CN112834244B - Vehicle testing method, system and device - Google Patents
Vehicle testing method, system and device Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a vehicle testing method, a system and a device, wherein the method comprises the steps of firstly, setting a virtual entity; secondly, acquiring vehicle parameters to be calculated by using information acquisition equipment in an information acquisition module of the vehicle-mounted terminal; thirdly, after the vehicle-mounted terminal information acquisition module transmits the acquired data information to the test driving engine module, the test driving engine module receives the data information and drives the virtual entity to run and calculate virtual entity data; the test driving engine module extracts virtual entity data according to the calculation result, converts the virtual entity data into data corresponding to an entity test site and then carries out comprehensive simulation operation; and finally, sending the enhanced image video data to an enhanced reality display module for data presentation. According to the invention, the virtual test environment is brought into the real test scene, and the virtual entity is used for replacing the real test entity to perform the vehicle test, so that the vehicle test cost is reduced, and the safety of the vehicle test is improved.
Description
Technical Field
The invention relates to a vehicle testing method, a system and a device, in particular to the technical field of vehicle testing.
Background
Vehicle testing is the primary means of verifying vehicle performance, and new vehicle models require a large number of related test items to be completed before finalization, requiring specialized test sites and auxiliary test items.
The dependence of the traditional vehicle testing process on the testing site and the testing platform ensures that the vehicle has high testing threshold and high cost, and meanwhile, when the testing vehicle collides with or scrapes obstacles in the site, the personal safety of a driver of the testing vehicle is threatened, and the testing vehicle is damaged. Meanwhile, in the traditional vehicle testing process, the test data acquisition is complex, the automation degree is low, and the acquisition and recording of the whole process experimental data are difficult to realize.
Disclosure of Invention
The invention aims to: it is an object to propose a vehicle testing method to solve the above-mentioned problems of the prior art. A further object is to propose a system for implementing the above method and a test device involved.
A vehicle testing method, comprising:
step one, setting a virtual test entity according to an actual situation;
Step two, setting parameter data of a virtual test entity according to the parameter data of the entity test vehicle;
Step three, the virtual test entity calculates and processes related data on the virtual test platform;
step four, converting the test result of the virtual test entity into test data of an entity test vehicle;
Step five, synthesizing the virtual platform and the calculated actual measurement result, and generating an enhanced image;
and step six, transmitting the generated enhanced image to a user visualization end in a video format.
In a further embodiment, the first step is further to set a corresponding virtual test entity in the virtual test scene according to the actual driving scene of the vehicle; the virtual test entity is divided into a test entity and an obstacle entity; the test entity is a virtual test vehicle corresponding to the actual test vehicle; the obstacle entity is used for being used as the obstacle entity for interfering the virtual test entity to run in the virtual test scene.
In a further embodiment, the step two is further to convert the test data into related parameters of the virtual test vehicle in the virtual test platform by the acquired parameter data related to the actual test vehicle, and transmit the parameter information of the virtual test vehicle to a test driving engine in the virtual test platform for data processing; the parameter data are the position, speed, navigation direction, pitch angle and roll angle information of the test vehicle.
In a further embodiment, the third step is further that the test driving engine in the virtual test platform receives the parameter data in the second step, and converts the position, speed, navigation direction, pitch angle and roll angle information of the virtual test entity corresponding to the high-precision map into the real world test scene according to the virtual test vehicle corresponding to the constructed test scene, so as to perform the test on the relevant performance aspect.
In a further embodiment, the fourth step further converts the result of the virtual test entity into the test data of the actual test vehicle in the real world according to the result tested in the third step and in combination with the actual vehicle driving environment.
In a further embodiment, the fifth step further performs augmented reality processing according to the actual data tested in the fourth step and in combination with the data of the actual test vehicle, to generate an augmented image; the method comprises the steps of performing augmented reality calculation according to the position and posture relation of a real test vehicle and a virtual entity mapped to a real field and parameters calibrated by a vehicle-mounted camera, superposing a virtual entity image within the view angle range of the camera on a camera image frame, and outputting an augmented reality video for a driver.
In a further embodiment, the step six is further to output the generated augmented reality image to an augmented reality presentation device for presentation.
A vehicle test system for implementing the method, comprising:
The first module is used for acquiring the information of the test vehicle terminal;
A second module for testing the drive engine;
and a third module for presenting the augmented reality data.
In a further embodiment, the first module further obtains relevant parameter data related to the vehicle by using a sensor for testing the vehicle terminal; the system specifically comprises a video information acquisition module and a motion gesture information acquisition module. The information acquisition module is used for acquiring external video information of the vehicle, vehicle position information, navigation direction information, pitch angle information, roll angle information, speed and acceleration information, further providing a video input source for the realization of augmented reality, and providing accurate digital information of the test vehicle for the test process.
In a further embodiment, the second module is further configured to receive the data in the first module, process the received data, and then transmit the processed data to the third module for presentation. The system specifically comprises an information reading module, an information processing module and an information output module; the information reading module comprises a video information reading module, a motion gesture information reading module and a high-precision digital map module; the information processing module comprises a simulation driving module and an augmented reality generating module; the information output module is used for outputting the processed data to the third module for data presentation.
In a further embodiment, the third module further comprises an enhanced video receiving module, a video presenting module. The video display module comprises an augmented reality display device, and the data subjected to reality augmentation in the second module is received to display the data subjected to reality augmentation to a user visual end.
A vehicle testing apparatus for implementing the steps of the method, comprising: the system comprises a vehicle-mounted terminal information acquisition device, a test driving engine and an augmented reality display device.
In a further embodiment, the vehicle-mounted terminal information acquisition device comprises an operation gesture acquisition device, an accurate positioning device, a camera and a vehicle speed acquisition device; the test driving engine comprises a video information reading device, a motion gesture information reading device, a simulation driving device, a high-precision digital map reading device, an augmented reality generating device, a test configuration device, an augmented reality output device and a test data maintenance device; the augmented reality presentation device includes a display device for presenting an augmented reality image output by a test drive engine.
In a further embodiment, the vehicle-mounted terminal information acquisition device acquires the running surrounding environment of the vehicle through the camera, updates the position information of the running vehicle in real time by using the accurate positioning equipment, simultaneously records in real time according to the vehicle speed read out by the vehicle speed acquisition equipment, and sends related data to the test driving engine to test the virtual environment of the vehicle in combination with the gesture information acquired by the running gesture acquisition equipment.
In a further embodiment, the test driving engine generates the augmented reality image by reading the vehicle related data sent by the vehicle terminal information acquisition device and using the self augmented reality generating function, and outputs the generated augmented reality image by using the augmented reality output device.
In a further embodiment, the augmented reality presentation device receives the augmented reality image output by the augmented reality output device in the test drive engine and presents the data in its own display device.
The beneficial effects are that: the invention provides a vehicle testing method, a system and a device, wherein a virtual entity is introduced into a real testing scene, the virtual entity is used for replacing the real testing entity, vehicle testing is assisted, data of the real testing vehicle and the virtual entity are stored in a testing engine in real time, after the testing is finished, the testing result is evaluated in real time according to the testing data, the testing process is more digital and intelligent, meanwhile, scratch and collision between the virtual entity and the real vehicle can not cause damage to the vehicle and a driver, and the testing safety is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a virtual test scenario of a vehicle based on reality augmentation of the present invention.
FIG. 2 is a flow chart of a vehicle virtual test method based on reality augmentation of the present invention.
Fig. 3 is a schematic diagram of a virtual test system architecture of a vehicle based on reality augmentation in the present invention.
Fig. 4 is a functional schematic diagram of an augmented reality engine according to the present invention.
Detailed Description
The invention provides a vehicle testing method, a vehicle testing system and a vehicle testing device, which achieve the purpose of vehicle testing based on augmented reality in a virtual testing platform. The present invention will be described in more detail with reference to the following examples and the accompanying drawings.
In the present application, we propose a vehicle testing method, system and device, wherein the vehicle testing method includes the following steps:
Step one, setting a virtual test entity according to an actual situation; the method comprises the steps of setting corresponding virtual test entities according to actual running scenes of vehicles in virtual test scenes by using a test driving engine, namely mapping the entities in the actual scenes into the virtual test scenes. The virtual test entity is divided into a test entity and an obstacle entity, wherein the test entity is a virtual test vehicle corresponding to an actual test vehicle, and the obstacle entity is an obstacle entity used for being used as an obstacle for interfering the virtual test entity to run in a virtual test scene, such as a virtual motor vehicle, a non-motor vehicle, a pedestrian and an obstacle except the virtual test entity vehicle.
Step two, setting parameter data of a virtual test entity according to the parameter data of the entity test vehicle; the step converts the test data into relevant parameters of the virtual test vehicle in the virtual test platform through the obtained parameter data relevant to the actual test vehicle, and transmits the parameter information of the virtual test vehicle to a test driving engine in the virtual test platform for data processing. Wherein the parameter data is preferably the position, speed, sailing direction, pitch angle and roll angle information of the test vehicle.
Step three, the virtual test entity calculates and processes related data on the virtual test platform; the step is further that a test driving engine in the virtual test platform receives the parameter data in the step two, and the virtual test vehicle is subjected to virtual test according to the constructed test scene, and meanwhile, the position, speed, navigation direction, pitch angle and roll angle information of the virtual test entity corresponding to the high-precision map is converted into a real-world test scene, so that the test on the relevant performance aspect is carried out. The test driving engine completes the setting of virtual entities such as virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like according to the operation of a tester before the test starts, and drives the virtual entities to move after the test starts. After the test is started, the test driving engine periodically sets the state of the virtual entity according to the setting parameters of the virtual entity, the static entity sets the position according to the configuration, and the moving entity sets the position, the speed, the navigation direction, the pitch angle and the roll angle according to the configuration.
Step four, converting the test result of the virtual test entity into test data of an entity test vehicle; according to the result tested in the step three, the result of the virtual test entity is converted into the test data of the actual test vehicle in the real world by combining with the actual vehicle running environment. The process of converting the position, speed, navigation direction, pitch angle, roll angle and other information of the virtual entity corresponding to the high-precision map in the test data into the real world test scene is specifically to establish a conversion relation between a real world coordinate system where the test vehicle is located and the high-precision map coordinate system, so that conversion from the high-precision map data information to the real world test environment data information of the virtual entity is realized.
Step five, synthesizing the virtual platform and the calculated actual measurement result, and generating an enhanced image; the step is to perform augmented reality processing according to the actual data tested in the step four and combining the data of the actual test vehicle to generate an enhanced image. The method comprises the steps of performing augmented reality calculation according to the position and posture relation of a real test vehicle and a virtual entity mapped to a real field and parameters calibrated by a vehicle-mounted camera, superposing a virtual entity image within the view angle range of the camera on a camera image frame, and outputting an augmented reality video output for a driver.
The augmented reality calculation specifically comprises the following steps: after the camera is installed on a test vehicle, calibrating an internal parameter matrix, distortion parameters, an external parameter translation matrix and an external parameter rotation matrix of the camera relative to a vehicle coordinate system; then, establishing a conversion relation between the camera coordinate system and the high-precision map coordinate system according to parameters such as an internal parameter matrix of the camera, distortion parameters, an external parameter translation matrix of the camera relative to the test vehicle coordinate system, an external parameter rotation matrix, a translation matrix of the vehicle coordinate system relative to the world coordinate system, a rotation matrix, conversion parameters of the world coordinate system relative to the high-precision map coordinate system and the like; and finally, converting the real test vehicle and the virtual test entity into the same coordinate system, calculating the distance, azimuth and rotation parameters of the virtual test entity relative to the real test vehicle, judging whether the virtual test entity is in the view angle range of the camera, and calculating the position, the size and the gesture of the virtual test entity in the camera image.
And step six, transmitting the generated enhanced image to a user visualization end in a video format, and outputting the generated enhanced reality image to an enhanced reality display device for display. The method comprises the steps that an augmented reality image is obtained by superposing a virtual entity in a camera, a virtual entity image with corresponding size, angle and gesture is generated for the virtual entity in the view angle range of the camera by a test driving engine according to an augmented reality calculation result, a current video frame of the camera is extracted, and the virtual entity image is attached to a corresponding position of the current video frame.
Based on the above method, a system for measuring and calculating a relative position in a virtual vehicle test platform is provided, which is used for realizing a method for measuring and calculating a relative position in a virtual vehicle test platform, and specifically comprises the following steps:
The first module is used for acquiring the information of the test vehicle terminal; the module obtains relevant parameter data related to the vehicle by using a sensor for testing the vehicle terminal. The system specifically comprises a video information acquisition module and a motion gesture information acquisition module. The information acquisition module is used for acquiring external video information of the vehicle, vehicle position information, navigation direction information, pitch angle information, roll angle information, speed and acceleration information, further providing a video input source for the realization of augmented reality, and providing accurate digital information of the test vehicle for the test process.
A second module for testing the drive engine; the module comprises a test driving engine which is used for recording data information generated in the test process in real time, evaluating the test process after the test is finished, and generating a test result. And further, the method comprises the steps of receiving the data in the first module, processing the received data, and then transmitting the processed data to the third module for presentation. The system specifically comprises an information reading module, an information processing module and an information output module. The information reading module comprises a video information reading module, a motion gesture information reading module and a high-precision digital map module; the information processing module comprises a simulation driving module and an augmented reality generating module; the information output module is used for outputting the processed data to the third module for data presentation.
The video information reading module is used for acquiring the latest frame image acquired by the camera; the motion gesture information reading module is used for acquiring real-time position, speed, acceleration and motion gesture information of the test vehicle; the simulation driving module is used for setting parameters of virtual entities such as virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like and driving the virtual entities to move; the high-precision digital map module is used for carrying out digital virtualization on the true actual measurement test site and realizing matching between the true actual measurement test site and a digital scene; the augmented reality generation module is used for completing the calculation of the relevant parameters of the augmented reality and generating an image of an augmented parameter video frame; the augmented reality output module is used for outputting the generated augmented reality video to the augmented reality display device; the test configuration item model is used for calculating related test configuration item data and evaluating test effects; the test data maintenance module is used for maintaining data and test result information generated in the test process and displaying test data and charts to a user.
In the module, in the process of recording and testing by a test driving engine, various parameters of a test vehicle and a virtual entity are tested, the test process is evaluated, a test result is generated, specifically, the test driving engine records data such as positions, speeds, accelerations, postures and the like of the test vehicle and the virtual entity, data such as collision, collision force, damage degree, braking distance, lane departure statistics and the like of the vehicle are calculated aiming at a test configuration item, and a corresponding data chart is displayed for a user.
The test driving engine sets virtual entity positions of virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like, and movement tracks and movement speeds of the virtual motor vehicles, the non-motor vehicles and the pedestrians according to the configuration of operators.
A third module for presenting augmented reality data; the module comprises an enhanced video receiving module and a video showing module. The video display module comprises a reality augmented reality device, and the data after reality augmentation is displayed to a user visual end by receiving the data subjected to reality augmentation in the second module and utilizing the augmented reality display device in the self module.
A vehicle testing device comprises a vehicle testing system, is a basis for realizing the steps of a vehicle testing method, and specifically comprises a vehicle-mounted terminal information acquisition device, a test driving engine and an augmented reality display device.
The vehicle-mounted terminal information acquisition device comprises operation gesture acquisition equipment, accurate positioning equipment, a camera and vehicle speed acquisition equipment; the test driving engine comprises a video information reading device, a motion gesture information reading device, a simulation driving device, a high-precision digital map reading device, an augmented reality generating device, a test configuration device, an augmented reality output device and a test data maintenance device; the augmented reality presentation device includes a display device for presenting an augmented reality image output by the test drive engine.
In a vehicle testing apparatus, a camera provides video input for augmented reality implementation; the accurate positioning equipment is used for collecting the current position information of the test vehicle; the running gesture acquisition equipment is used for acquiring the information of the navigation direction, the pitch angle and the roll angle of the test vehicle; the vehicle speed acquisition device acquires the speed information of the test vehicle.
The vehicle-mounted terminal information acquisition device acquires the vehicle running surrounding environment through the camera, updates the position information of the running vehicle in real time by using the accurate positioning equipment, simultaneously records the vehicle speed read by the vehicle speed acquisition equipment in real time, and sends related data to the test driving engine to test the vehicle virtual environment by combining the gesture information acquired by the running gesture acquisition equipment, and particularly provides a video input source for the augmented reality implementation, and provides accurate digital information of the test vehicle for the test process.
The test driving engine is used for completing the setting of virtual entities such as virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like by reading the vehicle related data sent by the vehicle terminal information acquisition device, driving the virtual entities to move according to the setting, and further being used for generating augmented reality images and recording and evaluating the test process. Specifically, an augmented reality image is generated by using an augmented reality generation function of the device, and the generated augmented reality image is output by using an augmented reality output device.
The augmented reality display device receives the augmented reality image output by the augmented reality output device in the test drive engine and displays the data in the display device of the augmented reality display device.
Taking elk test in vehicle test as an example, wherein virtual entities are added in a real test scene, a test vehicle passes through a test site at a constant speed under the full-load state of the vehicle, the virtual entities in the test scene are dodged at a high speed under the condition of not stepping on a brake and a throttle, the speed of the vehicle is repeatedly increased by two front two testers until the vehicle reaches an out-of-control state, and meanwhile, two times of verification are carried out to determine the reliability of the value of the out-of-control speed.
In order to describe the invention in detail, the following specific embodiments are provided for describing the specific embodiments, in which, the vehicle-mounted terminal information acquisition device includes a camera, a precise positioning device, an operation gesture acquisition device, and a vehicle speed acquisition device; the test driving engine acquires a real-scene image outside the vehicle through a camera, acquires the position of the vehicle through a precise positioning device, acquires the course angle, the roll angle and the pitch angle of the vehicle through an operation gesture acquisition device, and acquires the speed of the vehicle through a vehicle speed acquisition device. The test driving engine completes virtual entity setting of virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like and drives the virtual entity to move. The test driving engine comprehensively tests parameters of the vehicle and the virtual entity to complete augmented reality calculation and test data calculation, the augmented reality display device receives and displays the generated augmented reality video at a designated position, meanwhile, the test driving engine completes real-time recording of parameter data acquired and calculated in the test process, and after the test is finished, the test evaluation is completed by comprehensively recording the parameter data. On the basis, the embodiment of the invention further provides a vehicle testing method.
The method comprises the following steps: before the test starts, the tester firstly completes the setting and configuration of the virtual entity, mainly comprising the initial position, the navigation route, the navigation speed and the like of the virtual entity. After the test is started, the test driving engine drives the generation of the augmented reality video and the test data operation and recording; testing the completion of the elk test by the driver of the vehicle driving the vehicle in the field by means of the augmented reality video, the steps are as follows:
Step1, setting a virtual entity; the test driving engine completes the setting of the position, the speed and the movement path of virtual entities such as virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and the like according to the setting of operators.
And 2, the vehicle speed acquisition equipment acquires the current vehicle speed of the test vehicle and sends the current vehicle speed to the test driving engine.
And step 3, the running gesture acquisition equipment acquires information of the current course angle, pitch angle and roll angle of the test vehicle and sends the information to the test driving engine.
And 4, the accurate positioning equipment collects the current position information of the test vehicle and sends the current position information to the test driving engine.
And 5, the test driving engine receives and stores data information sent by the vehicle speed acquisition equipment, the operation gesture acquisition equipment and the accurate positioning equipment.
Step 6, the test driving engine drives the virtual entity to run, and the position and the gesture of the static virtual entity are calculated; and calculating the real-time position, speed and gesture of the motion virtual entity.
And 7, the test driving engine extracts virtual entity parameter data and converts the information such as the position, the speed and the gesture corresponding to the high-precision digital map into the position, the speed and the gesture corresponding to the real test site.
Step 8, comprehensive simulation operation of the test driving engine, namely, the test driving engine synthesizes real test vehicle data information and virtual entity data information to calculate parameters such as distance, azimuth, roll angle, pitch angle, deflection angle and the like of the virtual entity relative to the real test vehicle; judging whether the real test vehicle collides with the virtual entity or not; when collision occurs, calculating the collision force of the vehicle, and evaluating the damage degree; meanwhile, the test driving engine evaluates the running stability of the real test vehicle and provides an auxiliary basis for a driver to judge that the vehicle is out of control.
And 9, generating an augmented reality image. The method specifically comprises the steps that a test driving engine collects a current video frame of a camera, comprehensively tests vehicle data information, virtual entity data information and camera calibration parameter information to calculate whether a virtual entity is in a camera view angle, calculates information such as the position, the size and the gesture of the virtual entity in a camera image for the virtual entity in the camera view angle, and superimposes a corresponding virtual entity image at a corresponding position of the video frame image to generate an augmented reality image.
And 10, generating and forwarding the augmented reality video, wherein the test driving engine compresses and codes the generated augmented reality image, converts the compressed and coded image into a video stream and transmits the video stream to the augmented reality display device.
And step 11, the augmented reality presentation device receives the video stream and displays the video at the designated position.
Step 12, the test driving engine judges whether the test process is finished, if yes, step 13 is executed; otherwise, executing the step 2.
Step 13: and after the test process is finished, the test driving engine finishes test effect evaluation according to the operation instruction of the tester and outputs a test process and a test result data chart.
According to the vehicle testing method, system and device, the vehicle testing process is optimized, the automation and intelligent degree of vehicle testing is improved, and the risk and cost of vehicle testing are reduced. According to the method, virtual motor vehicles, non-motor vehicles, pedestrians, obstacles and other virtual entities are added on the basis of a real scene of a vehicle test in an augmented reality mode, the virtual entities replace real test entities, a new virtual-real combined vehicle test mode is realized, the test vehicles and virtual entity data are converted into the same dimension through the mutual conversion between a real world coordinate system and a high-precision digital map coordinate system in a test driving engine, a comprehensive scene video after superposition of the virtual entities and the real scene is provided for a test vehicle driver through an augmented reality method, meanwhile, the test driving engine completes test vehicle and virtual entity test data operation and storage in the test process, and automatic test effect evaluation is realized after the test is finished.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A vehicle testing method, comprising:
step one, setting a virtual test entity in a virtual test scene according to an actual test scene; setting corresponding virtual test entities according to the actual running scene of the actual test vehicle in the virtual test scene; the virtual test entity is divided into a test entity and an obstacle entity; the test entity is a virtual test vehicle corresponding to the actual test vehicle; the obstacle entity is used for being used as the obstacle entity for interfering the virtual test entity to run in the virtual test scene;
Step two, setting the parameter data of the virtual test entity according to the parameter data of the actual test vehicle; based on the obtained parameter data related to the actual test vehicle, converting the parameter data into related parameters of the virtual test vehicle in a virtual test platform, and transmitting the related parameters of the virtual test vehicle to a test driving engine in the virtual test platform for data processing; the parameter data related to the actual test vehicle are information of the position, the speed, the navigation direction, the pitch angle and the roll angle of the actual test vehicle;
Thirdly, performing data processing on the virtual test platform based on the virtual test scene and the parameter data of the virtual test entity to obtain a test result of the virtual test entity; the test driving engine in the virtual test platform receives the parameter data of the virtual test entity in the second step, constructs a virtual test entity corresponding to the virtual test scene according to the parameter data, and meanwhile, converts the position, speed, navigation direction, pitch angle and roll angle information of the virtual test entity corresponding to the high-precision map into a real test scene;
Step four, converting the test result of the virtual test entity into test data of the actual test vehicle; according to the result tested in the step three, combining with the actual measurement vehicle running environment, and converting the test result of the virtual test entity into test data of the actual test vehicle;
Fifthly, fusing the actual test scene and the test data of the actual test vehicle, and generating an augmented reality image; performing augmented reality calculation according to the actual test vehicle, the position and posture relation of the virtual test entity mapped to the actual test scene and parameters calibrated by the vehicle-mounted camera, superposing a virtual test entity image within the camera view angle range on a camera image frame, and outputting an augmented reality image for a driver;
Step six, transmitting the augmented reality image to a user visualization end in a video format; and outputting the generated augmented reality image to an augmented reality display device for display.
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