CN107071375A - A kind of Slam methods scanned based on 3D - Google Patents
A kind of Slam methods scanned based on 3D Download PDFInfo
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- CN107071375A CN107071375A CN201710062775.5A CN201710062775A CN107071375A CN 107071375 A CN107071375 A CN 107071375A CN 201710062775 A CN201710062775 A CN 201710062775A CN 107071375 A CN107071375 A CN 107071375A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/363—Image reproducers using image projection screens
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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Abstract
The invention discloses a kind of Slam methods scanned based on 3D, pass through the computing of matrix first, it is possible to achieve the rectangular frame of rule is shown to irregular target area；Then the mapping of picture is passed through, it is possible to achieve the display of jumbotron；The rectangular area to be shown finally by trigonometric ratio, can accomplish to be less than the finer adjustment of a pixel scale, and then realize seamless non-overlapping display between projector, and picture associative perception is very strong, almost without aberration.
Description
Technical field
The invention belongs to show projection art, and in particular to a kind of design based on the 3D Slam methods scanned.
Background technology
Generally only using a display device in traditional display system, such display picture content is less, covering
Scope also very little.The problem of one larger picture can be solved preferably above is shown using the segmentation of Duo Tai projectors.Each
Projector is separated by arrangement the need for each showing between respective picture, projector according to overall picture according to certain rule.
The position put according to projector, can make ring curtain, the cave systems in 3 faces etc..But it is due to the principle that projector shows, it is many
Overlapping region often occurs between individual projector, the exception in display, such as ghost image, bright band is caused.Solve overlapping region
Problem, can be using the method for buying the stronger hardware of more professional controllability, it would however also be possible to employ software goes overlapping mode.
Cost is too high by the way of hardware, and requires very high to manual, and is difficult to accomplish completely non-overlapping.Using pure
Although the mode of software can be by the brightness adjustment of overlapping region into basically identical with Non-overlapping Domain, but there is ghost image
Problem, and occur that larger picture postpones in cutting picture.
In recent years, intelligent robot technology is worldwide greatly developed, in most of occasions, research aircraft
Device people can encounter a basic difficulty, that is, position and build figure, i.e. Slam technologies.With Slam it is closely related be exactly to pass
Sensor, sensor is divided into laser sensor and the major class of vision sensor two, and the latter is widely used due to cheap.
Vision Slam is broadly divided into three major types：Monocular, binocular (or many mesh), RGBD.One Slam system is divided into four modules and (removes and pass
Sensor digital independent)：Visual odometry VO, rear end, build figure, winding detection.Visual odometry module is used to estimate two moment
The relative motion of robot, i.e., estimate the transformation matrix of a three dimensions, solving this matrix can divide in Euclidean space
Method for feature based and the direct method without using feature.Feature in the method for feature based, first extraction image is (such as
Harris angle points, SIFT, SURF, ORB), then according to the characteristic matching of two width figures, calculate the transformation matrix of camera.It is directly square
All pixels in image are write into a pose and estimate equation by method, using iteration arest neighbors ICP scheduling algorithms, obtain interframe relative
Motion, such as SVO and LSD-SLAM.
The content of the invention
The invention aims to solve to show a larger picture using the segmentation of Duo Tai projectors in the prior art
When, overlapping region often occurs between projector, the problem of causing the exception in display, it is proposed that a kind of to be scanned based on 3D
Slam methods.
The technical scheme is that：A kind of Slam methods scanned based on 3D, are comprised the following steps：
S1, by setting-out program, drawn in the display system in the projected picture of each projector one group of uniform horizontal line and
Vertical line, makes horizontal line and vertical line fill full whole projector screen；Using Tof cameras, a frame is gathered to each projector's picture
RGB and depth information, then all projectors are divided into several deciles, gather a frame RGB for whole pictures of each decile
And depth information；
S2, on the basis of first projection machine information, associating for other projectors and first projector is set up manually
System, i.e., a group echo is done in face on the display region, binds identical point in different projector's pictures manually on RGB information figure；
S3, using the projector of upper left first as global space, by calibration point, other projector spaces are transformed into first
In the global space at the place of individual projector；
S4, in global space by all projectors by matrixing or pinhole imaging system technology, by all projectors
View field be transformed into a plane space；
S5, projector's number is set as n, be intended to display picture and be cut into the rectangular area Ti that r rows, c arrange equal size, and
N=r × s；It is uv spaces to define the region that whole computer desktop determines, representated by the Ti of rectangular area is exactly corresponding projector
The content area of display is needed, each projector's display content shares same uv coordinate systems；
S6, the horizontal line and vertical line shown according to projector in step S1, then one group of horizontal line of demarcation and vertical line, and set by hand
Their xy coordinates in projector are got well, while being bound to the xy coordinates and uv coordinates of every horizontal line and vertical line；
4 boundary lines up and down of S7, the by hand final viewing area of demarcation, and by the xy on all summits on 4 borders
Coordinate and uv coordinates are bound；
4 summits of S8, the by hand rectangular area that each projector of demarcation shows, and by the xy coordinates and uv on 4 summits
Coordinate is associated；
S9, the rectangular area for showing each projector are cut with horizontal line and vertical line, one xy coordinate of generation and uv
Coordinate corresponding table；
S10, the final viewing area for surrounding 4 borders are cut into identical rectangle with certain size, then by rectangle
Two small triangles are cut into along opposite side；Small triangle can be formed smaller by the further cutting in the rectangular area of each projector
Triangle, untill all small triangles all can not be by rectangular area cutting；By searching belonging to each small triangle
Projector, according to the xy coordinates of affiliated projector and uv coordinate corresponding tables, finds the xy coordinates on three summits of each triangle.
Further, step S3 is specially：
Many points physically overlapped can be demarcated between the Liang Ge projectors shot twice, if the point set shot for the first time is
Y, the point set of second of shooting is X, and causes Y=X*M in the presence of a matrix M, and wherein X and Y are n*4 matrixes, and M
It is 4*4 matrix；In order to obtain M, M=(X are drawn used here as least square methodT*X)-1*XT* Y, is obtained after Metzler matrix,
Pass through Yi=M*XiPoint in every other projector can be transformed into the space of first projector, wherein XTRepresent X's
Transposed matrix, (XT*X)-1Represent (XT* X) inverse matrix, i=1,2,3 ..., N, N is video camera quantity.
Further, the matrixing mode in step S4 is specially：
Rotation transformation is represented with R matrixes, T matrixes represent translation transformation, pass through Zi=R*Yi+ T is converted, by all projectors
It is transformed into same z-plane space.
Further, step S9 is specially：
The rectangular area that each projector is shown is cut with horizontal line and vertical line, with 2 horizontal lines in the intersection point surrendered
Totally 6 points are one group with 3 vertical lines, and two groups every group two diagonal are done in 6 intersection points and surrender 2 intersection points altogether, 2 intersection points connect
The extended line of line and 3 vertical lines surrender 3 intersection points again, 3 intersection points newly surrendered and 6 original intersection points again using 6 intersection points as
One group intersects with horizontal line and vertical line；The new xy coordinates and uv coordinates for surrendering intersection point uses horizontal line and the xy coordinates and uv of vertical line end points
Coordinate is filled；So cut, until each pixel in rectangular area has xy coordinates and uv coordinates, finally give birth to repeatedly
Into an xy coordinate and uv coordinate corresponding tables.
The beneficial effects of the invention are as follows：The present invention shows each sprite after segmentation by the integration technology of hardware in itself
Show very smooth, there is no interim card sense.Pass through the computing of matrix first, it is possible to achieve be shown to the rectangular frame of rule irregularly
Target area；Then the mapping of picture is passed through, it is possible to achieve the display of jumbotron；The rectangle to be shown finally by trigonometric ratio
Region, can accomplish to be less than the finer adjustment of pixel scale, and then realize seamless non-overlapping between projector
Display, and picture associative perception is very strong, almost without aberration.
Brief description of the drawings
A kind of Slam method flow diagrams scanned based on 3D that Fig. 1 provides for the present invention.
Fig. 2 is the Mapping and Converting schematic diagram of the embodiment of the present invention.
Fig. 3 cuts schematic diagram for the rectangular area of the embodiment of the present invention.
Fig. 4 is the triangle of the embodiment of the present invention by rectangular area cutting schematic diagram.
Embodiment
Embodiments of the invention are further described below in conjunction with the accompanying drawings.
The invention provides a kind of Slam methods scanned based on 3D, as shown in figure 1, comprising the following steps：
Duo Tai projectors are included in S1, display system, by simple setting-out program, each projector in the display system
Projected picture in draw one group of uniform horizontal line and vertical line (such as interval 64), horizontal line and vertical line is filled full whole projector's screen
Curtain.Using Tof cameras, a frame RGB and depth information XYZ is gathered to each projector picture in display system, then will be all
Projector is divided into several deciles, and a frame RGB and depth information XYZ is gathered for whole pictures of each decile.Frame is drawn with frame
There are many points physically overlapped between face.Each projector and each decile have the independent coordinate space of oneself.
S2, on the basis of first projection machine information, associating for other projectors and first projector is set up manually
System, i.e., a group echo is done in face on the display region in advance, binds identical in different projector's pictures manually on RGB information figure
Point.So by manual intervention, data error is reduced, controllability is improved.
S3, get in step sl is the independent local space of each projector and decile, it is necessary to which they are changed
Into a unified space.Using the projector of upper left first as global space, corresponding coordinate system is XYZ coordinate system, is passed through
Calibration point, using following algorithm, other projector spaces are transformed into the global space at the place of first projector：
Many points physically overlapped can be demarcated between the Liang Ge projectors shot twice, if the point set shot for the first time is
Y, the point set of second of shooting is X, and causes Y=X*M in the presence of a matrix M, and wherein X and Y are n*4 matrixes, and M
It is 4*4 matrix；In order to obtain M, M=(X are drawn used here as least square methodT*X)-1*XT* Y, is obtained after Metzler matrix,
Pass through Yi=M*XiPoint in every other projector can be transformed into the global space at the place of first projector, its
Middle XTRepresent X transposed matrix, (XT*X)-1Represent (XT* X) inverse matrix, i=1,2,3 ..., N, N is video camera quantity.
S4, step S3 obtain global space in by all projectors by matrixing or pinhole imaging system technology,
The view field of all projectors is transformed into a plane space, this plane space is referred to as Pxy spaces.Wherein matrix becomes
The mode of changing is specially：Pass through Zi=R*Yi+ T is converted, by all projectors by rotating (R matrixes are represented) or translation (T matrixes
Represent) it is transformed into same z-plane space.In general optical projection system, the situation of translation, i.e. T are not had between perspective plane
=0, Zi=R*Yi, therefore only need to determine 4*4=16 parameter of R matrixes.R matrixes can be by asking for the side of Metzler matrix
Method, or obtained by demarcating 3 reference axis manually to calculate.By conversion above, we can be intended to the rectangle of projection
Region project can also be projected on ring curtain, as shown in Figure 2 to rectangular display area.
S5, projector's number is set as n, being intended to the picture (such as computer desktop) of Projection Display, to be cut into r rows, c row equal
The rectangular area Ti of size, and n=r × s.The region for defining whole computer desktop determination is uv spaces, rectangular area Ti
Representative is exactly the content area that correspondence projector needs to show, each projector's display content shares same uv coordinates
System.The space of determination display location corresponding with uv coordinate systems is referred to as xy spaces, and the xy coordinate systems of each projector are separate.
The uv coordinate systems of each projector are had determined, it is necessary to which corresponding xy coordinate systems are found out now.
S6, the horizontal line and vertical line shown according to projector in step S1, then one group of horizontal line of demarcation and vertical line, and set by hand
(because line is uniformly paved with whole projector's picture anyhow, the size of projector is solid to their good xy coordinates in projector
Fixed, therefore the xy coordinates of every line can be drawn).Two end points of every horizontal line and vertical line include xy coordinates, pass through S3, S4
The conversion of two steps can complete the conversion of xy coordinate-uv coordinates, to this every horizontal line and vertical line (end points) xy coordinates and
Uv coordinates realize binding.Here each projector screen is divided by horizontal line and vertical line, the xy coordinates of horizontal line and vertical line
It can manually adjust, data error can be reduced by manual intervention, improve controllability.
S7, same mode demarcate 4 boundary lines up and down of final viewing area by hand, will own on 4 borders
The xy coordinates and uv coordinates on summit are bound.4 boundary lines determine the area size finally shown, this area size
The rectangular area (being set to R3) of the region (being set to R2) that (being set to R1)≤all projectors cover together≤desire projection display picture.
It can so cut away in R2 due to boundary irregularities caused by projector's ardware feature, leave behind a regular square
Shape region.Need R3 being mapped in R1 now, then in final viewing area any point P display content with uv coordinates tables
Show, the width on wherein u=point P to left margin width/border that display picture is intended to apart from *, v=points P is to coboundary apart from *
It is intended to the height on height/border of display picture.Now it is required to determine that xy coordinates of the point P in each projector.
S8, same mode demarcate 4 summits of the rectangular area that each projector shows by hand, by the xy on 4 summits
Coordinate and uv coordinates associate (can be by the way that the pixel of whole screen be all shown, then the mode of several points is true
The xy coordinates on fixed each summit).The display screen size of this rectangular area size≤projector.4 hands of neighboring projectors
Work demarcation summit is physically overlapping, and 4 summits of each projector rectangular area can adjust xy coordinates, it is meant that throw
Shadow machine can a display portion region, realize remove lap demand, while the precision of xy coordinates be less than 1, so go
Almost without gap between projector while except lap.
S9, the rectangular area for showing each projector are cut with horizontal line and vertical line, as shown in figure 3, the friendship surrendered
In point with 2 horizontal lines (H1, H2) and 3 vertical lines (V1, V2, V3) totally 6 points (need to constitute a rectangle, such as 0,1,2,3,4,
5) it is one group, two groups every group two diagonal is done in 6 intersection points and surrender 2 intersection points, the extended line and 3 of 2 intersection point lines altogether
Bar vertical line (V1, V2, V3) surrenders 3 intersection points (such as 6,7,8) again, and 3 intersection points newly surrendered are with 6 original intersection points again with 6
Intersection point (0,6,3,1,7,4) is one group and intersected with horizontal line and vertical line.The xy coordinates and uv coordinates for the point newly surrendered using horizontal line and
The xy coordinates and uv coordinates of vertical line end points are filled.So cut repeatedly, until each pixel in rectangular area has
Xy coordinates and uv coordinates, can finally generate an xy coordinate and uv coordinate corresponding tables.There is a part in so each projector
Xy coordinates and global uv coordinates corresponding table.
S10, the rectangular frame R for surrounding 4 borders are cut into identical rectangle with certain size (such as 64*64), will
Rectangle is cut into two small triangles along opposite side.There is uv coordinates (the R size of oneself on three summits of each small triangle
It is to determine, small triangle is uniform cutting and size is fixed, uv coordinates can be obtained by simple division arithmetic).It is small
Triangle can be projected the further cutting in rectangular area of machine, form smaller triangle.What is formed in dicing process is new small by three
Angular uv coordinates need to be determined jointly according to the uv coordinates of the small triangle of back and 4 summits of projector rectangular area.
Then by searching the projector belonging to each small triangle, according to the xy coordinates of affiliated projector and uv coordinate corresponding tables, i.e.,
The xy coordinates on three summits of each triangle can be found.As shown in figure 4, small triangle is by the principle of rectangular area cutting
For：Two small triangle T 1, T2 are cut into T1, T2, T3, T4, T5, T6 totally 6 new small triangles, and cutting can be one straight
Row is untill all small triangles all can not be by rectangular area cutting.
By step S10, final picture can be obtained and be divided into several small vertex of a triangle xy coordinates, given birth to
Into a triangle list, using supporting the video card interface of integration technology to be sent to related video card and carry out subsequent treatment, i.e.,
It can obtain 3D pictures.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (4)
1. a kind of Slam methods scanned based on 3D, it is characterised in that comprise the following steps：
S1, by setting-out program, one group of uniform horizontal line and vertical line are drawn in the projected picture of each projector in the display system,
Horizontal line and vertical line is set to fill full whole projector screen；Using Tof cameras, each projector's picture is gathered a frame RGB and
Depth information, then all projectors are divided into several deciles, gather a frame RGB and depth for whole pictures of each decile
Information；
S2, on the basis of first projection machine information, the incidence relation of other projectors and first projector is set up manually, i.e.,
A group echo is done in face on the display region, binds identical point in different projector's pictures manually on RGB information figure；
S3, using the projector of upper left first as global space, by calibration point, other projector spaces are transformed into first throwing
In the global space at the place of shadow machine；
S4, in global space by all projectors by matrixing or pinhole imaging system technology, by the throwing of all projectors
Shadow zone domain is transformed into a plane space；
S5, projector's number is set as n, be intended to display picture and be cut into the rectangular area Ti that r rows, c arrange equal size, and n=r
×s；It is uv spaces to define the region that whole computer desktop determines, representated by the Ti of rectangular area is exactly corresponding projector's needs
The content area of display, each projector's display content shares same uv coordinate systems；
S6, the horizontal line and vertical line shown according to projector in step S1, then one group of horizontal line of demarcation and vertical line, and set it by hand
Xy coordinates in projector, while being bound to the xy coordinates and uv coordinates of every horizontal line and vertical line；
4 boundary lines up and down of S7, the by hand final viewing area of demarcation, and by the xy coordinates on all summits on 4 borders
Bound with uv coordinates；
4 summits of S8, the by hand rectangular area that each projector of demarcation shows, and by the xy coordinates and uv coordinates on 4 summits
Associate；
S9, the rectangular area for showing each projector are cut with horizontal line and vertical line, one xy coordinate of generation and uv coordinates
Corresponding table；
S10, the final viewing area for surrounding 4 borders are cut into identical rectangle with certain size, then by rectangle along
Opposite side is cut into two small triangles；Small triangle can form smaller three by the further cutting in the rectangular area of each projector
It is angular, untill all small triangles all can not be by rectangular area cutting；By searching the projection belonging to each small triangle
Machine, according to the xy coordinates of affiliated projector and uv coordinate corresponding tables, finds the xy coordinates on three summits of each triangle.
2. the Slam methods according to claim 1 scanned based on 3D, it is characterised in that the step S3 is specially：
Many points physically overlapped can be demarcated between the Liang Ge projectors shot twice, if the point set shot for the first time is Y, the
The point set of secondary shooting is X, and causes Y=X*M in the presence of a matrix M, and wherein X and Y are n*4 matrixes, and M is one
Individual 4*4 matrix；In order to obtain M, M=(X are drawn used here as least square methodT*X)-1*XT* Y, is obtained after Metzler matrix, passes through Yi
=M*XiPoint in every other projector can be transformed into the space of first projector, wherein XTRepresent X transposition square
Battle array, (XT*X)-1Represent (XT* X) inverse matrix, i=1,2,3 ..., N, N is video camera quantity.
3. the Slam methods according to claim 2 scanned based on 3D, it is characterised in that the matrix in the step S4 becomes
The mode of changing is specially：
Rotation transformation is represented with R matrixes, T matrixes represent translation transformation, pass through Zi=R*Yi+ T is converted, and all projectors are changed
To same z-plane space.
4. the Slam methods according to claim 1 scanned based on 3D, it is characterised in that the step S9 is specially：
The rectangular area that each projector is shown is cut with horizontal line and vertical line, with 2 horizontal lines and 3 in the intersection point surrendered
Totally 6 points are one group to vertical line, and two groups every group two diagonal are done in 6 intersection points and surrender 2 intersection points altogether, 2 intersection point lines
Extended line and 3 vertical lines surrender 3 intersection points again, and 3 intersection points newly surrendered are with 6 original intersection points again using 6 intersection points as one group
Intersect with horizontal line and vertical line；The new xy coordinates and uv coordinates for surrendering intersection point uses horizontal line and the xy coordinates and uv coordinates of vertical line end points
It is filled；So cut repeatedly, until each pixel in rectangular area has xy coordinates and uv coordinates, ultimately produce one
Open xy coordinates and uv coordinate corresponding tables.
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| CN102611822A (en) * | 2012-03-14 | 2012-07-25 | 海信集团有限公司 | Projector and projection image rectifying method thereof |
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Denomination of invention: Slam method based on 3D scanning Effective date of registration: 20190911 Granted publication date: 20180904 Pledgee: Chengdu Qingyang District Xingcheng Microfinance Co.,Ltd. Pledgor: ILUMINTEL Inc. Registration number: Y2019510000020 |
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