CN104392045B - A kind of real time enhancing virtual reality system and method based on intelligent mobile terminal - Google Patents

A kind of real time enhancing virtual reality system and method based on intelligent mobile terminal Download PDF

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CN104392045B
CN104392045B CN201410688094.6A CN201410688094A CN104392045B CN 104392045 B CN104392045 B CN 104392045B CN 201410688094 A CN201410688094 A CN 201410688094A CN 104392045 B CN104392045 B CN 104392045B
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information
rgb
virtual reality
objective
mobile terminal
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CN201410688094.6A
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CN104392045A (en
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夏兴华
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沈阳建筑大学
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Abstract

The present invention relates to a kind of real time enhancing virtual reality system and method based on intelligent mobile terminal, including:Processor, depth information capture card, RGB information capture card, memory cell and display screen, the three-dimensional depth information of objective environment is obtained using depth information capture card;Objective environment essential information is obtained using RGB information capture card;Above-mentioned three-dimensional depth information and objective environment essential information input processor are handled, create the threedimensional model of objective world;The three-dimensional modeling data that the result data of processing is objective world is stored in the memory unit;Using interface circuit strengthen the display of virtual reality, realize man-machine interaction.Present system is reasonable in design, it is simple in construction, real-time is high, required equipment is few, and scene information is lost less, workable, have a wide range of application, cost is more low, can make user really realize enhancing virtual reality to people with infinite glamour, the threedimensional model of structure and actual objective environment model error be small.

Description

A kind of real time enhancing virtual reality system and method based on intelligent mobile terminal

Technical field

The present invention relates to a kind of virtual reality system generation technique, specifically a kind of reality based on intelligent mobile terminal Shi Zengqiang virtual reality systems and method.

Background technology

Augmented reality(Augmented Reality, AR), it is to very by computer technology by virtual Information application The real world, real environment and virtual object have been added in real time same picture or space while to be present.Augmented reality Provide generation it is a kind of it is true to nature depending on, listen, power, touch and the virtual environment of the sensation such as dynamic, different from the appreciable information of the mankind. It not only presents the information of real world, and virtual information is shown simultaneously, and two kinds of information are complementary to one another, folded Add.Augmented reality produces the virtual objects being not present in actual environment by computer graphics techniques and visualization technique, and leads to Sensing technology is crossed by the organic involvement true environment of virtual objects, melts virtual objects and true environment for one by display device Body, realize that user and environment directly carry out natural interaction.It is a kind of brand-new human-computer interaction technology, utilizes such a skill Art, real live landscape can be simulated, it is with interactivity and the computer advanced man-machine interface for being contemplated that essential characteristic.Make User can not only experience the verisimilitude of " on the spot in person " that is undergone in the objective physical world by virtual reality system, And space, time and other objective limitations can be broken through, experience in real world can not personal experience experience.Cause This, AR has three fundamentals, i.e., real and virtual combination, real-time interactive and three-dimensional localization.

The actual situation for reaching AR combines, and user needs to watch by certain device.Currently a popular technology mainly has Bright device and the class of opaque device two, the former is to utilize transparent unit, such as 3D glasses and 3D projection devices, virtual image is thrown Shadow needs multiple special installations to be used cooperatively to the scene on device, making user experience enhancing virtual reality, the field used Institute, environment etc. are all restricted, and can not gradually meet that people carry out strengthening whenever and wherever possible the needs of virtual reality requirement;Afterwards Person is the image for being combined the virtual reality handled well using processors such as computers, such as smart mobile phone, tablet personal computer Intelligent mobile terminal.Due to intelligent mobile terminal have complicated calculations ability, make video recording, image is shown, also GPS, networking line, The multiple function of touch-control, gradient detecting etc., price are gradually lowered, and are then got in intelligent mobile terminal for the AR researchs of platform Come more.

The enhancing virtual reality technology main stream approach for being currently based on opaque device is carried out by image/video capture card The collection of objective environment information, the collection for mainly having monocular, binocular and multi-lens camera to carry out Same Scene, then utilizes image The Same Scene that treatment technology collects to different cameras carries out feature extraction, recycles characteristic matching scheduling algorithm to carry out scene Matching, the three-dimensional information of objective environment is obtained, carry out three-dimensional reconstruction and obtain the threedimensional model of objective environment, finally strengthened again The realization of virtual reality.Such method shortcoming is:Amount of calculation is huge, it is necessary to carry out substantial amounts of cloud data processing and calculate, three It is very high for the Capability Requirement of processor to tie up the acquisition of information, and this method can hardly carry out real-time three-dimensional modeling, and Scene characteristic is extracted and to lose information useful in many objective environments during three-dimensionalreconstruction.

In order to carry out real-time three-dimensional model foundation, the present invention carries out threedimensional model structure using RGB+D models, directly utilizes Depth information capture card obtains the three-dimensional depth information of objective environment(Depth Information), adopted using CCD video images Truck obtains the essential information of objective environment(Such as color(RGB, Red, Green and Blue), texture information, half-tone information and Strength information etc.), so the calculating of the three-dimensional depth information in objective environment information is freed from processor, carried significantly The high real-time of enhancing virtual reality.

In the environment of augmented reality, user can be around seeing while true environment, it is further seen that calculates Enhancement information caused by machine.Because augmented reality has erected a bridge block on the gully between virtual reality and real world, Therefore, the application potential of augmented reality is quite huge that it can be widely applied to intelligent robot navigation and avoidance, army The various fields such as thing, pattern driving, three-dimensional navigation, medical science, manufacture and maintenance, game and amusement.

The content of the invention

Acquisition for three-dimensional information in the prior art and calculate Capability Requirement for processor it is very high and, hardly Real-time three-dimensional modeling can be carried out, and can be lost during scene feature extraction and three-dimensionalreconstruction useful in many objective environments The deficiencies of information, the technical problem to be solved in the present invention is to provide it is a kind of can be by the three-dimensional depth information in objective environment information Calculating frees from processor, greatly improves the real-time increasing based on intelligent mobile terminal of the real-time of enhancing virtual reality Strong virtual reality system and method.

In order to solve the above technical problems, the technical solution adopted by the present invention is:

A kind of real time enhancing virtual reality system based on intelligent mobile terminal of the present invention includes:

Processor, depth information capture card, RGB information capture card, memory cell and display screen, wherein processor receive The three-dimensional depth information and objective environment essential information of the objective environment gathered by depth information capture card and RGB information capture card Handled, threedimensional model structure, the result data of processing is stored into memory cell;Processor is connected by interface circuit Display screen.

The depth information capture card is the camera with the direct operational capability of depth information, and it is objective to directly read The three-dimensional depth information of environment.

A kind of real time enhancing virtual reality method based on intelligent mobile terminal of the present invention comprises the following steps:

The three-dimensional depth information of objective environment is obtained using depth information capture card;

Objective environment essential information is obtained using RGB information capture card;

Above-mentioned three-dimensional depth information and objective environment essential information input processor are handled, create objective world Threedimensional model;

The three-dimensional modeling data that the result data of processing is objective world is stored in the memory unit;

Using interface circuit strengthen the display of virtual reality, realize man-machine interaction.

The threedimensional model for creating objective world comprises the following steps:

Information filter:It is RGB+D images i.e. to three-dimensional depth information and objective environment essential information while is filtered, goes Except noise image;

The track algorithm of information:Full detail based on the RGB+ D information after denoising carries out the estimation of next image;

Three-dimensionalreconstruction based on RGB+ D information:Utilize the estimation parameter of three-dimensional world information and typical triangle splicing method It is rightEnter row interpolation splicing, obtain final objective world threedimensional model.

RGB+D images are filtered simultaneously and realized by below equation:

(1)

Wherein,For the RGB+D images after filtering and noise reduction;For image pixelNeighborhood,For filtering The weight coefficient of device;For the RGB+D images of Noise,m,nRespectively neighborhoodThe coordinate value of middle every bit.

Using representative Gaussian wave filter, i.e.,

(2)

Wherein,For each pixel point coordinates of image,It is wave filter in pixelUsing neighborhoodCollection Close,For the standard deviation of Gaussian function.

Being estimated as next image is carried out for the full detail of the three-dimensional world information after denoising:

Using Maximum-likelihood estimation, i.e.,

(3)

In formula, (4)

(5)

Wherein,For current RGB+D images;To estimate new RGB+D images;For Lee of present image and estimation image Group algebra operator;For pictorial element,Estimate model for pose;Obtained for depth information capture card The depth information taken;ForStandard deviation;For norm, and define

(6)

Wherein,For parameter,sFor variable, in formula,

Three-dimensionalreconstruction based on RGB+ D information is carried out by below equation:

(7)

Wherein,(p) be three-dimensionalreconstruction minimum unit;For energy function, andMeetIt is minimum;For intelligence The ground level estimation of energy mobile terminal three-dimensionalreconstruction, here using simple low pass filter, that is, utilizes the progress of RGB+D information Ground level is estimated;For energy functionEstimation parameter,ForGradient,For RGB+D information aggregates.

The inventive method is further comprising the steps of:

If the data-handling capacity deficiency of the processor of mobile terminal, by mobile network or wifi by whole processing Process is uploaded in the webserver or personal PC machine and handled, then by the data obtained after processing again by mobile network or Person wifi downloads to mobile intelligent terminal.

The inventive method is further comprising the steps of:

If multiple users use mobile intelligent terminal, user shares AR data using network savvy, and multiple users are in office Where point, any time enjoy enhancing virtual reality application.

The invention has the advantages that and advantage:

1. present system is reasonable in design, simple in construction, real-time is high, and required equipment is few, workable, application Extensively, cost is more low, can make user really realize enhancing virtual reality to people with infinite glamour.

2. the present invention carries out threedimensional model structure using RGB+D models, it is objective directly to be obtained using depth information capture card The three-dimensional depth information of environment(Depth Information), the basic of objective environment is obtained using CCD video capture cards Information, the calculating of the three-dimensional depth information in objective environment information is freed from processor, real-time is high, scene information Lose less, the threedimensional model of structure and actual objective environment model error are small.

3. the present invention can be widely applied to intelligent robot navigation and avoidance, military affairs, pattern driving, three-dimensional navigation, doctor The various fields such as, manufacture and maintenance, game and amusement.

Brief description of the drawings

Fig. 1 is present system structural representation;

Fig. 2 is the real time enhancing virtual reality system functional block diagram based on intelligent mobile terminal;

Fig. 3 is the inventive method main flow chart;

Fig. 4 is three-dimensionalreconstruction algorithm flow chart in the inventive method.

Wherein, 101 be mobile terminal;102 be processor;103 be memory cell;104 be interface circuit;105 regard for RGB Frequency image pick-up card;106 be depth information capture card;107 be light source;108 be display screen.

Embodiment

With reference to Figure of description, the present invention is further elaborated.

As shown in Figure 1, 2, the real time enhancing virtual reality system of the invention based on intelligent mobile terminal includes:Processor, Depth information capture card, RGB information capture card, memory cell and display screen, wherein processor receive accepts and believe breath collection by depth The three-dimensional depth information and objective environment essential information of card and the objective environment of RGB information capture card collection are handled, are three-dimensional Model construction, the result data of processing is stored into memory cell;Processor connects display screen by interface circuit.

In the present embodiment, mobile terminal 101 can be smart mobile phone, tablet personal computer, palm PC etc., processor 102, deposit Storage unit 103, interface circuit 104 are using the inner member of intelligent terminal, and the present invention is to data processing and the Capability Requirement calculated Not high, therefore, the operational capability of current most of intelligent terminal processors all reaches requirement.105 be rgb video IMAQ Block, common CCD formula camera can meet to require, depth information capture card 106, which uses, has the direct operational capability of depth information Kinect cameras, the three-dimensional depth information of objective environment can be directly read.Light source 107 is used to compensate available light deficiency Influence to objective environment information.

The calculating that the present invention carries out data using processor 102 is handled, real-time constructing environment threedimensional model, and realizes enhancing The application of virtual reality, the result data of processing is stored in memory cell 103, it is empty to carry out enhancing using interface circuit 104 Intend the display screen 108 of reality, realize man-machine interaction.

As shown in figure 3, a kind of real time enhancing virtual reality method based on intelligent mobile terminal of the present invention includes following step Suddenly:

The three-dimensional depth information of objective environment is obtained using depth information capture card;

Objective environment essential information is obtained using RGB information capture card;

Above-mentioned three-dimensional depth information and objective environment essential information input processor are handled, create objective world Threedimensional model;

The three-dimensional modeling data that the result data of processing is objective world is stored in the memory unit;

Using interface circuit strengthen the display of virtual reality, realize man-machine interaction.

In order to carry out real-time three-dimensional model foundation, the present invention carries out threedimensional model structure using RGB+D models, directly utilizes Depth information capture card obtains the three-dimensional depth information of objective environment(Depth Information), adopted using CCD video images Truck obtains the essential information of objective environment(Such as color(RGB, Red, Green and Blue), texture information, half-tone information and Strength information etc.), so the calculating of the three-dimensional depth information in objective environment information is freed from processor, improved Strengthen the real-time of virtual reality.

The key step of the inventive method has:

Step 1:Three-dimensional world information is obtained using depth information capture card in Fig. 2 and RGB information capture card, is used later RGB+D is represented;

Step 2:RGB+D information input intelligent mobile terminal processor is handled, for by depth information capture card The objective world RGB+D information collected with RGB information capture card is handled, and finally gives the threedimensional model of objective world, As shown in Figure 4:

(1)RGB+D information filters:Denoising is filtered simultaneously to intensity image and depth image:

(1)

Wherein,For the RGB+D images after filtering and noise reduction;For image pixelNeighborhood,For filtering The weight coefficient of device;For Noise RGB+D images,For imageThe coordinate set of neighborhood,m,nRespectively For neighborhoodThe coordinate value of middle every bit.Here representative Gaussian wave filter is used, i.e.,

(2)

Wherein,For each pixel point coordinates of image,It is wave filter in pixelUsing neighborhoodCollection Close,For the standard deviation of Gaussian function.

(2)Track algorithm based on RGB+D:The current figure collected using depth information capture card, RGB information capture card As RGB+D full details carry out the estimation of next image, using Maximum-likelihood estimation, i.e.,

(3)

In formula, (4)

(5)

Wherein,For current RGB+D images;To estimate new RGB+D images;For Lee of present image and estimation image Group algebra operator;For pictorial element,For the information aggregate of RGB+D images, i.e.,Estimate for pose Count model;The depth information obtained for depth information capture card;ForStandard deviation;For norm, and define

(6)

Wherein,For parameter,sFor variable, in formula,

By above-mentioned algorithm, it is estimated that the visitor that capture card depth information capture card, RGB information capture card obtain in real time See whether world videos frame is key frame, if key frame, then by frame RGB+D image updates into three-dimensionalreconstruction model, If not key frame, then track again, until capturing key frame, finally, the present invention be using depth information capture card, The objective world key frame that RGB information capture card captures carries out three-dimensional model reconfiguration, and that included in key frame is whole visitors World information, i.e. RGB+D information are seen, and then ensures objective world reconstruct three-dimensional model information integrality.So, this algorithm is utilized The three-dimensional information of objective world can be estimated, it is characterised in that carry using the full detail of objective world, and without feature is carried out Take and characteristic matching, contain all information in objective world, its operation efficiency is high, and real-time is high, and the calculation of current trend Method is to be based on characteristics of image, and this needs to carry out image the processes such as feature extraction, characteristic matching, and its shortcoming is that operand is big, imitated Rate is low, poor real, can lose many objective world information in characteristic extraction procedure in addition.

(3)Three-dimensionalreconstruction algorithm based on RGB+D information:

(7)

Wherein,For the minimum unit of three-dimensionalreconstruction;For energy function, andMeetIt is minimum;For intelligent sliding The ground level estimation of dynamic terminal three-dimensionalreconstruction, here using simple low pass filter, i.e., using RGB+D information estimate Ground level is estimated;For for energy functionEstimation parameter,ForGradient,For RGB+D information aggregates.

Finally utilize typical triangle splicing method pairEnter row interpolation splicing, obtain final three-dimensional objective world model.

Step 3:The data obtained after being handled based on steps 1 and 2 can be stored in memory cell.

Step 4:Real time enhancing virtual reality applications based on intelligent mobile terminal are entered in intelligent mobile terminal display screen Row display.

, can be by mobile network or wifi by step if the data-handling capacity deficiency of the processor of mobile terminal 1st, 2,3 processing procedure is uploaded in the webserver or personal PC machine and handled, and then leads to the data obtained after processing again Cross mobile network or wifi downloads to mobile intelligent terminal, the data-handling capacity of system can be so improved, in Fig. 2 Extension storage unit and extensible processor(Such as the webserver or PC)It is shown.

If the memory cell finite capacity of mobile intelligent terminal, passes through mobile network or wifi by data processed result Upload in extension storage unit, improve information storage capacity.

If the mobile intelligent terminal of multiple users, user can utilize network savvy to share AR data, so, Duo Geyong Family in any place, can enjoy the application of enhancing virtual reality any time.

Claims (5)

  1. A kind of 1. real time enhancing virtual reality method based on intelligent mobile terminal, it is characterised in that comprise the following steps:
    The three-dimensional depth information of objective environment is obtained using depth information capture card;
    Objective environment essential information is obtained using RGB information capture card;
    Above-mentioned three-dimensional depth information and objective environment essential information input processor are handled, create the three-dimensional of objective world Model;
    The three-dimensional modeling data that the result data of processing is objective world is stored in the memory unit;
    Using interface circuit strengthen the display of virtual reality, realize man-machine interaction;
    The threedimensional model for creating objective world comprises the following steps:
    Information filter:It is RGB+D images i.e. to three-dimensional depth information and objective environment essential information while is filtered, removal is made an uproar Acoustic image;
    The track algorithm of information:Full detail based on the RGB+D information after denoising carries out the estimation of next image;
    Three-dimensionalreconstruction based on RGB+D information:Splice method to three using the estimation parameter of three-dimensional world information and typical triangle The minimum unit of dimension reconstruct enters row interpolation splicing, obtains final objective world threedimensional model;
    RGB+D images are filtered simultaneously and realized by below equation:
    Wherein, I ' (x, y) is the RGB+D images after filtering and noise reduction;ε is the neighborhood of image pixel (x, y), and w (m, n) is wave filter Weight coefficient;I (m, n) is the RGB+D images of Noise, and m, n are respectively the coordinate value of every bit in neighborhood ε;
    Three-dimensionalreconstruction based on RGB+D information is carried out by below equation:
    Wherein, u (p) is the minimum unit of three-dimensionalreconstruction,For pictorial element,E (u) is energy letter Number, and u meets E (u) minimums;π (p) is that the ground level of intelligent mobile terminal three-dimensionalreconstruction is estimated, here using simple low pass Wave filter, that is, utilize the carry out ground level estimation of RGB+D information;α and VπFor energy function E (u) estimation parameter,For u's Gradient, ΩDFor RGB+D information aggregates.
  2. 2. the real time enhancing virtual reality method based on intelligent mobile terminal as described in claim 1,
    It is characterized in that:Using representative Gaussian wave filter, i.e.,
    Wherein, (x, y) is each pixel point coordinates of image, and (m, n) is the set that wave filter uses neighborhood ε in pixel (x, y), σ2For the standard deviation of Gaussian function.
  3. 3. the real time enhancing virtual reality method based on intelligent mobile terminal as described in claim 1, it is characterised in that:For The full detail of three-dimensional world information after denoising carries out being estimated as next image:
    Using Maximum-likelihood estimation, i.e.,
    In formula, rp(p,ξj,i)=Ii(p)-Ij(ω(p,Di(p),ξj,i)) (4)
    Wherein, IiFor current RGB+D images;IjFor new estimation RGB+D images;ξj,iFor the Lie group generation of present image and estimation image Figure son;For pictorial element,ω is that pose estimates model;DiObtained for depth information capture card Depth information;ViFor DiStandard deviation;||·||δFor norm, and define
    Wherein, δ is parameter, and s is variable, in formula,
  4. 4. the real time enhancing virtual reality method based on intelligent mobile terminal as described in claim 1, it is characterised in that:Also wrap Include following steps:
    If the data-handling capacity deficiency of the processor of mobile terminal, by mobile network or wifi by whole processing procedures Upload in the webserver or personal PC machine and handle, then by the data obtained after processing again by mobile network or Wifi downloads to mobile intelligent terminal.
  5. 5. the real time enhancing virtual reality method based on intelligent mobile terminal as described in claim 1, it is characterised in that:Also wrap Include following steps:
    If multiple users use mobile intelligent terminal, user shares AR data using network savvy, multiple users it is in office where Point, the application for enjoying enhancing virtual reality any time.
CN201410688094.6A 2014-11-25 2014-11-25 A kind of real time enhancing virtual reality system and method based on intelligent mobile terminal CN104392045B (en)

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CN106355647A (en) * 2016-08-25 2017-01-25 北京暴风魔镜科技有限公司 Augmented reality system and method
CN106485782A (en) * 2016-09-30 2017-03-08 珠海市魅族科技有限公司 Method and device that a kind of reality scene is shown in virtual scene
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