based on orientation shown in the drawings or position relationship, merely to just
Describe in the description present invention and simplification rather than indicate or imply that the device of indication or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or
The implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or implicit
Ground includes one or more this feature.In describing the invention, " multiple " are meant that two or more, unless
Separately there is the most concrete restriction.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", the art such as " fixing "
Language should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；It can be machine
Tool connects, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection within part.For the ordinary skill in the art, can understand that above-mentioned term is in the present invention as the case may be
In concrete meaning.
In flow chart or at this, any process described otherwise above or method description are construed as, and represent and include one
The module of code, fragment or the portion of the executable instruction of the individual or more step for realizing specific logical function or process
Divide, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion
Sequentially, including according to involved function by basic mode simultaneously or in the opposite order, performing function, this should be by
Embodiments of the invention person of ordinary skill in the field understood.
As it is shown in figure 1, the present invention proposes a kind of three-dimensional fix method for tracing based on virtual signage thing, can include
Following steps:
Step S1. selects a kind of naked eye three-dimensional display device, the projection part in described naked eye three-dimensional display device is fixed on by
The surface of location tracking thing or be fixed on locating apparatus, wherein, the end of described locating apparatus follow the trail of described in be positioned tracking
Thing.In other words, the end of locating apparatus is placed in tracked position, can be used for following the trail of this position.
Naked eye three-dimensional display device refer to optically-based image-forming principle, by projection part input naked eye three-dimensional display image source it
After can demonstrate that observed person's bore hole sees the device of the picture with three-dimensional stereopsis in space.Wherein, this has three-dimensional vertical
The picture of body-sensing and the relative position relation of the projection part in naked eye three-dimensional display device keep constant.Naked eye three-dimensional display device is
Technology well known by persons skilled in the art, can select the most flexibly.Such as, it is based on vertical when naked eye three-dimensional display device
During body full-figure technique type, projection part is lens arra.When naked eye three-dimensional display device be based on light field poly-talented time, Projection Division
Part is lens arra；When naked eye three-dimensional display device is based on holographic technique type, projection part is interference device.Need explanation
Be, it is also possible to select other the naked eye three-dimensional display device of type well known by persons skilled in the art, do not change the present invention's
Principle.
When being positioned the surface following the trail of thing and allowing fixing projection part, can directly projection part be fixed on described in be positioned and chase after
The surface of track thing.Fixed form can be the form such as bonding, selects the most flexibly.Do not permit when being positioned the surface following the trail of thing
When being permitted fixing projection part, additionally can fix projection part by locating apparatus, projection part is fixed on locating apparatus also
And make the end tracking of locating apparatus be positioned tracking thing.It should be noted that this locating apparatus should be rigid, in use
During indeformable apparatus, its shape is not construed as limiting, and can be location probe etc..
S2. design virtual signage thing and described virtual signage thing corresponding naked eye three-dimensional display image source.
Specifically, step S2 comprises the following steps:
S21. the spatial relation designing the number of virtual signage thing, shape, size and virtual signage thing with projection part is needed.
The shape of virtual signage thing can be adjusted flexibly.Such as Fig. 2 a and Fig. 2 b respectively illustrates plane chessboard pattern, cube chessboard
Type shape both virtual signage things.Their surface is coated with chessboard textured pattern, includes and be prone to distinguish in chessboard textured pattern
The characteristic point known.In addition to this it is possible to be the virtual signage thing of globular shape.The virtual signage thing of ball-type need not be coated with figure
Case, can extract the profile circle of ball in follow-up image procossing, and then be calculated home position, be made by this centre point
It is characterized a little.The size of virtual signage thing is adjusted flexibly according to application scenario space size.If needing to design multiple void
Intend mark, then their concrete locus can also be adjusted flexibly according to the concrete condition of application scenario, it is only necessary to ensures full
The requirement that foot degree of freedom is measured.It is emphasized that these virtual signage things have certain locus, thus 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 owing to we are to it giving certain space position, it is also with three-dimensional feature.Virtual tag thing itself can include many
Individual characteristic point, follows the trail of multiple characteristic point and can improve positioning precision.
S22. need to design the naked eye three-dimensional display image source that virtual signage thing is corresponding.Wherein, design naked eye three-dimensional display image source
Algorithm relevant with naked eye three-dimensional display device type.Such as, when naked eye three-dimensional display device is based on 3 D full-figure technique type,
First write computer program, utilize the light that in the method simulated three-dimensional space object of volume drawing or iso-surface patch, certain point is launched to pass through
Lens arra, processes and obtains naked eye three-dimensional display image source.
In an embodiment of the invention, when being positioned the surface following the trail of thing and allowing fixing projection part, the number of projection part
Being one, projection part is fixed on and is positioned the surface following the trail of thing, and the number of virtual signage thing is one.
In an embodiment of the invention, when being positioned the surface following the trail of thing and not allowing fixing projection part, the number of projection part
Mesh is at least three, and at least three projection part is separately fixed on same locating apparatus, and ensures at least the three of correspondence
The inwhole conllinear of individual virtual signage thing.Specifically, can when fixing link by adjust each projection part particular location or
Person when design link by the content of adjusted design, it is achieved multiple virtual signage things whole conllinear.
S3. to projection part's input naked eye three-dimensional display image source, to demonstrate the virtual signage thing of correspondence in space, virtual
Mark remains constant with the relative position of projection part.
As it is shown on figure 3, when being positioned the surface following the trail of thing and allowing fixing projection part, space demonstrates unique void
Intending mark, this virtual tag thing moves with being positioned tracking thing Complete Synchronization.
As shown in Figure 4, when being positioned the surface following the trail of thing and not allowing fixing projection part, space demonstrating, at least three is empty
Intend mark.The motion of these virtual signage things has dependency but not Complete Synchronization with being positioned the motion following the trail of thing self.
S4. obtaining the multi-view video of scene to be taken the photograph, multi-view video includes actual environment space and virtual signage thing.Wherein,
The implication of multi views refers at least two-way view.
Specifically, the equipment such as multi-lens camera can be used to obtain the multi-view video of scene to be taken the photograph, scene to be taken the photograph includes reality
Environment space and the virtual representation of at least three mark.Technical staff can also select other devices to obtain multi-view video flexibly,
Do not change the principle of the present invention.
S5. according to multi-view video, process and obtain being positioned location information and the movable information following the trail of thing.Step S5 specifically includes
Following steps:
S51. the characteristic point of virtual signage thing is extracted.
Such as a example by the virtual signage thing of plane checkerboard pattern, Robust Algorithm of Image Corner Extraction can be selected to extract characteristic point.Angle point carries
Taking algorithm can be the methods such as Harris operator.
S52. the characteristic point in the different views of a certain moment multi-view video is mated, obtain matching characteristic point pair.This step
Suddenly it is the known knowledge of those skilled in the art, does not repeats.
S53. according to matching characteristic point to carrying out three dimensions reconstruction, the spatial value of the virtual signage thing in a certain moment is obtained.
This step is the known knowledge of those skilled in the art, does not repeats.
S54. according to virtual signage thing and the spatial relation being positioned tracking thing, obtain being positioned of a certain moment and follow the trail of thing
Spatial value.
When being positioned the surface following the trail of thing and allowing fixing projection part, can according to the coordinate of unique virtual signage thing, in conjunction with
Virtual signage thing and the position relationship of projection part, deduce the coordinate of projection part.And projection part pastes with being positioned tracking thing
Together, the most just obtained being positioned the coordinate following the trail of thing.
When being positioned the surface following the trail of thing and not allowing fixing projection part, space demonstrates at least three virtual signage thing.By
It is fixed on locating apparatus in projection part, say, that projection part is known and the most constant with the distance of locating apparatus end,
Thus virtual signage thing and the distance of the end of locating apparatus are known and thick-and-thin.So the most known extremely
After the coordinate of few three not virtual signage things of conllinear, in conjunction with the range data of these virtual signage things to the end of locating apparatus,
The coordinate of the end of locating apparatus can be obtained.And the end of locating apparatus is followed the trail of and is positioned tracking thing, the most just obtain quilt
The coordinate of location tracking thing.
S55. by comparing the spatial value being positioned tracking thing the most in the same time, obtain being positioned the movement locus following the trail of thing.
This step is the known knowledge of those skilled in the art, does not repeats.
According to the three-dimensional fix method for tracing based on virtual signage thing of above-described embodiment, compared to existing technology in need in reality
Placing the mark of the full conllinear of at least three in space, border, the method is without arranging real mark in space, but only
Need to demonstrate virtual signage thing in space by the projection part in naked eye three-dimensional display device.The present invention based on virtual mark
The three-dimensional fix method for tracing of will thing has and takes up space little, and flexible operation degree is big, 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 three dimensions of the embodiment of the present invention
The schematic diagram of alignment system.As shown in Figure 5 and Figure 6, the present invention proposes a kind of three dimensions based on virtual signage thing calmly
Position tracing system, may comprise steps of: naked eye three-dimensional display device 100, design module 200, many mesh video acquisition mould
Block 300 and analysis and processing module 400.Wherein:
Projection part 101 in naked eye three-dimensional display device 100 is fixed on to be positioned and follows the trail of the surface of thing or be fixed on localizer
On tool, wherein, the end of locating apparatus is followed the trail of and is positioned tracking thing.The type of naked eye three-dimensional display device 100 can be according to need
To select flexibly.When naked eye three-dimensional display device 100 is based on 3 D full-figure technique type, projection part 101 is lens arra；
When naked eye three-dimensional display device 100 be based on light field poly-talented time, projection part 101 is lens arra；When naked eye three-dimensional shows
When device 100 is based on holographic technique type, projection part 101 is interference device.It should be noted that ability can also be selected
Known to field technique personnel, the naked eye three-dimensional display device of other type, does not change the principle of the present invention.
Design module 200 is for designing the naked eye three-dimensional display image source that virtual signage thing is corresponding with virtual signage thing.Design module
200 are connected with the input of the projection part 101 in naked eye three-dimensional display device 100.Design module is by naked eye three-dimensional display figure
Image source is sent to projection part 101 to demonstrate virtual signage thing in actual environment space.Wherein, virtual signage thing and projection
The relative position of parts 101 remains constant.
In one embodiment of the invention, design module 200 specifically includes: the first design module, be used for designing virtual mark
The number of will thing, shape, size and virtual signage thing and the spatial relation of projection part 101；And second design module,
For design virtual signage thing corresponding naked eye three-dimensional display image source, wherein, design naked eye three-dimensional display image source algorithm with
Naked eye three-dimensional display device type is relevant.
In one embodiment of the invention, when being positioned the surface following the trail of thing and allowing fixing projection part 101, projection part
The number of 101 is one, and projection part 101 is fixed on and is positioned the surface following the trail of thing, and the number of virtual signage thing is one.
In one embodiment of the invention, when being positioned the surface following the trail of thing and not allowing fixing projection part 101, Projection Division
The number of part 101 is at least three, and at least three projection part 101 is separately fixed on same locating apparatus, and leads to
Overregulate position and ensure the inwhole conllinear of corresponding at least three virtual signage thing.
Many mesh 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 includes actual environment space
With virtual signage thing.Wherein, many purposes implication refers at least two mesh.
Analysis and processing module 400 is connected with many mesh video acquisition module 300, for according to multi-view video, processes and obtains being determined
Location information and the movable information of thing is followed the trail of in position.
In one embodiment of the invention, analysis and processing module 400 specifically includes: feature point extraction submodule, is used for extracting
Characteristic point in virtual signage thing；Feature Points Matching submodule, Feature Points Matching submodule is connected with feature point extraction submodule,
Feature Points Matching submodule, for mating the characteristic point in the different views of a certain moment multi-view video, obtains coupling spy
It is a little right to levy；Space reconstruction submodule, space reconstruction submodule is connected with Feature Points Matching submodule, and space reconstruction submodule is used 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；Location submodule
Block, locator module is connected with space reconstruction submodule, and locator module is for following the trail of thing according to virtual signage thing with being positioned
Spatial relation, obtain a certain moment is positioned the spatial value following the trail of thing；Follow the trail of submodule, follow the trail of submodule with fixed
Bit submodule is connected, and follows the trail of submodule for by comparing the spatial value being positioned tracking thing the most in the same time, obtaining being determined
The movement locus of thing is followed the trail of in position.
According to the three-dimensional fix tracing system based on virtual signage thing of above-described embodiment, compared to existing technology in need in reality
Placing the mark of the full conllinear of at least three in space, border, this system is without arranging real mark in space, but only
Need to demonstrate virtual signage thing in space by the projection part in naked eye three-dimensional display device.The present invention based on virtual mark
The three-dimensional fix tracing system of will thing has and takes up space little, and flexible operation degree is big, positioning precision advantages of higher.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " concrete example ",
Or specific features, structure, material or the feature that the description of " some examples " etc. means to combine this embodiment or example describes comprises
In at least one embodiment or example of the present invention.In this manual, the schematic representation to above-mentioned term not necessarily refers to
It is identical embodiment or example.And, the specific features of description, structure, material or feature can at any one or
Multiple embodiments or example combine in an appropriate manner.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment is exemplary,
Being not considered as limiting the invention, those of ordinary skill in the art is in the case of without departing from the principle of the present invention and objective
Above-described embodiment can be changed within the scope of the invention, revise, replace and modification.
Claims (12)
1. a three-dimensional fix method for tracing based on virtual signage thing, it is characterised in that comprise the following steps:
S1. select a kind of naked eye three-dimensional display device, the projection part in described naked eye three-dimensional display device is fixed on and is positioned
Follow the trail of the surface of thing or be fixed on locating apparatus, wherein, described in the end tracking of described locating apparatus, being positioned tracking thing；
S2. design virtual signage thing and described virtual signage thing corresponding naked eye three-dimensional display image source；
S3. described projection part is inputted described naked eye three-dimensional display image source, to demonstrate the virtual signage of correspondence in space
Thing, wherein, described virtual signage thing remains constant with the relative position of described projection part；
S4. obtaining the multi-view video of scene to be taken the photograph, described multi-view video includes actual environment space and described virtual signage
Thing；And
S5. according to described multi-view video, process and described in obtaining, be positioned location information and the movable information following the trail of thing.
2. three-dimensional fix method for tracing as claimed in claim 1, it is characterised in that described step S2 includes:
S21. the space of the number of described virtual signage thing, shape, size and described virtual signage thing and described projection part is designed
Position relationship；And
S22. design the naked eye three-dimensional display image source that described virtual signage thing is corresponding, wherein, design described naked eye three-dimensional display figure
The algorithm of image source is relevant with described naked eye three-dimensional display device type.
3. method as claimed in claim 2, it is characterised in that allow fixing projection part when being positioned the surface following the trail of thing
Time, the number of described projection part is one, described projection part be fixed on described in be positioned follow the trail of thing surface, described void
The number intending mark is one.
4. method as claimed in claim 2, it is characterised in that do not allow fixing Projection Division when being positioned the surface following the trail of thing
During part, the number of described projection part is at least three, and projection part described at least three is separately fixed at same described fixed
On the apparatus of position, and ensure the whole conllinear of virtual signage thing described in corresponding at least three.
5. the method for claim 1, it is characterised in that
When naked eye three-dimensional display device is based on 3 D full-figure technique type, described projection part is lens arra；
When naked eye three-dimensional display device be based on light field poly-talented time, described projection part is lens arra；
When naked eye three-dimensional display device is based on holographic technique type, described projection part is interference device.
6. the method for claim 1, it is characterised in that described step S5 includes:
S51. the characteristic point of described virtual signage thing is extracted；
S52. the described characteristic 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, the space of the described virtual signage thing in a certain moment is obtained
Coordinate figure；
S54. according to described virtual signage thing and the described spatial relation being positioned tracking thing, the described quilt in a certain moment is obtained
The spatial value of location tracking thing；And
S55. by being positioned the spatial value following the trail of thing described in comparing the most in the same time, obtain described in be positioned the fortune following the trail of thing
Dynamic track.
7. a three-dimensional fix tracing system based on virtual signage thing, it is characterised in that include with lower part:
Naked eye three-dimensional display device, the projection part in described naked eye three-dimensional display device be fixed on be positioned follow the trail of thing surface or
Person is fixed on locating apparatus, wherein, is positioned tracking thing described in the end tracking of described locating apparatus；
Design module, described design module is connected with the input of described projection part, is used for designing virtual signage thing and described void
Intending the naked eye three-dimensional display image source that mark is corresponding, wherein, described naked eye three-dimensional display image source is sent by described design module
To described projection part to demonstrate described virtual signage thing in actual environment space, described virtual signage thing and described Projection Division
The relative position of part remains constant；
Many mesh video acquisition module, for obtaining the multi-view video of scene to be taken the photograph, described in scene to be taken the photograph include that actual environment is empty
Between and described virtual signage thing；And
Analysis and processing module, described analysis and processing module is connected with described many mesh video acquisition module, for according to described multi views
Video, processes and is positioned location information and the movable information following the trail of thing described in obtaining.
8. system as claimed in claim 7, it is characterised in that described design module includes:
First design module, for designing the number of described virtual signage thing, shape, size and described virtual signage thing with described
The spatial relation of projection part；And
Second design module, for designing the naked eye three-dimensional display image source that described virtual signage thing is corresponding, wherein, design is described
The algorithm of naked eye three-dimensional display image source is relevant with described naked eye three-dimensional display device type.
9. system as claimed in claim 8, it is characterised in that allow fixing projection part when being positioned the surface following the trail of thing
Time, the number of described projection part is one, described projection part be fixed on described in be positioned follow the trail of thing surface, described void
The number intending mark is one.
10. system as claimed in claim 8, it is characterised in that do not allow fixing Projection Division when being positioned the surface following the trail of thing
During part, the number of described projection part is at least three, and projection part described at least three is separately fixed at same described fixed
On the apparatus of position, and ensure the inwhole conllinear of virtual signage thing described in corresponding at least three by adjusting position.
11. systems as claimed in claim 7, it is characterised in that
When naked eye three-dimensional display device is based on 3 D full-figure technique type, described projection part is lens arra；
When naked eye three-dimensional display device be based on light field poly-talented time, described projection part is lens arra；
When naked eye three-dimensional display device is based on holographic technique type, described projection part is interference device.
12. systems as claimed in claim 7, it is characterised in that described analysis and processing module includes:
Feature point extraction submodule, for extracting the characteristic point in described virtual signage thing；
Feature Points Matching submodule, described Feature Points Matching submodule is connected with described feature point extraction submodule, described characteristic point
Matched sub-block, for mating the described characteristic point in the different views of multi-view video described in a certain moment, is mated
Feature point pairs；
Space reconstruction submodule, described space reconstruction submodule is connected with described Feature Points Matching submodule, described space reconstruction
Module is used for according to described matching characteristic point carrying out three dimensions reconstruction, obtains the space of the described virtual signage thing in a certain moment
Coordinate figure；
Locator module, described locator module is connected with described space reconstruction submodule, and described locator module is for according to institute
State virtual signage thing and the described spatial relation being positioned tracking thing, obtain described in a certain moment, being positioned the sky following the trail of thing
Between coordinate figure；And
Following the trail of submodule, described tracking submodule is connected with described locator module, and described tracking submodule is for by ratio less
Be positioned described in the same time follow the trail of thing spatial value, obtain described in be positioned follow the trail of thing movement locus.
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| CN104280886A (en) * | 2014-09-25 | 2015-01-14 | 清华大学 | Microscopic system and microscopic method based on in-situ three-dimensional enhanced display |
| CN107595388B (en) * | 2017-08-01 | 2020-02-18 | 华南理工大学 | Near-infrared binocular vision stereo matching method based on reflective ball mark points |
| CN110097638B (en) * | 2018-01-31 | 2023-04-28 | 深圳市掌网科技股份有限公司 | Virtual object drawing method and device based on hybrid tracker |
| CN115068835B (en) * | 2021-03-15 | 2024-03-08 | 湖南华创医疗科技有限公司 | Positioning device for radiotherapy equipment |
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