CN112017297B - Augmented reality positioning method, device, equipment and medium - Google Patents
Augmented reality positioning method, device, equipment and medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an augmented reality positioning method, device, equipment and medium. The method comprises the following steps: determining a three-dimensional model of a target object in an external environment, and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are not collinear; the marker carries information of a marker point corresponding to the marker; acquiring information of at least three markers on a target object, and determining information of identification points corresponding to the markers based on the information of the markers; and adjusting the position of the three-dimensional model based on the information of at least three markers and the information of the corresponding marker points. The technical scheme of the embodiment of the invention can improve the positioning accuracy of the three-dimensional model and the real object and reduce the operation complexity.
Description
Technical Field
The embodiment of the invention relates to an augmented reality application technology, in particular to an augmented reality positioning method, an augmented reality positioning device, augmented reality positioning equipment and a medium.
Background
The augmented reality (Augmented Reality, AR) technology is a new technology of overlaying virtual information to the real world after simulation by a scientific technology such as a computer, which enables real environment and virtual objects to be overlaid to the same screen or space in real time.
At present, the application of the augmented reality technology in the assembly industry is more and more extensive, and aiming at some assembly processes requiring manual assembly, the augmented reality technology is introduced into the assembly of the components, so that the assembly processes can be visualized, and the assembly efficiency is improved. Generally, an actual scene image of an installation environment is obtained first, a three-dimensional part model is added in the actual scene image, and the adding process is consistent with an actual part assembling process, so that the whole process visualization of an assembling process by a worker is realized, and the purposes of monitoring and adjusting the assembling process in real time are achieved. Wherein, how to guarantee that the three-dimensional component model is consistent with the actual component assembly position is an important link for realizing the visualization of the assembly process.
In the prior art, when the problem of the positioning consistency of a three-dimensional model and a real object is solved, the three-dimensional model corresponding to the complete real object is generally used as a marker, the position of the three-dimensional model in an actual scene is determined through single-point positioning, and then the angle and the direction of the three-dimensional model are adjusted in an interactive mode or by using a model with scales, so that the positioning consistency of the three-dimensional model and the real object is realized. However, the existing processing procedure is complicated in operation and low in matching degree due to the fact that scales are required to be arranged on different models, and the processing procedure is not beneficial to use and popularization.
Disclosure of Invention
The embodiment of the invention provides an augmented reality positioning method, device, equipment and medium, which improve the positioning accuracy of a three-dimensional model and a real object and reduce the operation complexity.
In a first aspect, an embodiment of the present invention provides an augmented reality positioning method, including:
determining a three-dimensional model of a target object in an external environment, and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are non-collinear; the marker carries information of a marking point corresponding to the marker;
acquiring information of at least three markers on the target object, and determining information of identification points corresponding to the markers based on the information of the markers;
and carrying out position adjustment on the three-dimensional model based on the information of at least three markers and the information of corresponding identification points.
In a second aspect, an embodiment of the present invention further provides an augmented reality positioning device, including:
the identification point determining module is used for determining a three-dimensional model of a target object in an external environment and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are non-collinear; the marker carries information of a marking point corresponding to the marker;
the information determining module is used for acquiring information of at least three markers on the target object and determining information of identification points corresponding to the markers based on the information of the markers;
and the position adjustment module is used for adjusting the position of the three-dimensional model based on the information of at least three markers and the information of corresponding marker points.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the augmented reality positioning method provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning method of augmented reality provided by any embodiment of the present invention.
The embodiment of the invention provides a positioning method, a device, equipment and a medium for augmented reality, which are used for determining at least three identification points on a three-dimensional model corresponding to a target object, correspondingly setting a marker on the target object according to the identification points, determining information related to the marker and the target object by acquiring the marker on the target object, and carrying out position adjustment on the three-dimensional model by combining the information of the identification points corresponding to the marker. The three-dimensional model and the corresponding three-dimensional model are positioned and matched by unifying the coordinate dimensions of the two and determining the relation between the corresponding points, and adjusting the position of the three-dimensional model to be consistent with the target object. The angle and direction adjustment of the three-dimensional model is realized through an interactive mode or by using a model with scales in the prior art, and the problems that the operation is complex and the matching degree is low due to the fact that the scales are required to be arranged on different models and the use and popularization are not facilitated are solved, the positioning accuracy of the three-dimensional model and a real object is improved, and the operation complexity is reduced.
Drawings
Fig. 1 is a flowchart of a positioning method for augmented reality according to a first embodiment of the present invention;
fig. 2 is a flowchart of a positioning method for augmented reality according to a second embodiment of the present invention;
fig. 3 is a flowchart of a positioning method for augmented reality according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an augmented reality positioning device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1 is a flowchart of an augmented reality positioning method according to an embodiment of the present invention, where the embodiment is applicable to a situation of positioning and matching a real object and a corresponding three-dimensional model in an augmented reality technology, and typically, the embodiment is applicable to a stage of installing a setting component based on the augmented reality technology in an assembly process, where the setting component may be a component that needs to be installed in a relatively closed space, or may be a component with a set specification, and is not limited herein. The method can be implemented by the augmented reality positioning device provided by the embodiment of the invention, and the device can be implemented in a software and/or hardware mode and can be integrated in electronic equipment, and typically, the electronic equipment is AR equipment with positioning technology and camera functions.
As shown in fig. 1, the method in this embodiment specifically includes:
step 110, determining a three-dimensional model of a target object in an external environment, and determining at least three identification points of the three-dimensional model to set an identifier for the target object.
In this embodiment, first, a three-dimensional model of a target object in an external environment is determined by means of recognition and positioning in the existing augmented reality technology. Typically, the determination process may be: pre-establishing three-dimensional models corresponding to all objects in an external environment, and storing the three-dimensional models in an identification library; and scanning the external environment, determining the position of the target object in the external environment through single-point positioning when the characteristic of the target object is identified to correspond to the characteristic of a certain three-dimensional model in the identification library, and placing the corresponding three-dimensional model in the corresponding position in an external environment picture. Thereby, the initial position of the three-dimensional model corresponding to the target object is determined.
In the application scenario of the embodiment, because high-precision position matching is required between components in the assembly process, after the initial position of the three-dimensional model corresponding to the target object is determined, secondary matching is also required to be performed on the position of the three-dimensional model, so that the three-dimensional model and the position of the target object are completely matched. At least three identification points are acquired on the three-dimensional model, and at least three identifiers are correspondingly generated. Wherein, at least three identification points are not collinear, and the identifier carries information of the identification point corresponding to the identifier.
In this embodiment, by determining at least three non-collinear identification points of the three-dimensional model, a three-dimensional model coordinate system related to the identification points may be established for the three-dimensional model, and based on the three-dimensional model coordinate system, any position of the three-dimensional model may be adjusted, for example, translation or rotation. After the identification points are determined, the corresponding generated identifiers can exist in any form in theory, and are only used for carrying information corresponding to the identification points and are convenient to set on a target object. Typically, the identifier selects a picture with a characteristic identifier, and the picture with the characteristic identifier is stuck to the target object. The information of the corresponding identification point carried by the identifier may be position information of the identification point on the three-dimensional model.
When the marker is set on the target object, first, determining the position points corresponding to at least three marking points on the target object, and setting the corresponding marker on each position point, wherein the specific position point on the marker is overlapped with the position point corresponding to the marking point on the target object, so that the position information on the specific position point of the marker corresponds to the position information of the position point corresponding to the marking point on the target object.
And 120, acquiring information of at least three markers on the target object, and determining information of identification points corresponding to the markers based on the information of the markers.
In this embodiment, the information of at least three markers on the target real object is obtained, typically in a scanning manner, and the target real object is scanned by using the camera of the AR device, each marker is identified according to the characteristics of the marker, and the information of the markers (for example, the position information of a specific position point of the marker, that is, the position information of the marker on the target real object and the graphic information on the marker) is determined. Because each identifier corresponds to one identification point on the three-dimensional model, the information of the identification point corresponding to the identifier can be determined based on the information of the identifier, so that the operation of associating the point on the target object with the point on the corresponding three-dimensional model is realized.
And 130, adjusting the position of the three-dimensional model based on the information of at least three markers and the information of corresponding marker points.
In this embodiment, based on the association between the position point on the target real object and the identification point on the three-dimensional model, and the three-dimensional model coordinate system established according to the identification point in the three-dimensional model, the position of the three-dimensional model can be adjusted according to the position difference between the target real object and the three-dimensional model, so that the identification point on the three-dimensional model is completely matched with the corresponding position point on the target real object.
The embodiment of the invention provides an augmented reality positioning method, which comprises the steps of determining at least three identification points on a three-dimensional model corresponding to a target object, correspondingly setting a marker on the target object according to the identification points, determining information related to the marker and the target object by acquiring the marker on the target object, and carrying out position adjustment on the three-dimensional model by combining the information of the identification points corresponding to the marker. The three-dimensional model and the corresponding three-dimensional model are positioned and matched by unifying the coordinate dimensions of the two and determining the relation between the corresponding points, and adjusting the position of the three-dimensional model to be consistent with the target object. The angle and direction adjustment of the three-dimensional model is realized through an interactive mode or by using a model with scales in the prior art, and the problems that the operation is complex and the matching degree is low due to the fact that the scales are required to be arranged on different models and the use and popularization are not facilitated are solved, the positioning accuracy of the three-dimensional model and a real object is improved, and the operation complexity is reduced.
Example two
Fig. 2 is a flowchart of an augmented reality positioning method according to a second embodiment of the present invention, where the method may be combined with each of the alternatives in the foregoing one or more embodiments, and in this embodiment, determining at least three identification points of a three-dimensional model may include: determining at least three identification points of the three-dimensional model from corner points, vertexes or process holes in the three-dimensional model; determining position information of each identification point in the three-dimensional model and identification sequence information among the identification points; the identifier carries position information and identification sequence information of an identification point corresponding to the identifier.
Correspondingly, the method of the embodiment of the invention comprises the following steps:
step 210, determining a three-dimensional model of the target object in the external environment.
Step 220, determining at least three identification points of the three-dimensional model from corner points, vertexes or process holes in the three-dimensional model.
In this embodiment, when determining the identification points on the three-dimensional model, corner points, vertices or process holes in the three-dimensional model are selected as the identification points. Thus, the corresponding position point is conveniently determined in the target object, and the space error when the position point corresponding to the identification point is determined on the target object is avoided. The process hole is used as a marking point and is generally used for a component with an arc surface, and the center of the process hole is used as the marking point at the moment, so that the component can be positioned.
Step 230, determining the position information of each identification point in the three-dimensional model and the identification sequence information among the identification points so as to set the identifier for the target object.
The identifier carries position information and identification sequence information of an identification point corresponding to the identifier.
In this embodiment, the information of the identification points includes, in addition to the position information of the identification points on the three-dimensional model, identification sequence information of the identification points, where the identification sequence information is used to sort at least three identification points, and based on the sorting result, a unique three-dimensional model coordinate system may be established by using the position information of at least three identification points, so as to facilitate the position matching of the target real object and the three-dimensional model.
And 240, acquiring information of at least three markers on the target object, and determining information of identification points corresponding to the markers based on the information of the markers.
Specifically, obtaining information of at least three markers on a target object includes:
and acquiring the position information and the identification information of each identifier on the target object.
The position information of the marker on the target object is the position information of a specific position point on the marker, and is also the position information of the position point on the target object corresponding to the marker point. The identification information refers to a characteristic pattern on the identifier, for example, three identifiers are written with "1", "2" and "3" correspondingly, and then the identification information is the numbers "1", "2" and "3". By determining the position information and the identification information of the identifier on the target object, the accurate position information and the identification sequence information of the corresponding identification point on the three-dimensional model can be ensured to be acquired, so that the relationship between the target object and the three-dimensional model is established.
Further, obtaining the position information and the identification information of each identifier on the target object includes: determining the position information of each marker on a target object based on synchronous positioning and mapping technology; identification information of each identifier is identified based on an image recognition technique.
The specific synchronous positioning and mapping (Simultaneous Localization and Mapping, SLAM) algorithm and the image recognition algorithm can be integrated in a controller of the AR device, and the position information and the identification information of each identifier on the target object can be determined by scanning the current target object by the camera and matching with the algorithm in the controller.
In the present embodiment, determining the information of the identification points corresponding to the markers based on the information of the markers refers to determining the position information and the identification order information of the identification points corresponding to the markers on the three-dimensional model based on the identification information of the markers.
Step 250, adjusting the position of the three-dimensional model based on the information of at least three markers and the information of the corresponding marker points.
Specifically, based on the information of at least three markers and the information of corresponding marker points, performing position adjustment on the three-dimensional model includes:
determining the utilization sequence of the corresponding marker in the process of establishing the target coordinate system based on the identification sequence information of the identification points;
establishing a target coordinate system which is the same as the coordinate system in which the three-dimensional model is based on the utilization sequence of the markers;
and adjusting the three-dimensional model based on the position information of the marker on the target object and the position information of the marker point corresponding to the marker so that the position information of the marker on the target object is the same as the position information of the corresponding marker point.
Wherein the target coordinate system is the coordinate system of the target object. The identification sequence information of the identification points is the sequence information of the three-dimensional model coordinate system, and the identification sequence information of the identification points is used as the utilization sequence of the corresponding identifiers in the process of establishing the target coordinate system, so that the integration of the target coordinate system and the three-dimensional model coordinate system can be ensured, the operation steps of the coordinate system before position adjustment are reduced, and the flow is simplified.
After the three-dimensional model coordinate system and the target coordinate system are unified, the position of the three-dimensional model can be adjusted according to the space gap between the position information of the marker on the target object and the position information of the corresponding identification point, so that the position information of the marker on the target object is identical to the position information of the corresponding identification point.
The technical scheme of the embodiment provides a specific step of determining at least three identification points of the three-dimensional model, and by taking the corner points, the vertexes or the process holes in the three-dimensional model as the identification points of the three-dimensional model, the spatial errors when the position points corresponding to the identification points are determined on the target real object can be avoided, and the selection of the corresponding position points on the target real object is facilitated. Meanwhile, in the technical scheme of the embodiment, the position information and the identification sequence information of the identification points are used as information carried by the corresponding identifiers, so that the establishment sequence of the coordinate system of the three-dimensional model is determined, the establishment of the target coordinate system of the target object is facilitated, the process of unifying the coordinate systems is simplified, and the positioning efficiency is improved.
Example III
Fig. 3 is a flowchart of an augmented reality positioning method according to a third embodiment of the present invention, which provides a preferred implementation manner.
Correspondingly, the method of the embodiment of the invention comprises the following steps:
step 310, determining a three-dimensional model of the target object in the external environment.
Step 320, determining at least three identification points of the three-dimensional model from corner points, vertices or process holes in the three-dimensional model.
Because three non-collinear identification points can establish a coordinate system where the three-dimensional model is located, in the embodiment, the three identification points are selected from the corner points, the vertexes or the process holes in the three-dimensional model only, so that the positioning efficiency is improved.
Step 330, determining the position information of each identification point in the three-dimensional model and the identification sequence information among the identification points so as to set the identifier for the target object.
The identifier carries position information and identification sequence information of an identification point corresponding to the identifier.
In this embodiment, the identifier is a two-dimensional code picture, that is, a corresponding two-dimensional code is printed on the picture, and the position information and the identification sequence information of the identifier carrying the identification point corresponding to the identifier can be determined by scanning and identifying the two-dimensional code information. Further, the two-dimensional code pictures corresponding to the three identification points are the same in size.
Specifically, the two-dimensional code picture is set on the target object in such a way that the center point of the two-dimensional code picture coincides with the corresponding position point on the target object, and the position information of the identifier on the target object obtained by scanning is the position information of the center point of the two-dimensional code picture.
Step 340, obtaining the position information and the identification information of each identifier on the target object.
In this embodiment, the position information of each two-dimensional code picture on the target object and the two-dimensional code image information are obtained
Step 350, determining information of the identification point corresponding to the identifier based on the identification information.
Specifically, by scanning the two-dimensional code image information, the position information and the identification sequence information of the identification points corresponding to the two-dimensional code image information on the three-dimensional model can be determined.
Step 360, determining the utilization sequence of the corresponding marker in the process of establishing the target coordinate system based on the identification sequence information of the identification points.
And 370, establishing a target coordinate system which is the same as the coordinate system in which the three-dimensional model is based on the utilization sequence of the markers.
Step 380, adjusting the three-dimensional model based on the position information of the identifier on the target object and the position information of the identification point corresponding to the identifier, so that the position information of the identifier on the target object is the same as the position information of the corresponding identification point.
Specifically, after the coordinate system of the three-dimensional model and the target object is guaranteed to be unified, the position information of the identification points on the three-dimensional model and the position information of the two-dimensional code picture on the target object can be sequentially selected for comparison, and when a space gap exists, the positions of the identification points are adjusted to the positions of the identifiers on the target object.
In the preferred embodiment, three two-dimensional code pictures are used as the markers to mark the target objects, so that the uniform generation of the markers is facilitated, the difference between the markers and the external environment is improved, the identification efficiency of the markers is further improved, and the technical scheme of the embodiment is applied to the specific component installation stage, so that the matching of the height positions of the component objects and the component model can be ensured, and the monitoring and adjustment of the assembly process are facilitated.
Example IV
Fig. 4 is a schematic structural diagram of an augmented reality positioning device according to a fourth embodiment of the present invention, as shown in fig. 4, where the positioning device includes: an identification point determination module 410, an information determination module 420, and a location adjustment module 430, wherein:
the identification point determining module 410 is configured to determine a three-dimensional model of a target object in an external environment, and determine at least three identification points of the three-dimensional model, so as to set an identifier for the target object; wherein at least three of the identified points are not collinear; the marker carries information of a marker point corresponding to the marker;
the information determining module 420 is configured to obtain information of at least three markers on the target object, and determine information of a marker point corresponding to the marker based on the information of the markers;
the position adjustment module 430 is configured to perform position adjustment on the three-dimensional model based on the information of at least three markers and the information of corresponding marker points.
The embodiment of the invention provides an augmented reality positioning device, which is used for determining at least three identification points on a three-dimensional model corresponding to a target object, correspondingly arranging a marker on the target object according to the identification points, determining information related to the marker and the target object by acquiring the marker on the target object, and carrying out position adjustment on the three-dimensional model by combining the information of the identification points corresponding to the marker. The three-dimensional model and the corresponding three-dimensional model are positioned and matched by unifying the coordinate dimensions of the two and determining the relation between the corresponding points, and adjusting the position of the three-dimensional model to be consistent with the target object. The angle and direction adjustment of the three-dimensional model is realized through an interactive mode or by using a model with scales in the prior art, and the problems that the operation is complex and the matching degree is low due to the fact that the scales are required to be arranged on different models and the use and popularization are not facilitated are solved, the positioning accuracy of the three-dimensional model and a real object is improved, and the operation complexity is reduced.
Based on the above embodiments, the identifying point determining module 410 may include:
the identification point selection unit is used for determining at least three identification points of the three-dimensional model from corner points, vertexes or process holes in the three-dimensional model;
the identification point information determining unit is used for determining the position information of each identification point in the three-dimensional model and the identification sequence information among the identification points;
the identifier carries position information and identification sequence information of an identification point corresponding to the identifier.
Based on the above embodiments, the information determining module 420 may include:
the information determining unit is used for acquiring the position information and the identification information of each identifier on the target object;
the position adjustment module 430 may include:
the utilization sequence determining unit is used for determining the utilization sequence of the corresponding marker in the process of establishing the target coordinate system based on the identification sequence information of the identification points;
the target coordinate system establishing unit is used for establishing a target coordinate system which is the same as the coordinate system in which the three-dimensional model is positioned based on the utilization sequence of the markers;
and the position adjustment unit is used for adjusting the three-dimensional model based on the position information of the marker on the target object and the position information of the identification point corresponding to the marker so that the position information of the marker on the target object is the same as the position information of the corresponding identification point.
On the basis of the above embodiments, the information determining unit may be specifically configured to:
determining the position information of each marker on a target object based on synchronous positioning and mapping technology;
identification information of each identifier is identified based on an image recognition technique.
On the basis of the above embodiments, the device is applied to the assembly process, setting the installation stage of the component.
Based on the above embodiments, the identifier is a two-dimensional code picture.
The augmented reality positioning device can execute the augmented reality positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention, and as shown in fig. 5, the device includes a processor 50 and a memory 51; the number of processors 50 in the device may be one or more, one processor 50 being taken as an example in fig. 5; the processor 50 and the memory 51 in the device may be connected by a bus or other means, for example in fig. 5.
The memory 51 is used as a computer readable storage medium for storing a software program, a computer executable program, and modules, such as program instructions/modules corresponding to an augmented reality positioning method according to an embodiment of the present invention (e.g., the identification point determining module 410, the information determining module 420, and the position adjusting module 430 in an augmented reality positioning device). The processor 50 executes various functional applications of the device and data processing, i.e. implements the above-described augmented reality positioning method, by running software programs, instructions and modules stored in the memory 51.
The memory 51 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 51 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 51 may further include memory located remotely from processor 50, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example six
A sixth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a positioning method of augmented reality, the method comprising:
determining a three-dimensional model of a target object in an external environment, and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are not collinear; the marker carries information of a marker point corresponding to the marker;
acquiring information of at least three markers on a target object, and determining information of identification points corresponding to the markers based on the information of the markers;
and adjusting the position of the three-dimensional model based on the information of at least three markers and the information of the corresponding marker points.
Of course, the storage medium provided by the embodiments of the present invention and including the computer executable instructions is not limited to the method operations described above, and may also perform the related operations in the positioning method of augmented reality provided by any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the positioning device for augmented reality, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. An augmented reality positioning method, comprising:
determining a three-dimensional model of a target object in an external environment, and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are non-collinear; the marker carries information of a marking point corresponding to the marker;
acquiring information of at least three markers on the target object, and determining information of identification points corresponding to the markers based on the information of the markers;
based on the information of at least three markers and the information of corresponding marker points, carrying out position adjustment on the three-dimensional model;
the determining at least three identified points of the three-dimensional model includes:
determining at least three identification points of the three-dimensional model from corner points, vertexes or process holes in the three-dimensional model;
determining position information of each identification point in the three-dimensional model and identification sequence information among the identification points;
the marker carries position information and identification sequence information of a marker point corresponding to the marker.
2. The method of claim 1, wherein obtaining information of at least three of the markers on the target object comprises:
acquiring the position information and the identification information of each identifier on the target object;
the position adjustment of the three-dimensional model based on the information of at least three markers and the information of corresponding marker points comprises:
determining the utilization sequence of the corresponding marker in the process of establishing the target coordinate system based on the identification sequence information of the identification points;
establishing a target coordinate system which is the same as the coordinate system in which the three-dimensional model is based on the utilization sequence of the markers;
and adjusting the three-dimensional model based on the position information of the marker on the target object and the position information of the identification point corresponding to the marker so that the position information of the marker on the target object is the same as the position information of the corresponding identification point.
3. The method of claim 2, wherein obtaining location information and identification information for each of the markers on the target entity comprises:
determining the position information of each marker on the target object based on synchronous positioning and mapping technology;
identification information of each of the markers is identified based on an image recognition technology.
4. A method according to any one of claims 1-3, characterized in that the method is applied during the assembly process to set the installation phase of the component.
5. A method according to any one of claims 1-3, wherein the identifier is a two-dimensional code picture.
6. An augmented reality positioning device, comprising:
the identification point determining module is used for determining a three-dimensional model of a target object in an external environment and determining at least three identification points of the three-dimensional model so as to set an identifier for the target object; wherein at least three of the identified points are non-collinear; the marker carries information of a marking point corresponding to the marker;
the information determining module is used for acquiring information of at least three markers on the target object and determining information of identification points corresponding to the markers based on the information of the markers;
the position adjustment module is used for adjusting the position of the three-dimensional model based on the information of at least three markers and the information of corresponding marker points;
the identification point determining module comprises:
the identification point selection unit is used for determining at least three identification points of the three-dimensional model from corner points, vertexes or process holes in the three-dimensional model;
an identification point information determining unit configured to determine position information of each of the identification points in the three-dimensional model, and identification order information between each of the identification points;
the marker carries position information and identification sequence information of a marker point corresponding to the marker.
7. An electronic device, the device comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the augmented reality positioning method of any one of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the augmented reality positioning method according to any one of claims 1-5.
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