CN110349078A - A kind of AR pattern algorithm shown for HUD normotopia outdoor scene - Google Patents
A kind of AR pattern algorithm shown for HUD normotopia outdoor scene Download PDFInfo
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Abstract
The present invention provides a kind of AR pattern algorithm shown for HUD normotopia outdoor scene.The AR pattern algorithm includes the reference icon library that building is stored using normotopia outdoor scene gridded format, and the AR pattern algorithm uses following steps: the first step, the coordinate-system for establishing initial graphics and normotopia outdoor scene figure respectively；Polynary multiple linear relation model function between second step, building coordinate-system；Third step, the parameter value for solving polynary multiple linear relation model function, the transfer function to be quantized；4th step is all converted the corresponding coordinate points in initial coordinate figure by the numeralization functional relation, to obtain the corresponding normotopia real scene image of initial coordinate figure.The AR pattern algorithm is by being arranged specific object of reference coordinate transformation system and polynary multiple linear relation model function, and then the AR figure transfer function relationship that can be quantized, it is shown to be able to achieve various different angle shooting images and meet the regular normotopia outdoor scene of human eye transmission.
Description
Technical field
The present invention relates to augmented reality graphic conversion technologies, in particular to a kind of to pass through polynary multiple linear relation model letter
Number obtains AR figure transfer function relationship, is able to achieve the AR figure calculation that the normotopia outdoor scene of various different angle shooting images is shown
Method.
Background technique
The advanced driving assistance system of ADAS (Advanced Driving Assistant System) is to utilize to be mounted on vehicle
On all kinds of sensors, incude the environment of surrounding at any time while the car is driving, collect data, carry out static, dynamic
Identification, detecting and the tracking of state object, and navigation instrument map datum, carry out the operation and analysis of system, to allow in advance
Driver perceives the danger that may occur, and effectively increases the comfortableness and security of car steering.
Augmented reality (Augmented Reality, abbreviation AR) is a kind of position for calculating camera image in real time
And angle and add respective image technology, the target of this technology is virtual world to be covered to go forward side by side in real world on the screen
Row interaction.
Currently, vehicle-mounted new line display optical system can not sufficiently realize the advanced driving assistance system of ADAS, it is main insufficient
Have:
1, the existing vehicle-mounted head-up-display system of tradition, is all one display picture of direct projection, this picture is and front
Road surface picture (real world) is incoherent, that is traditional vehicle-mounted new line shows that image and the real world in the external world are that do not have
There is any fusion.And the Visual Angle in Perspective of our eye-observation real world objects shows as near big and far smaller feature, tradition lift
Image in head display does not do respective coordinates conversion to meet human eye transparent effect, and the image for the display projection that comes back in this way is with reality
The coordinate of scape image is inconsistent, and image in human eye viewing new line display is unable to get two pictures and merges and be bonded well, just
The function of not enhancing display, if therefore come back display content to be merged with real world, it is necessary to the image of projection
Feature will meet transparent effect of the object in human eye of real world.
2, cannot static state to certain visual angle, dynamic object recognized, detected and tracked, such as side pedestrian and Che
Or front vehicle etc., in this case, on the one hand be unable to normotopia shows its image outdoor scene to existing head-up-display system, it is easy to
Subjective errors judgement is generated, another party lacks necessary warning behavior, so that there are some potential safety problemss.
Summary of the invention
The purpose of the present invention is to solve above-mentioned technical problems, provide a kind of AR figure shown for HUD normotopia outdoor scene
Shape algorithm, which, which passes through, is arranged specific object of reference coordinate transformation system and polynary multiple linear relation model function,
And then the AR figure transfer function relationship that can be quantized, to be able to achieve various different angles shooting images, to meet human eye saturating
The normotopia outdoor scene of visual gauge rule is shown.
In order to solve above-mentioned prior art problem, the technical scheme is that
A kind of AR pattern algorithm shown for HUD normotopia outdoor scene, the AR pattern algorithm include that building uses normotopia outdoor scene net
The reference icon library that format of formatting is stored, the AR pattern algorithm use following steps:
The first step, the coordinate-system for establishing initial graphics and normotopia outdoor scene figure respectively；
Polynary multiple linear relation model function between second step, building coordinate-system；
Coordinate points and initial coordinate in third step, the multiple normotopia outdoor scene gridded formats referring to the icon in icon libraries of selection
Corresponding coordinate points substitute into polynary multiple linear relation model function in figure, and solution obtains polynary multiple linear relation model
The parameter value of function, and then the transfer function to be quantized；
4th step is all turned the corresponding coordinate points in initial coordinate figure by the numeralization functional relation
It changes, to obtain the corresponding normotopia real scene image of initial coordinate figure.
The normotopia outdoor scene gridded format referring to the icon in icon library is two dimension or three dimensional constitution；
When the normotopia outdoor scene gridded format referring to the icon in icon library is two-dimensional approach, the AR pattern algorithm step
It is rapid as follows:
(1), the coordinate-system of the initial coordinate figure is set as coordinate one, and image midpoint is expressed as (X1, Y1), (X2,
Y2), (X3, Y3) ... (Xn, Yn),
The coordinate-system referring to the icon in icon library is coordinate two, and image midpoint is expressed as (Xa1, Ya1), (Xa2,
Ya2), (Xa3, Ya3) ... (, Yan)；
(2), the X axis coordinate and Y axis coordinate for setting the coordinate points in coordinate one and the coordinate points in coordinate two are closed to be repeatedly linear
System, the multiple linear relationship is at least 3 times or more, when selecting the multiple linear relationship for trilinear relationship, obtains
The functional relationship model of coordinate is as follows:
Xn= AXan 3 + BXan 2 + CXan+ DYan 3 + EYan 2 + FYan+ G,
Yn= HXan 3 + IXan 2 + JXan+ KYan 3 + LYan 2 + MYan+ M；
(3), for functional relationship model above, multiple normotopia outdoor scene gridded formats referring to the icon in icon library are chosen
In coordinate points and initial coordinate figure in corresponding coordinate points substituted into, 14 equations with three unknowns as above, choose 14
Characteristic point can obtain the value of parameter A ~ M among the above；
(4), parameter value is substituted into functional relationship model, obtains numeralization functional relation, it will by the numeralization functional relation
Corresponding coordinate points in initial coordinate figure are all converted, and are sat to obtain the corresponding normotopia of initial coordinate figure
Logo image, herewith principle, the AR pattern algorithm can carry out three-dimensional coordinate conversion.
The road sign icon or traffic sign icon or pedestrian icon or vehicle different for typing referring to icon library
Then the road sign icon of typing or traffic sign icon or pedestrian's icon or vehicle icon are used normotopia outdoor scene by icon
Gridded format is stored, and is obtained comprising a large amount of reference icon libraries referring to icon.
A kind of AR pattern algorithm shown for HUD normotopia outdoor scene of the present invention, its advantages have:
1, the AR pattern algorithm, which passes through, is arranged specific object of reference coordinate transformation system and polynary multiple linear relation model function, into
And numeralization figure transfer function relationship can be obtained, so that the normotopia outdoor scene for being able to achieve various different angle shooting images is shown；
2, the AR pattern algorithm is able to achieve two dimension or 3-D graphic conversion, precision and can be adjusted as needed, calculate simultaneously
Method is reversible, is able to achieve various special graph conversion effects.
Detailed description of the invention
Fig. 1, for a kind of schematic diagram of the initial pictures of the AR pattern algorithm shown for HUD normotopia outdoor scene of the present invention；
Fig. 2, for the normotopia realistic picture in a kind of reference shape library of the AR pattern algorithm shown for HUD normotopia outdoor scene of the present invention
Target gridding schematic diagram；
Fig. 3, for initial pictures conversion and the normotopia realistic picture of a kind of AR pattern algorithm shown for HUD normotopia outdoor scene of the present invention
Target converts comparative diagram.
Specific embodiment
Below with reference to embodiment, the invention will be further described:
Embodiment 1:
A kind of AR pattern algorithm shown for HUD normotopia outdoor scene, the AR pattern algorithm include that building uses normotopia outdoor scene net
The reference icon library that format of formatting is stored, the AR pattern algorithm use following steps:
The first step, the coordinate-system for establishing initial graphics and normotopia outdoor scene figure respectively；
Polynary multiple linear relation model function between second step, building coordinate-system；
Coordinate points and initial coordinate in third step, the multiple normotopia outdoor scene gridded formats referring to the icon in icon libraries of selection
Corresponding coordinate points substitute into polynary multiple linear relation model function in figure, and solution obtains polynary multiple linear relation model
The parameter value of function, and then the transfer function to be quantized；
4th step is all turned the corresponding coordinate points in initial coordinate figure by the numeralization functional relation
It changes, to obtain the corresponding normotopia real scene image of initial coordinate figure.
The normotopia outdoor scene gridded format referring to the icon in icon library is two dimension or three dimensional constitution；
When the normotopia outdoor scene gridded format referring to the icon in icon library is two-dimensional approach, the AR pattern algorithm step
It is rapid as follows:
(1), the coordinate-system of the initial coordinate figure is set as coordinate one, and image midpoint is expressed as (X1, Y1), (X2,
Y2), (X3, Y3) ... (Xn, Yn),
The coordinate-system referring to the icon in icon library is coordinate two, and image midpoint is expressed as (Xa1, Ya1), (Xa2,
Ya2), (Xa3, Ya3) ... (, Yan)；
(2), the X axis coordinate and Y axis coordinate for setting the coordinate points in coordinate one and the coordinate points in coordinate two are closed to be repeatedly linear
System, the multiple linear relationship is at least 3 times or more, when selecting the multiple linear relationship for trilinear relationship, obtains
The functional relationship model of coordinate is as follows:
Xn= AXan 3 + BXan 2 + CXan+ DYan 3 + EYan 2 + FYan+ G,
Yn= HXan 3 + IXan 2 + JXan+ KYan 3 + LYan 2 + MYan+ M；
(3), for functional relationship model above, multiple normotopia outdoor scene gridded formats referring to the icon in icon library are chosen
In coordinate points and initial coordinate figure in corresponding coordinate points substituted into, 14 equations with three unknowns as above, choose 14
Characteristic point can obtain the value of parameter A ~ M among the above；
(4), parameter value is substituted into functional relationship model, obtains numeralization functional relation, it will by the numeralization functional relation
Corresponding coordinate points in initial coordinate figure are all converted, and are sat to obtain the corresponding normotopia of initial coordinate figure
Logo image, herewith principle, the AR pattern algorithm can carry out three-dimensional coordinate conversion.
The road sign icon or traffic sign icon or pedestrian icon or vehicle different for typing referring to icon library
Then the road sign icon of typing or traffic sign icon or pedestrian's icon or vehicle icon are used normotopia outdoor scene by icon
Gridded format is stored, and is obtained comprising a large amount of reference icon libraries referring to icon.
The above has been described in detail, described above, is only a preferred embodiment of the present invention, when cannot
It limit the scope of implementation of the present invention, i.e., all increases and decreases or replacement according to the made general technology means of the application range should still belong to this hair
In bright covering scope.
Claims (4)
1. a kind of AR pattern algorithm shown for HUD normotopia outdoor scene, which is characterized in that the AR pattern algorithm includes that building is adopted
The reference icon library stored with normotopia outdoor scene gridded format, the AR pattern algorithm use following steps:
The first step, the coordinate-system for establishing initial graphics and normotopia outdoor scene figure respectively；
Polynary multiple linear relation model function between second step, building coordinate-system；
Coordinate points and initial coordinate in third step, the multiple normotopia outdoor scene gridded formats referring to the icon in icon libraries of selection
Corresponding coordinate points substitute into polynary multiple linear relation model function in figure, and solution obtains polynary multiple linear relation model
The parameter value of function, and then the transfer function to be quantized；
4th step is all turned the corresponding coordinate points in initial coordinate figure by the numeralization functional relation
It changes, to obtain the corresponding normotopia real scene image of initial coordinate figure.
2. a kind of AR pattern algorithm shown for HUD normotopia outdoor scene according to claim 1, which is characterized in that described
Normotopia outdoor scene gridded format referring to the icon in icon library is two dimension or three dimensional constitution.
3. a kind of AR pattern algorithm shown for HUD normotopia outdoor scene according to claim 1, which is characterized in that work as institute
When the normotopia outdoor scene gridded format for stating the icon in reference icon library is two-dimensional approach, steps are as follows for the AR pattern algorithm:
(1), the coordinate-system of the initial coordinate figure is set as coordinate one, and image midpoint is expressed as (X1, Y1), (X2,
Y2), (X3, Y3) ... (Xn, Yn),
The coordinate-system referring to the icon in icon library is coordinate two, and image midpoint is expressed as (Xa1, Ya1), (Xa2,
Ya2), (Xa3, Ya3) ... (, Yan)；
(2), the X axis coordinate and Y axis coordinate for setting the coordinate points in coordinate one and the coordinate points in coordinate two are closed to be repeatedly linear
System, the multiple linear relationship is at least 3 times or more, when selecting the multiple linear relationship for trilinear relationship, obtains
The functional relationship model of coordinate is as follows:
Xn= AXan 3 + BXan 2 + CXan+ DYan 3 + EYan 2 + FYan+ G,
Yn= HXan 3 + IXan 2 + JXan+ KYan 3 + LYan 2 + MYan+ M；
(3), for functional relationship model above, multiple normotopia outdoor scene gridded formats referring to the icon in icon library are chosen
In coordinate points and initial coordinate figure in corresponding coordinate points substituted into, 14 equations with three unknowns as above, choose 14
Characteristic point can obtain the value of parameter A ~ M among the above；
(4), parameter value is substituted into functional relationship model, obtains numeralization functional relation, it will by the numeralization functional relation
Corresponding coordinate points in initial coordinate figure are all converted, and are sat to obtain the corresponding normotopia of initial coordinate figure
Logo image, herewith principle, the AR pattern algorithm can carry out three-dimensional coordinate conversion.
4. a kind of AR pattern algorithm shown for HUD normotopia outdoor scene according to claim 1, which is characterized in that described
Referring to icon library the road sign icon or traffic sign icon or pedestrian icon or vehicle icon different for typing, then will
The road sign icon or traffic sign icon or pedestrian's icon or vehicle icon of typing using normotopia outdoor scene gridded format into
Row storage is obtained comprising a large amount of reference icon libraries referring to icon.
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| CN201910437528.8A CN110349078B (en) | 2019-05-24 | 2019-05-24 | AR (augmented reality) graphic method for HUD (head Up display) orthostatic live-action display |
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Effective date of registration: 20221222 Address after: No. 901-902, Building 2, Hunan Military civilian Integration Science and Technology Innovation Industrial Park, No. 699, Qingshan Road, Changsha Hi tech Development Zone, Changsha, Hunan 410000 Patentee after: Hunan Ruisi Huachuang Technology Co.,Ltd. Address before: 518112 5b, unit 1, building 10, Zhonghai yicui villa, Zhonghai yicui community, Jihua street, Longgang District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Ruisi Huachuang Technology Co.,Ltd. |
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