CN106445137A - Augmented reality system - Google Patents
Augmented reality system Download PDFInfo
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- CN106445137A CN106445137A CN201610836830.7A CN201610836830A CN106445137A CN 106445137 A CN106445137 A CN 106445137A CN 201610836830 A CN201610836830 A CN 201610836830A CN 106445137 A CN106445137 A CN 106445137A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses an augmented reality system. The augmented reality system has the advantages that seamless fusion of virtual objects and real scenes in the augmented reality system is crucial and is critical for determining the performance of the augmented reality system, and in other words, the consistency of spatial awareness obtained by users in augmented reality environments and understanding needs to be guaranteed for seamless fusion of the AR (augmented reality) system; the purpose of fusion consistency of virtual-reality scenes of the AR system can be achieved by the augmented reality system; diversified existing sensors for tracking have virtues and defects, and actual application requirements often are difficult to meet when a certain single type of sensors is used for tracking; targets are positioned by diversified tracking sensors in the AR system in order to effectively improve the tracking performance; integral hardware frameworks and critical components of the system are introduced, software system cores are described in detail, accordingly, virtual-reality worlds can be effectively synthesized in a seamless manner to the greatest extent, and the performance of the augmented reality system can be improved.
Description
Technical field
The present invention relates to a kind of AR system.
Background technology
With the development of information technology, multimedia technology has progressively been applied to each side of social production, life and culture
Face.At present one of multimedia technology the latest development trend be by some New technical use of field of three dimension to multimedia industry
In, produce multimedia application effect and greatly take on a new look, also there is new expansion therewith in range of application.
Augmented reality (AR-Augmented Reality) be multimedia technology field of three dimension realize important new
Means.Augmented reality is a kind of three-dimensional information that produces of utilization computer system increasing the skill that user perceives to real world
Art.The effect completely immersed to be reached from traditional virtual reality technology is different, and augmented reality is devoted to computer
The dummy object of generation, scene or system prompt information superposition create, in real scene, the world that a deficiency and excess is combined, so as to
Realize " enhancing " to reality.
Research of the China in information fusion field starts to walk a little later, and the beginning of the eighties in last century starts starting, enters in the nineties
Later stage occurs in that a collection of theoretical research result, and the academic monograph and translations of some information fusion and target following obtain publication.To the greatest extent
Pipe is in this way, in terms of Theory of Information Fusion research and application practice, the level of development of China is still had compared with external advanced country
Certain gap.
Content of the invention
It is an object of the invention to provide a kind of AR system for realizing seamless fusion.
In order to achieve the above object, the technical scheme is that there is provided a kind of augmented reality system, including hardware system
Uniting and run on the operation platform of hardware system, it is characterised in that hardware system includes blue room, magnetic force tracking is externally provided with blue room
The controller of system and the computer of three interconnections, the operation platform is run on computer, and user wears helmet-type
Display is located at indigo plant within doors, is provided with the reception of the first and magnetic force tracking system of two electro-photographics on helmet-mounted display
Device, is provided with two electro-photographic heads two on blue room ceiling, first and two points of the two electro-photographic heads of two electro-photographics
Do not match with four pieces of capure cards, four pieces of capure cards are arranged on three computers, the transmitting of magnetic force tracking system
Device is fixed on the centre of blue room ceiling, and three computers are shown by No. three display units, meanwhile, three computers
In any one shown by helmet-mounted display.
Preferably, the operation platform is divided into Illusion nucleus module, video acquisition processing module, synchronized tracking mould
Block, FX Module, threedimensional model processing module, force feedback Joystick module, sound identification module and 3-D audio module, its
In：
Illusion nucleus module adopts hierachical structure, supports video fusion, using the display machine of OpenInventor
Can, meanwhile, the ability with administration extensions module；
Synchronized tracking module, in the image for showing final synthesis, virtual three-dimensional body can be protected with real video
Hold identical ratio and synchronous motion；
Video acquisition processing module, for synthesizing the collection of the real video for showing
Force feedback Joystick module and sound identification module, are people and the means for strengthening environmental interaction.
Preferably, the Illusion nucleus module is divided into core layer, extension layer and application layer, wherein：
Core layer, for data management and function management；
Extension layer, completes the various functions for needing as an AR platform；
Application layer, is that specific application item provides special, targetedly function.
In augmented reality system, the seamless fusion between dummy object and real scene is most important, is to determine to strengthen now
The key of real systematic function.The seamless fusion of AR system is realized, seeks to ensure user obtained in augmented reality environment
Spatial perception is consistent with understanding.The system is for the purpose of realizing AR system deficiency and excess scene fusion concordance.Existing all kinds of
Sensor tracking cuts both ways, the single application demand for being tracked often more difficult satisfaction reality using certain sensor.In order to
Tracking performance is effectively improved, the present invention carries out target positioning using multiple tracking transducers in AR system simultaneously, and gives
The overall hardware architecture of system and critical component introduction, while being described in detail with regard to software system core, make every effort to preferably
The nothing for realizing the deficiency and excess world is stitched into, and is improved augmented reality systematic function.
Description of the drawings
A kind of hardware circuit diagram of augmented reality system that Fig. 1 is provided for the present invention；
Fig. 2 is the module map of the software section of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limit the scope of the present invention.In addition, it is to be understood that after the content for having read present invention instruction, people in the art
Member can be made various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
With the continuous development of AR technology, which has shown that more and more extensive in fields such as engineering, education, medical treatment, amusements
Application prospect.At present, the seamless fusion of deficiency and excess scene is realized, and it is to promote AR to make system have good visual consistency effect
Technology moves towards a key factor of popularization and application as early as possible.Augmented reality system disclosed by the invention is devoted to generating computer
Dummy object, scene or system prompt information superposition in real scene, create the world that a deficiency and excess is combined, so as to realize
" enhancing " to reality, preferably achieves the seamless fusion of deficiency and excess scene, reaches visual consistency, possess three advantages：1. true
The real world and the information integration of virtual world；2. there is real-time, interactive；3. in three dimensions, positioning increases dummy object, system
Possessing has applications well to be worth.
The system that the present invention is provided is divided into hardware components and software section, is introduced individually below：
The integral frame of the hardware components of the present invention as shown in figure 1, including blue room (blue room length, width and height be respectively 3 meters, 3 meters,
2.8 meters, wall is arranged as blue curtain).
The outside in blue room have the controller of a magnetic force tracking system and three interconnection computer PC1, PC2,
PC3.Computer PC1, PC2, PC3 are the high-speed computers of particular arrangement, are the calculation process centers of AR system.Computer PC1
Function mainly have：The several functions such as dummy model structural transform, scene collection, synthesis display, scenery control.Computer PC2,
PC3 is mainly used in Tracing Registration calculating.
User wears helmet-mounted display HMD and is located in blue room.Helmet-mounted display HMD is a complicated system, its
Most basic function is the induced environment for providing the user with an immersion.In AR system, helmet-mounted display HMD not only rises
To the effect of display, also aid in carrying out scene collection and Tracing Registration.Helmet-mounted display HMD in the present invention is used
The V8 type Helmet Mounted Display of Virtual Research Systems company, the helmet provides left and right two panels true color LCD and shows
Device, receives the VGA video signal of 800 × 600 × 60Hz × 2 channel, and picture quality is equivalent to CRT monitor, and quality is 1,000
Gram.Have lightly durable, can easily be accommodated.Due to helmet-mounted display HMD be for virtual reality, in order in video
Used in perspective formula augmented reality system, the present invention is transformed to helmet-mounted display HMD, in helmet-mounted display HMD
On be mounted with two electro-photographics first CAV1, CAV2, for gathering real video, and installed the reception of magnetic force tracking system additional
Device.
Electro-photographic first CAV1, CAV2 must shoot the image that similar human eye observation arrives, it is therefore desirable to have larger spirit
Activity, so as to constantly regulate, obtains satisfied image.The present invention uses the LCH-P49A industry of CBC company
Photographic head, it has BLC, AWB, the function such as automatic growth control.Its photographic head uses 1/4 " CCD (3.2 ×
2.4mm), 500 line of horizontal definition.The Parameter adjustable of camera lens, it is 1: 1.6 that focal range is 4-9mm, maximum ring relative aperture,
Horizontal view angle scope is 51.8 ° -23.8 °, and vertical angle of view adjustable extent is 38.3 ° -17.8 °.The photographic head has many scalable
Parameter, resolution is higher, and the picture quality for being caught using it is fine, is a selection for being more conform with design original intention.For
The data of first CAV1, CAV2 collection of electro-photographic, using two pieces of capure cards, in the present embodiment, above-mentioned two pieces of videos
Catch 10Moons SDK-2000 of the card using the quick science and technology in day.It is a kind of PCI capure card, is that Windows is provided very
Good driving.It provides secondary development bag (hereinafter referred to as SDK) for system development, it is possible to use Visual Basic,
Multiple programming languages such as Visual C++, Delphi carry out secondary development.
The present invention there is also mounted two electro-photographic heads two CL, CR on blue room ceiling, for aloft shooting geometry
Logotype template image, carries out visual tracking.Electro-photographic head two CL, CR adopt the WV-BP334 of Panasonic company,
It also has the function such as auto brightness control, BLC, using 1/3 " CCD (4.8 × 3.6mm), clear with 570 row levels
Degree, equally has the resolution of 752*582 pixel；Camera lens is flexibly installed according to the difference of optics Registration Performance requirement.Assembling
Photographic head be also provided that clearly image, as the input of vision registration.For the two electro-photographic heads two CL, CR,
Equally two pieces of capure cards are used, in the present embodiment, above-mentioned two pieces of capure cards are Matrox Meteor II, and this is
A kind of PCI for supporting to catch image from NTSC, PAL, RS-170, CCIR video source catches card, and it also provides SDK, its SDK
More complicated, but very comprehensive.With card subsidiary Matrox Imaging Library, ActiveMIL, Intellicam, Genesis
Native Library.Matrox Imaging Library provides abstract seizure card in bottom and supports, ActiveMIL is then
It is relatively simple that there is provided some ActiveX controls, Intellicam is a photographic head setting instrument, and Genesis
Native Library then provides some additional image procossing storehouses.These auxiliary softwares provide preferable two for Meteor card
Secondary development function, this image procossing that will be compared complexity to Visual Tracking System is beneficial.
Four pieces of capure cards that CAV1, CAV2 first with electro-photographic and electro-photographic head two CL, CR match, this four
Block card is on three computers PC1, PC2, PC3, and equilibrium treatment is loaded.Three computers PC1, PC2, PC3 pass through three tunnels
Display unit Display1, Display2, Display3 are shown, meanwhile, any in three computers PC1, PC2, PC3
One is shown by helmet-mounted display HMD.
Roof centre in blue room there is also mounted the emitter of magnetic force tracking system.Also include in blue room tables and chairs, light,
With some available program control real-world object Project1, Project2 etc..
Tracking equipment in the present invention is not a set of equipment, but including magnetic force with electro-photographic head two CL, CR, vision
Mark, a series of hardware such as computer PC2, PC3, these hardware are all relevant with Tracing Registration.System employs vision, magnetic force
Two sets of tracking transducers.
The magnetic force tracking system that the system is used, is the FASTRAK tracking transducer for being provided by Polhemus company, including
The parts such as console controller, emitter, receptor.Its ultimate principle is to launch low frequency electromagnetic field using three axial coils, with fixation
The change information in the three axle magnetic detectors detection magnetic field in measurand, using the coupling between transmission signal and induced signal
Relation determines the orientation attitude of measurand.In the present invention, the ceiling central authorities for being suspended on blue room fixed by our emitters, make
Its coordinate system is consistent with the world space coordinate system for oneself setting up, and receptor is mounted on the helmet, so as to user's head
Position and attitude is tracked.
Visual beacon is a kind of planar graph through particular design, contains the characteristics of image for being easy to extract, and computer leads to
The image for crossing photographic head offer carries out computer vision process, extracts the position and attitude of visual beacon, so as to detect tracking mesh
Target position and attitude.
The software running platform of the AR system that the present invention is provided is Windows, and development platform is Visual C++, Open
Inventor and DirectX9.0 SDK.Open Inventor is a 3D program development platform, and DirectX9.0 SDK is
One multimedia developing platform, present invention uses the development library such as video therein, audio frequency, network transmission.
In conjunction with Fig. 2, it is divided by function, the whole software section of the present invention is made up of multiple different functional modules, its
In with Illusion platform as nucleus module, other each modules be according to specific function needs, in Illusion nucleus module
On the basis of regarded as output controlling.
1) Illusion nucleus module
The functional characteristic of Illusion platform：The task of AR development platform Illusion, is to complete the reality needed for AR project
When figure shows and interactive function.It is real scene data and virtual scene data fusion that AR project needs the graphing capability that realizes
And show, after fusion, the content of scene can be interacted by way of various known or unknown, support the extension of specially good effect,
Hold animation etc..Therefore, AR development platform Illusion of design possesses following functions：
(1) ability of administration extensions module；Under Windows operating system, expanded function can pass through DLL or EXE
Realize.The efficiency that EXE is realized is very low, is only used for the startup of module group, stops such function, or independence is very
Strong function group.This mode is clearly unsuitable for AR system.Therefore, the present invention only considered the expansion of DLL.
In the software project of C++ exploitation, the expansion of function can by following two modes, realize two modules it
Between coupling：One kind is function call, is generally used for more open coupling, and developing plug difficulty is low, and efficiency is higher；Another kind of
It is derived class, is generally used for relatively closely coupling, developing plug difficulty height, efficiency is also high.Therefore in AR graphic platform, this
Invention employs the mode of function call and couples the relation between plug-in unit and platform.
(2) using the display function of OpenInventor；It provides data management and a series of open-ended library of object,
Graphical programming is simplified, the intrinsic powerful 3D disposal ability of OpenGL is not lost yet, therefore will be using Open in Illusion
The display function of Inventor, completes the real time display capabilities of 3-D graphic
(3) video fusion is supported：The AR system of the present invention needs to realize real scene data and virtual scene data fusion
And show, and the collection of the video perspective type augmented reality system real scene data of present invention design be by installed in the helmet
Come completed, therefore two photographic head and video capturing device on formula display HMD support that video fusion is that Illusion puts down
Function specific to platform.
(4) Stratified Software Structure；Consideration augmented reality is continuous development and change, therefore opening as AR system
Platform is sent out using core layer, extension layer and application layer three-decker, so as to can achieve the extension of flexible modularization management, opening
System.
Core layer completes the data management of development platform and function management.Expansion module is responsible for, by one group of DLL group
Become, complete a series of management function.Data management system provides data-message mechanism, so as to growth data object in future；Function
Manager provides plug-in management function, the unified interface of specification external plug-in：Function and interface that background video shows also are provided；
Management of animation data etc. is provided.In addition, core layer generates specific application program.The interfaces such as menu, tool bar, message dispatching
The concrete behavior of element is also to realize in this part.
Extension layer is responsible for the various functions for completing to need as an AR platform：Animation calculating, video capture, startup, dynamic
Draw the functions such as file reading, remotely control CAMERA.There is the assistance of these modules, platform just possesses the ability for supporting AR.
Application layer be for the module made by specific displaying project, be specific application item provide special, have
Targetedly function.
Illusion nucleus module is mainly made up of data management system, functional manager, the big module of interface manager three.It
Card i/f is externally provided, and plug-in unit is managed.
Data management system：By data and functional separation.Data unification is included in tables of data and is managed, for newly-built number
According to user or the user of the data will be used later, data management system will be set up corresponding mapping between them and close
System, and indicate have grade accordingly.
Functional manager：The legitimacy of identification plug-in unit, initializes and loads plug-in unit, wherein includes DAPI/PLUGIN table.
Interface manager：Interactive unit with user is associated with order COMMAND.
2) video acquisition processing module
For synthesizing the collection of the real video for showing, it is a part for scene acquisition system.The collection of this part signal
Completed by electro-photographic first CAV1, CAV2 and capure card.Windows is directed in view of Illusion platform to put down
The application of platform, and a kind of exactly Windows video technique general-purpose interface of the Directshow on windows platform in DirectX.
DirectShow masks the technology inside story of complexity using a kind of succinctly understandable framework, with filter (filter) as substantially single
A series of to capture, compression/decompression, transmission, playback etc. filters are together in series by way of video flowing by position, and realizing video should
With.Therefore, we employ this software engineering of Directshow and carry out collection and the process of video.
3) synchronized tracking module
Synchronized tracking is a critically important part in augmented reality, it is therefore an objective in the image for showing final synthesis, empty
The three-dimensional body of plan and real video can keep identical ratio and synchronous motion.
4) threedimensional model processing module and FX Module
As Illsuion platform is realized by OpenInventor to the process of dummy model, therefore
The file format iv text adopted by the form of the threedimensional model file supported by Illusion platform i.e. OpenInventor
Part.In system, the model of virtual three-dimensional scene is all constructed by 3DMax, and therefore the model that builds up is led by the present invention
Become iv file, be supplied to Illusion platform.In addition, in order to increase visual effect, the present invention additionally uses global animation
And vertex animation, improve the ornamental of augmented reality.
5) force feedback Joystick module
In AR system, the present invention is using the stick with force feedback as people and the means for strengthening environmental interaction.Adopt
Developed under VC++ with DirectInput technology.When people little with the spacing of virtual scene around to a certain extent when
Giving force feedback prompting, and strong force feedback prompting is given in the previous moment that collides.
6) sound identification module of zero training
Man-machine interaction mode constantly will develop as the important research content in terms of computer utility, including voice, gesture,
The mankind such as expression in the eyes exchange way used in everyday will be progressively in the accomplished and application of field of human-computer interaction.Now a lot of voices
Identifying system, needs in use to carry out system voice training (such as IBM Viavoice etc.), and the present invention adopts Spark
SDK development kit, need not carry out voice training, you can the voice command that defines of identification, and with Internet control technology
Combine, it is achieved that the interactive voice of augmented reality environment.
7) 3-D audio module
In the interaction of audition, the present invention provides the user 3 D stereo sound equipment, is completed using DirexSound technology
Background music, the three dimensional sound positioning of audio.
Claims (3)
1. a kind of augmented reality system, including hardware system and runs on the operation platform of hardware system, it is characterised in that hardware
System includes blue room, blue room be externally provided with the controller of magnetic force tracking system and three interconnection computer (PC1, PC2,
PC3), the operation platform is run on computer (PC1, PC2, PC3), and user wears helmet-mounted display (HMD) and is located at indigo plant
Within doors, connecing for two electro-photographics first (CAV1, CAV2) and magnetic force tracking system is installed on helmet-mounted display (HMD)
Device is received, two electro-photographic heads two (CL, CR) are installed on blue room ceiling, two electro-photographics are first (CAV1, CAV2)
And two electro-photographic heads two (CL, CR) are matched with four pieces of capure cards respectively, four pieces of capure cards are arranged on three
On computer (PC1, PC2, PC3), the emitter of magnetic force tracking system is fixed on the centre of blue room ceiling, three computers
(PC1, PC2, PC3) is shown by No. three display units (Display1, Display2, Display3), meanwhile, three meters
Any one in calculation machine (PC1, PC2, PC3) is shown by helmet-mounted display (HMD).
2. a kind of augmented reality system as claimed in claim 1, it is characterised in that the operation platform is divided into Illusion
Nucleus module, video acquisition processing module, synchronized tracking module, FX Module, threedimensional model processing module, force feedback
Joystick module, sound identification module and 3-D audio module, wherein：
Illusion nucleus module adopts hierachical structure, supports video fusion, using the display function of OpenInventor, with
When, the ability with administration extensions module；
Synchronized tracking module, in the image for showing final synthesis, virtual three-dimensional body can keep phase with real video
Same ratio and synchronous motion；
Video acquisition processing module, for synthesizing the collection of the real video for showing
Force feedback Joystick module and sound identification module, are people and the means for strengthening environmental interaction.
3. a kind of augmented reality system as claimed in claim 2, it is characterised in that the Illusion nucleus module is divided into core
Central layer, extension layer and application layer, wherein：
Core layer, for data management and function management；
Extension layer, completes the various functions for needing as an AR platform；
Application layer, is that specific application item provides special, targetedly function.
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| CN201610836830.7A CN106445137A (en) | 2016-09-21 | 2016-09-21 | Augmented reality system |
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| CN201610836830.7A CN106445137A (en) | 2016-09-21 | 2016-09-21 | Augmented reality system |
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| CN101539804A (en) * | 2009-03-11 | 2009-09-23 | 上海大学 | Real time human-machine interaction method and system based on augmented virtual reality and anomalous screen |
| CN102945564A (en) * | 2012-10-16 | 2013-02-27 | 上海大学 | True 3D modeling system and method based on video perspective type augmented reality |
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Application publication date: 20170222 |