CN108318029A - Attitude Tracking and image superimposing method and display equipment - Google Patents
Attitude Tracking and image superimposing method and display equipment Download PDFInfo
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- CN108318029A CN108318029A CN201711204062.4A CN201711204062A CN108318029A CN 108318029 A CN108318029 A CN 108318029A CN 201711204062 A CN201711204062 A CN 201711204062A CN 108318029 A CN108318029 A CN 108318029A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of Attitude Tracking and image superimposing method and display equipment.The method includes：The posture information for showing equipment is determined by preset extended Kalman filter；Situation image is generated according to the posture information；According to the coordinate system transformational relation of predetermined situation image model coordinate systems and display device coordinate system, the image transformational relation of situation image and real scene image is determined；According to described image transformational relation, the situation image of generation is added in the real scene image of the display equipment.The present invention is obviously improved the accuracy and safety that augmented reality is shown.
Description
Technical field
The present invention relates to augmented reality fields, more particularly to a kind of Attitude Tracking and image superimposing method and show
Show equipment.
Background technology
Augmented reality shows airmanship, provides naked eyes sightless navigation for user's life by superimposed image information
Or auxiliary image information, the effect of visualization and application efficiency of types of applications can be improved.Situation based on augmented reality
Display and navigation system, can make user simultaneously in true environment target and navigation picture row observe.
In existing augmented reality navigation, the accuracy and safety that augmented reality is shown are relatively low.
Invention content
In order to overcome drawbacks described above, the technical problem to be solved in the present invention is to provide a kind of Attitude Tracking and image superpositions
Method and display equipment, the accuracy shown to augmented reality and safety.
In order to solve the above technical problems, a kind of Attitude Tracking in the present invention and image superimposing method, including：
The posture information for showing equipment is determined by preset extended Kalman filter；
Situation image is generated according to the posture information；
According to the coordinate system transformational relation of predetermined situation image model coordinate systems and display device coordinate system, really
The image transformational relation of stationary state gesture image and real scene image；
According to described image transformational relation, the real scene figure for the display equipment that the situation image of generation is added to
As in.
In order to solve the above technical problems, a kind of display equipment in the present invention, including extended Kalman filter, storage
Device and processor；The memory is stored with Attitude Tracking and image superposition computer program；The processor executes the meter
Calculation machine program, the step of to realize method as described above.
The present invention has the beneficial effect that：
The present invention utilizes extended Kalman filter tracing positional and posture, obtains the posture information of display equipment, and raw
At situation image, situation image is added in real scene image according to determining image transformational relation, to be obviously improved
The accuracy and safety that augmented reality is shown.
Description of the drawings
Fig. 1 is a kind of flow chart of Attitude Tracking and image superimposing method in the embodiment of the present invention；
Fig. 2 is a kind of flow chart of optionally Attitude Tracking and image superimposing method in the embodiment of the present invention；
Fig. 3 is the flow chart of extended Kalman filter tracing positional and posture in the embodiment of the present invention.
Specific implementation mode
In order to solve problems in the prior art, the present invention provides a kind of Attitude Trackings and image superimposing method and display
Equipment, below in conjunction with attached drawing and embodiment, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, does not limit the present invention.
Embodiment one
A kind of Attitude Tracking of offer of the embodiment of the present invention and image superimposing method, as shown in Figure 1, the method includes：
S101 determines the posture information for showing equipment by preset extended Kalman filter (EKF)；
S102 generates situation image according to the posture information；
S103 is converted according to the coordinate system of predetermined situation image model coordinate systems and display device coordinate system and is closed
System, determines the image transformational relation of situation image and real scene image；
S104, according to described image transformational relation, the true field for the display equipment that the situation image of generation is added to
In scape image.
Method executes in the display device in the embodiment of the present invention, for example, head-mounted display apparatus.
Real scene image can be the image for showing equipment and directly being shot by optical system in the embodiment of the present invention.
The embodiment of the present invention utilizes extended Kalman filter tracing positional and posture, obtains the pose letter of display equipment
Breath, and situation image is generated, situation image is added in real scene image according to determining image transformational relation, to
It is obviously improved the accuracy and safety that augmented reality is shown；It can assist in user and preferably judge society's peace in the application
The position of full situation and true environment target, improves the efficiency of social safety Situation Awareness.
In embodiments of the present invention, optionally, described determined by extended Kalman filter shows that the pose of equipment is believed
Breath, including：
Amount of bias is acquired by preset Inertial Sensor System；
Speed, 3 d pose and the three-dimensional position of tracked target are determined by preset optical system；
According to the amount of bias, the speed of the target, 3 d pose and three-dimensional position, pass through the spreading kalman
Filter determines the posture information.
Posture information includes position and posture in the embodiment of the present invention；The Inertial Sensor System includes multiple types
Inertial sensor；Such as gyroscope, accelerometer and Magnetic Sensor.
The embodiment of the present invention merges augmented reality peace by using optical system and Inertial Sensor System combined tracking
Full battle state display and the pose in navigation, carry out data fusion using Extended Kalman filter, it is faster to be integrated with renewal speed
Inertia tracking result and the higher optical tracking of precision improve tracking as a result, take into account the inhibition to optical block error simultaneously
The refresh rate and robustness of system are obviously improved accuracy and safety that augmented reality is shown.
Embodiment two
The embodiment of the present invention provides a kind of optionally Attitude Tracking and image superimposing method, as shown in Figure 1, the method
Including：
Step 1 is using FIR (Finite Impulse Response, there is limit for length's unit impulse response) filtering mode
Inertial sensor errors are modeled；It specifically includes：
There is limit for length's unit impulse response filter by preset, determines each inertia in the Inertial Sensor System
The biased error of sensor；
According to the biased error, each inertial sensor is corrected.
Specifically, the embodiment of the present invention utilizes the noise in FIR filter removal inertial sensor biased error model.
The FIR filter that the embodiment of the present invention is 20 using an exponent number, active balance computation rate and precision, it is defeated
Going out expression formula is：
The amount of bias of inertial sensor is the output of filter, the measurement of filter coefficient and inertial sensor and ideal
Value is the input of filter：
It is determined by repetition test, filter design parameter is set to：Sample frequency is 400Hz, and cutoff frequency is
50Hz, order 20.
Experiment proves that the embodiment of the present invention proposes that filter parameter is as follows：
Above-mentioned parameter is brought into can obtain the biasing in each inertial sensor measured value after filter removal noise misses
Difference.
The embodiment of the present invention, which can utilize, has limit for length's unit impact response filter to reduce inertial sensor errors to tracking
The influence of precision improves tracking accuracy.
Step 2, posture and position tracking based on extended Kalman filter；Including passing through preset spreading kalman
Filter determines the posture information for showing equipment；Situation image is generated according to the posture information.
As shown in figure 3, the embodiment of the present invention realizes the posture and position tracking to target using extended Kalman filter
To determine the posture information for showing equipment, including：
Amount of bias is acquired by preset Inertial Sensor System；
Speed, 3 d pose and the three-dimensional position of tracked target are determined by preset optical system；
According to the amount of bias, the speed of the target, 3 d pose and three-dimensional position, pass through the spreading kalman
Filter determines the posture information.
Wherein, according to the amount of bias, the speed of the target, 3 d pose and three-dimensional position, pass through the expansion card
Thalmann filter determines the posture information, including：
The spreading kalman filter is built according to the amount of bias, the speed of the target, 3 d pose and three-dimensional position
The state variable of wave device；
In the filtering cycle of the extended Kalman filter, estimation update is carried out to the state variable, obtains institute
State posture information.
The embodiment of the present invention forms combined tracking system using Inertial Sensor System and optical system, effectively overcomes mark
Will point partial occlusion and short time block the influence generated to position tracking completely, improve the robustness of tracking system.
Specifically, the state variable of extended Kalman filter is estimated and updates, the present invention in each filtering cycle
The state variable of embodiment is by the quaternary number of expression target three-dimension altitude angle, the position of target, the speed of target and inertia sensing
The biasing of device forms：
Q=[q1 q2 q3 q4]T
P=[X Y Z]
V=[vx vy vz]T
B=[Bgx Bgy Bgz Bax Bay Baz Bmx Bmy Bmz]T
Wherein, q indicates the 3 d pose of target, is indicated with quaternary number, q1For quaternary imaginary part, q2、q3And q4It is real for quaternary number
Portion.P indicates the three-dimensional position of target, is indicated with three-dimensional location coordinates, X, Y and Z respectively represent amount of bias in reference frame three
Component in a reference axis.V is the speed of tracked target, and footnote g, a and m respectively represent gyroscope, accelerometer and magnetic and pass
Sensor；B is amount of bias.System state variables are updated according to following equation：
vk=vk-1+Δt·ak
Bk=Bk-1+nb
Kalman gain matrix is updated by following equation：
Wherein R is measurement noise covariance matrix：
Wherein,For the prior uncertainty covariance matrix of system, H converts system measurement and quantity of state
Jacobian matrix.And then obtain the measurement updaue equation of system：
In formula, measured value Z is the position and posture information that optical system obtains.
Situation image can be social safety situation navigation picture in the embodiment of the present invention；It is generated in the embodiment of the present invention
The mode of situation image may include：
Real scene, user and display are captured by the combined tracking system being made of optics and inertia tracking system
The real time position and posture of equipment, can generate social safety after situation information threedimensional model is matched with posture information
Situation navigation picture.
Step 3 converts two groups of navigation system coordinate systems in space；Have including：
To situation image model coordinate systems, the reference frame of real scene image, optical system coordinate system and described aobvious
Show that device coordinate system is registrated；
According to registration result, the coordinate system transformational relation is determined.
Optionally, described that situation image model coordinate systems, the reference frame of real scene image, optical system are sat
Mark system and display device coordinate system registration, including：
The situation image model coordinate systems and the reference frame are registrated；
To the reference frame and optical system co-registration of coordinate systems used；
The optical system coordinate system and the display device coordinate system are registrated.
Optionally, for any two coordinate system, the registration includes：
Determine the best translation vector of two coordinate systems；
According to the best translation vector, to two co-registration of coordinate systems used.
Wherein, the best translation vector of two coordinate systems of the determination, including：
The corresponding points of identical quantity are chosen in two coordinate systems, form two groups of point sets；
Calculate the center of gravity of two groups of point sets；
According to the center of gravity, the covariance matrix of two groups of point sets is constituted；
According to the covariance matrix, symmetrical matrix is constituted；
The characteristic value and feature vector for calculating the symmetrical matrix obtain the corresponding feature vector of maximum eigenvalue；
According to the conversion formula of pre-set two coordinate systems and obtained feature vector, best translation vector is determined.
Specifically, the conversion of two coordinate systems can be indicated by following conversion formula in space：
Wherein, footnote a represents the three-dimensional location coordinates of the target in a coordinate systems, and footnote b represents the target in b coordinate systems
Three-dimensional location coordinates,Indicate that, from b coordinate systems to the spin matrix of a coordinate systems, spin matrix takes in the embodiment of the present invention
Best spin matrix,It represents from b coordinate systems to the motion vector of a coordinate systems；Motion vector takes most preferably in the embodiment of the present invention
Translation vector.
The matching of two groups of point coordinates is carried out by ICP (Integrative Closest Point) algorithm.
When calculating, the corresponding points of identical quantity are chosen in two coordinate systems respectively, calculate the center of gravity of two groups of point sets：
Wherein a and b respectively represents two point sets in two coordinate systems, and covariance matrix is constituted by two point sets：
Above-mentioned covariance matrix constitutes 4x4 symmetrical matrixes：
Wherein tr (∑sa,b) it is matrix ∑a,bMark,
Δ=[A23 A31 A12]
Calculating matrix Q (∑sa,b) characteristic value and feature vector, the corresponding feature vector of maximum eigenvalue is as best
Rotating vector, you can obtain best spin matrix Rot.Thus best translation vector T is obtained：
T=μb-Rotμa
To each section co-registration of coordinate systems used, including：Three-dimensional situation information model coordinate system corresponding with situation information image
(IMG), reference frame (REF) corresponding with real scene position, display device coordinate system (TOOL), optical tracking system
System coordinate system (OTS) and inertia tracking system coordinate system (IMU).
Step 4, three-dimensional situation information model coordinate system, real scene reference by location coordinate system, reference frame and aobvious
Show that device coordinate system is converted；It specifically includes：According to predetermined situation image model coordinate systems and show device coordinate system
Coordinate system transformational relation determines the image transformational relation of situation image and real scene image.
Situation iconic model is referred to as situation information model, including three-dimensional situation information mould in the embodiment of the present invention
Type.
Specifically, after obtaining real scene image, the position coordinates of index point in real scene are extracted, can be calculated true
Transformational relation between the reference frame and three-dimensional situation information model coordinate system of real field scape
The transformational relation between reference frame and optical tracking system is obtained by optical tracking systemAnd
Show the transformational relation between device coordinate and optical tracking systemAfterwards；
And then according to the above transformational relation, the conversion that can be obtained between augmented reality image and real scene image is closed
System
Step 5 carries out the security postures presentation of information that real time enhancing reality is navigated under display assistance.
Augmented reality image is sent to augmented reality in practical applications and shows equipment, and passes through posture tracking error
Situation information navigation picture is carried out error matching and real-time display by method for visualizing.User is in situation information navigation system
Assistance under carry out social safety Situation Awareness and auxiliary information and obtain, real scene and society's peace are judged by navigation picture
Full situation or the relative position for paying close attention to object.
The embodiment of the present invention by the combined tracking system that is made of optics and inertia tracking system capture real scene,
The real time position and posture of user and display equipment, can after situation information threedimensional model is matched with posture information
Social safety situation navigation picture is generated, this method can assist in user and preferably judge social safety situation in the application
With the position of true environment target, the efficiency of social safety Situation Awareness is improved.
Embodiment three
The embodiment of the present invention provides a kind of display equipment, and the equipment includes extended Kalman filter, memory and place
Manage device；The memory is stored with Attitude Tracking and image superposition computer program；The processor executes the computer journey
Sequence, to realize such as the step of any one of embodiment one or embodiment two the method.
Optionally, the equipment further includes Inertial Sensor System and optical system.
The embodiment of the present invention can have corresponding technology effect in specific implementation refering to embodiment one and embodiment two
Fruit.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not used to limit this hair
Bright protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of Attitude Tracking and image superimposing method, which is characterized in that the method includes：
The posture information for showing equipment is determined by preset extended Kalman filter；
Situation image is generated according to the posture information；
According to the coordinate system transformational relation of predetermined situation image model coordinate systems and display device coordinate system, situation is determined
The image transformational relation of image and real scene image；
According to described image transformational relation, the situation image of generation is added in the real scene image of the display equipment.
2. the method as described in claim 1, which is characterized in that described determined by extended Kalman filter shows equipment
Posture information, including：
Amount of bias is acquired by preset Inertial Sensor System；
Speed, 3 d pose and the three-dimensional position of tracked target are determined by preset optical system；
According to the amount of bias, the speed of the target, 3 d pose and three-dimensional position, pass through the Extended Kalman filter
Device determines the posture information.
3. method as claimed in claim 2, which is characterized in that described according to the amount of bias, the speed of the target, three-dimensional
Posture and three-dimensional position determine the posture information by the extended Kalman filter, including：
The extended Kalman filter is built according to the amount of bias, the speed of the target, 3 d pose and three-dimensional position
State variable；
In the filtering cycle of the extended Kalman filter, estimation update is carried out to the state variable, obtains institute's rheme
Appearance information.
4. method as claimed in claim 2, which is characterized in that described to acquire amount of bias by preset Inertial Sensor System
Before, including：
There is limit for length's unit impulse response filter by preset, determines each inertial sensor in the Inertial Sensor System
Biased error；
According to the biased error, each inertial sensor is corrected.
5. method as claimed in claim 2, which is characterized in that it is described according to predetermined situation image model coordinate systems and
The coordinate system transformational relation for showing device coordinate system, before the image transformational relation for determining situation image and real scene image,
Including：
Situation image model coordinate systems, the reference frame of real scene image, optical system coordinate system and the display are set
Standby co-registration of coordinate systems used；
According to registration result, the coordinate system transformational relation is determined.
6. method as claimed in claim 5, which is characterized in that described to situation image model coordinate systems, real scene image
Reference frame, optical system coordinate system and the display device coordinate system registration, including：
The situation image model coordinate systems and the reference frame are registrated；
To the reference frame and optical system co-registration of coordinate systems used；
The optical system coordinate system and the display device coordinate system are registrated.
7. method as claimed in claim 6, which is characterized in that be directed to any two coordinate system, the registration includes：
Determine the best translation vector of two coordinate systems；
According to the best translation vector, to two co-registration of coordinate systems used.
8. the method for claim 7, which is characterized in that the best translation vector of two coordinate systems of the determination, including：
The corresponding points of identical quantity are chosen in two coordinate systems, form two groups of point sets；
Calculate the center of gravity of two groups of point sets；
According to the center of gravity, the covariance matrix of two groups of point sets is constituted；
According to the covariance matrix, symmetrical matrix is constituted；
The characteristic value and feature vector for calculating the symmetrical matrix obtain the corresponding feature vector of maximum eigenvalue；
According to the conversion formula of pre-set two coordinate systems and obtained feature vector, best translation vector is determined.
9. a kind of display equipment, which is characterized in that the equipment includes extended Kalman filter, memory and processor；Institute
It states memory and is stored with Attitude Tracking and image superposition computer program；The processor executes the computer program, with reality
Now such as the step of any one of claim 1-8 the methods.
10. equipment as claimed in claim 9, which is characterized in that the equipment further includes Inertial Sensor System and optical system
System.
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| CN110879611A (en) * | 2019-11-01 | 2020-03-13 | 中国电子科技集团公司电子科学研究院 | Unmanned aerial vehicle cluster three-dimensional curve path tracking method and device |
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