CN109949228A - A kind of on-line proving device and method of the AR glasses of optical perspective - Google Patents
A kind of on-line proving device and method of the AR glasses of optical perspective Download PDFInfo
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Abstract
The present invention relates to augmented reality navigation system more particularly to a kind of on-line proving device and methods of the AR glasses of optical perspective.A kind of on-line proving device of the AR glasses of optical perspective, is made of glasses (1), calibrating block (2), binocular vision camera (3), people (4), computer (5).Calibrating block (2) is the polyhedron with rib.Present invention simultaneously provides a kind of online calibration methods of the AR glasses of optical perspective.It is sampled by multiple sampled points for collecting work space, the mapping transformation of off-line calculation sampled point Virtual Space and real space.In line in use, after user wears AR glasses every time, the data of collecting work space center simultaneously calculate its mapping matrix, and correct the mapping model of non-sampled point.This method only needs a small amount of operation that can complete the on-line proving of AR glasses unreal & real space；Meanwhile the interpolation to non-sampled mapping relations, and the lower defect of Linear Mapping precision can be made up.
Description
Technical field
The present invention relates to a kind of on-line proving device and methods of the AR glasses of optical perspective.
Background technique
AR glasses are gradually applied in various reality scenes, are included in medical surgery navigation field.In AR glasses
In, need to carry out actual situation calibration.Actual situation calibration is exactly the coordinate system mapping pass for obtaining dummy object and real physical space
System.AR glasses based on optical perspective receive main body by information of human eye, and the acquisition information at human eye visual angle can not be measured directly.
It is mainly at present SPAAM method for the scaling method based on optical perspective AR glasses.During the calibration process, user is empty by observation
Between point, artificially to its Virtual Space and real space.
In actual use, when different users wears AR glasses every time, changes will occur for space reflection relationship.Cause
This is although many people improve SPAMM method, and during the calibration process, due to needing repeatedly alignment unreal & real space, calibration process is very
It is time-consuming.In the application of the scenes such as clinical operation, these methods are all not applicable.Simultaneously as the AR glasses based on optical perspective are empty
Real space mapping and non-critical Linear Mapping.The invention proposes a kind of on-line proving device of the AR glasses of optical perspective and
Method, user only need a small amount of alignment operation that can complete the on-line proving of unreal & real space；Meanwhile by working region
Mapping relations carry out interpolation, can more accurately express the mapping model of different spatial.
Summary of the invention
(1) technical problems to be solved
The purpose of the present invention is to provide a kind of on-line proving device and methods of the AR glasses of optical perspective, can both protect
The stated accuracy of AR glasses is demonstrate,proved, and the on-line proving time can be reduced.
(2) technical solution
To reach above-mentioned purpose, a kind of on-line proving device of the AR glasses of optical perspective of the present invention, by following portion
Divide and constitute: glasses (1), calibrating block (2), binocular vision camera (3), people (4), computer (5) are constituted.
According to the present invention, glasses (1) are the AR glasses an of optical perspective, and have the feature that have on glasses (1) can
The projector of holographic image is provided, projector is to the projected virtual image of holographic eyeglass (202), and virtual image is through holographic mirror
Virtual image is reflected into the glasses of people by the grating of piece (202)；Holographic eyeglass (202) is see-through eyeglass, and human eye can pass through complete
Breath eyeglass (202) sees real world；Glasses (1) have the Marker (201) that can be tracked by binocular vision camera (3)；Glasses
(1) there is communication module on, can be communicated with computer (5).
According to the present invention, calibrating block (2) is the polyhedron with multiple ribs, and has the feature that calibrating block (2)
There is the Marker (301) that can be tracked by binocular vision camera (3) on some face or multiple faces.
According to the present invention, binocular vision camera (3) can be transferred to computer to Marker information for what vision tracked
(5)。
Present invention simultaneously provides a kind of online calibration methods of the AR glasses of optical perspective.A kind of AR glasses of optical perspective
Online calibration method it is main including the following steps:
Step S1: working space and work sampled point are determined；
Step S2: working space off-line calibration；
Step S3: prepare before calibration: putting on one's glasses, install binocular, connect computer；
Step S4: working space centre data samples M times (M=5)；
Step S5: amendment working space mapping matrix；
Step S6: assessment calibrated error completes on-line proving.
According to the present invention, step S1~S2 is carried out before AR glasses application on site；When application on site, it is only necessary to carry out step
S3~S6.
According to the present invention, determine working space and spatial sampling point: working space parameter by visual depth Dmin~Dmax,
Angle of elevation alpha above and below visual range, left and right visual angle β；K spatial sampling point should be in Work Space Range.The number K of spatial sampling point
> 9；Spatial sampling point should preset good position.
According to the present invention, step S2 working space off-line calibration includes several key steps:
Step S2.1: prepare before calibration: putting on one's glasses, install binocular, connect computer；
Step S2.2: it is secondary that N (N > 20) is acquired respectively to K sampled point acquisition data；
Step S2.3: the mapping matrix of each sampled point of working space is calculated.
According to the present invention, the data sampling process in step S2.2 and step S4, mainly including the following steps:
Step A1: alignment calibrating block.If it is satisfied to be aligned result, step A2 is executed；If dissatisfied to alignment result, weight
New alignment.
Step A2: record data.If the sampling number reaches requirement, the sampling point sampling is completed；If do not reached
To sampling number, return step A1 continues to sample.
According to the present invention, the calibration of the AR glasses of optical perspective is the mapping transformation T for asking Virtual Space and real space
(·).The position of glasses (1) and calibrating block (2) in the coordinate system of binocular vision camera is respectivelyWithHuman eye will be marked
Determining virtual coordinates when block (2) is aligned with the frame of virtual reality in glasses (1) isSo mapping transformation
Wherein,AndIt is its submatrix of 4*4, can be expressed asWherein, R is orthogonal
Matrix indicates rotation, and P is transposed matrix.
According to the present invention, n times are acquired respectively in each sampled point, decomposed by SVD and solve each sampled point
H=U Λ VT
According to the present invention, the AR glasses unreal & real space based on optical perspective maps non-critical Linear Mapping, therefore to work
Make the non-sampled point in space and carries out linear interpolation.The p of non-sampled point in real space0Q in corresponding Virtual Space0Coordinate line
Property interpolation indicate are as follows:
To the attitudes vibration of a rigid body, mean matrix are as follows:
According to the present invention, before use, needing to carry out on-line proving.Before use, the center to working space carries out again
Sampling, recalculates its mapping matrix Tc', and mapping result is modified:
R0'=(Rc’)-1RcR0
According to the present invention, the error evaluation of on-line proving mainly includes range error and angular error:
Range error
Angular error
Wherein, rot2axisangle () is to calculate spin matrix to be converted into the angle value around axis rotation.If rotation
MatrixSo
(3) beneficial effect
The invention proposes a kind of on-line proving device and method of the AR glasses of optical perspective, user only needs a small amount of
Alignment operation can complete the on-line proving of unreal & real space；Meanwhile interpolation is carried out by the mapping relations to working region, it can
More accurately to express the mapping model of different spatial.
Detailed description of the invention
Fig. 1 is a kind of on-line proving schematic diagram of the AR glasses of optical perspective；
Fig. 2 is optical perspective glasses；
Fig. 3 is calibrating block；
Fig. 4 is demarcation flow；
Fig. 5 is off-line calibration process；
Fig. 6 is data sampling process；
Fig. 7 is the working space and sampled point schematic diagram of AR glasses；
Fig. 8 is calibrating block actual situation to its schematic diagram.
Specific embodiment
Below with reference to embodiment and its attached drawing a kind of the present invention will be described in detail optical perspective AR glasses it is online
Caliberating device and method, but protection scope of the present invention is not limited to following embodiments.
Referring to Fig.1, a kind of on-line proving device of the AR glasses of optical perspective is by glasses (1), calibrating block (2), binocular vision
Feel that camera (3), people (4), computer (5) are constituted.What binocular vision camera (3) can track vision transmits to Marker information
Give computer (5).
Referring to Fig. 2, glasses (1) are the AR glasses an of optical perspective, and have the feature that on glasses (1) have and can mention
For the projector of holographic image, projector is to the projected virtual image of holographic eyeglass (202), and virtual image is through holographic eyeglass
(202) virtual image is reflected into the glasses of people by grating；Holographic eyeglass (202) is see-through eyeglass, and human eye can pass through holography
Eyeglass (202) sees real world；Glasses (1) have the Marker (201) that can be tracked by binocular vision camera (3)；Glasses (1)
On have communication module, can be communicated with computer (5).In Fig. 2 the Marker of glasses (1) be placed on eyeglass just on
Side.Marker in glasses (1) can be 1 be also possible to it is multiple.As long as guarantee calibration, Marker can be by binocular vision phase
Machine (3) traces into, and the position of Marker, which can according to need, to be configured.
Referring to Fig. 3, calibrating block (2) is the polyhedron with multiple ribs, and have the feature that calibrating block (2) certain
There is the Marker (301) that can be tracked by binocular vision camera (3) on one face or multiple faces.Fig. 3 is one kind of calibrating block (2)
Feasibility pattern, the calibrating block are a cubes, and there is Marker in the upper surface of cube.
The application that the present invention selects the HoloLens glasses of Microsoft to demarcate as the AR glasses unreal & real space of optical perspective is shown
Example.
The calibration of the AR glasses of optical perspective is the mapping transformation T () for asking Virtual Space and real space.Glasses (1) and
Position of the calibrating block (2) in the coordinate system of binocular vision camera is respectivelyWithHuman eye is by calibrating block (2) and glasses
(1) in virtual reality frame alignment when virtual coordinates beSo mapping transformation
Wherein,AndIt is its submatrix of 4*4, can be expressed asWherein, R is orthogonal
Matrix indicates rotation, and P is transposed matrix.
Referring to Fig. 4, a kind of online calibration method of the AR glasses of optical perspective is main including the following steps:
Step S1: working space and work sampled point are determined；
Step S2: working space off-line calibration；
Step S3: prepare before calibration: putting on one's glasses, install binocular, connect computer；
Step S4: working space centre data samples M times；
Step S5: amendment working space mapping matrix；
Step S6: assessment calibrated error completes on-line proving.
Referring to Fig. 7, determine working space and spatial sampling point: working space parameter, can by visual depth Dmin~Dmax
Depending on angle of elevation alpha above and below range, left and right visual angle β；K spatial sampling point should be in Work Space Range；The number K > of spatial sampling point
9；Spatial sampling point should preset good position.
In application, the sampling number M=5 of work centre on HoloLens.What working space sampled point was chosen is work
8 vertex (V1~V8) of one cube of spatial dimension and center V9.
Referring to Fig. 5, step S2 working space off-line calibration includes several key steps:
Step S2.1: prepare before calibration: putting on one's glasses, install binocular, connect computer；
Step S2.2: it is secondary that N (N > 20) is acquired respectively to K sampled point acquisition data；
Step S2.3: the mapping matrix of each sampled point of working space is calculated.
N times are acquired respectively in each sampled point, are decomposed by SVD and are solved each sampled point
H=U Λ VT
AR glasses unreal & real space based on optical perspective maps non-critical Linear Mapping, therefore non-sampled to working space
Point carries out linear interpolation.The p of non-sampled point in real space0Q in corresponding Virtual Space0Coordinate indicated with linear interpolation are as follows:
To the attitudes vibration of a rigid body, mean matrix are as follows:
Referring to the data sampling process in Fig. 6 and Fig. 8, step S2.2 and step S4, mainly including the following steps:
Step A1: alignment calibrating block.If it is satisfied to be aligned result, step A2 is executed；If dissatisfied to alignment result, weight
New alignment.When alignment, several visual vertex should be aligned as far as possible.If it is satisfied to be aligned result, gesture or bluetooth can be used
Equal external devices add their confirmation.
Step A2: record data.If the sampling number reaches requirement, the sampling point sampling is completed；If do not reached
To sampling number, return step A1 continues to sample.
Step S1~S2 is carried out before AR glasses application on site；When application on site, it is only necessary to carry out step S3~S6.It is answering
With scene in use, after each wearing spectacles of user, resampling is carried out to the center of working space, it is recalculated and maps square
Battle array Tc', and mapping result is modified:
The error evaluation of on-line proving mainly includes range error and angular error:
Range error
Angular error
Wherein, rot2axisangle () is to calculate spin matrix to be converted into the angle value around axis rotation.If rotation
MatrixSo
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of on-line proving device of the AR glasses of optical perspective, including following components: glasses (1), calibrating block (2),
Binocular vision camera (3), people (4), computer (5) are constituted；
Glasses (1) are the AR glasses an of optical perspective；There are the projector that can provide holographic image, projector on glasses (1)
To the projected virtual image of holographic eyeglass (202), virtual image is reflected by virtual image through the grating of holographic eyeglass (202)
The glasses of people；Holographic eyeglass (202) is see-through eyeglass, and human eye can pass through holographic eyeglass (202) and see real world；Glasses
(1) there is the Marker (201) that can be tracked by binocular vision camera (3)；Glasses have communication module on (1), can be with computer
(5) it is communicated；
Calibrating block (2) is the polyhedron with multiple ribs；Having on calibrating block (2) some face or multiple faces can be by binocular
The Marker (301) of vision camera (3) tracking；
According to the present invention, binocular vision camera (3) can be transferred to computer (5) to Marker information for what vision tracked.
2. a kind of online calibration method of the AR glasses of optical perspective, it is characterised in that: ask reflecting for Virtual Space and real space
Penetrate transformation T ()；
The position of glasses (1) and calibrating block (2) in the coordinate system of binocular vision camera is respectivelyWithHuman eye will be demarcated
Virtual coordinates when block (2) is aligned with the frame of virtual reality in glasses (1) areSo mapping transformationAnd
Wherein,AndIt is its submatrix of 4*4, can be expressed asR is that orthogonal matrix table shows
Rotation, P is transposed matrix；
A kind of six steps of on-line proving process S1~S6 of the AR glasses of optical perspective；
Step S1: working space and work sampled point are determined；
Step S2: working space off-line calibration；
Step S3: prepare before calibration: putting on one's glasses, install binocular, connect computer；
Step S4: working space centre data samples M times；
Step S5: amendment working space mapping matrix；
Step S6: assessment calibrated error completes on-line proving；
Wherein, step S1~S2 is off-line calibration, is carried out before AR eyewear applications；When application on site, it is only necessary to carry out step S3~
S6。
3. a kind of online calibration method of the AR glasses of optical perspective, it is characterised in that: when offline, need to determine the work of application scenarios
Make space and spatial sampling point；
Working space parameter includes visual depth Dmin~Dmax, angle of elevation alpha above and below visual range, left and right visual angle β；
K spatial sampling point should be in Work Space Range.
The number K > 9 of spatial sampling point；
Spatial sampling point should preset good position；
Point non-sampled to working space carries out linear interpolation, the p of non-sampled point in real space0Q in corresponding Virtual Space0's
Coordinate is indicated with linear interpolation are as follows:
To the attitudes vibration of a rigid body, mean matrix are as follows:
Wherein, TiIndicate the mapping matrix of working space ith sample point.
4. a kind of online calibration method of the AR glasses of optical perspective, it is characterised in that: empty to work after AR glasses are worn every time
Between center carry out resampling, recalculate its mapping matrix T 'c, and mapping result is modified:
R0'=(R 'c)-1RcR0。
5. step S2 working space off-line calibration, it is characterised in that: include tri- steps of S2.1, S2.2 and S2.3；
Step S2.1 prepares before demarcating, puts on one's glasses, install binocular, connect computer；
It is secondary to acquire N (N > 20) to K sampled point acquisition data respectively by step S2.2；
Step S2.3 calculates the mapping matrix of each sampled point of working space.
6. step S2.3 calculates the mapping of each collection point of working space, it is characterised in that: decomposed by SVD and solve each sampling
Point；
H=U Λ VT；
7. the data sampling process of step S2.2 and step S4, it is characterised in that: include two steps of A1 and A2；
Step A1: alignment calibrating block.If it is satisfied to be aligned result, step A2 is executed；It is again right if dissatisfied to alignment result
Together.
Step A2: record data.If the sampling number reaches requirement, the sampling point sampling is completed；It is adopted if do not reached
Sample number, return step A1 continue to sample.
8. the error evaluation of step S6 on-line proving, it is characterised in that: assessed comprising range error and angular error；
Range error
Angular error
Wherein, rot2axisangle () is to calculate spin matrix to be converted into the angle around axis rotation；If spin matrixSo
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