WO2007065750A1 - Système de poursuite et procédé pour la détermination de poses - Google Patents

Système de poursuite et procédé pour la détermination de poses Download PDF

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Publication number
WO2007065750A1
WO2007065750A1 PCT/EP2006/067240 EP2006067240W WO2007065750A1 WO 2007065750 A1 WO2007065750 A1 WO 2007065750A1 EP 2006067240 W EP2006067240 W EP 2006067240W WO 2007065750 A1 WO2007065750 A1 WO 2007065750A1
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WO
WIPO (PCT)
Prior art keywords
tracking
configuration data
appropriate
pose
determining
Prior art date
Application number
PCT/EP2006/067240
Other languages
German (de)
English (en)
Inventor
Mehdi Hamadou
Dirk Jahn
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2007065750A1 publication Critical patent/WO2007065750A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Definitions

  • Tracking system and method for determining the pose The invention relates to a tracking system and a method for determining the pose of a user or a movable device and an augmented reality system comprising such a tracking system.
  • Augmented Reality Augmented Reality
  • Augmented Reality describes a form of human-machine interaction, in which a user eg via data glasses information in its field of view is ⁇ be displayed to the perceived reality of it ⁇ farther to it. This technology is used, for example, in the areas of industry, medicine and consumers.
  • the virtual information In the virtual expansion of the user's field of vision, the virtual information should generally be positioned in a specific spatial relationship to the real elements in the user's field of vision.
  • exact position chen to Errei ⁇ so-called tracking methods are used.
  • the tracking procedures are used to determine a pose.
  • the pose or so-called pose information is understood here and throughout the document to be a quantity of information from which the user's direction of view can be derived.
  • the pose information thus describes the position and the position of the user or a movable device in relation to the real environment.
  • About the pose of applying ⁇ can be closed DERS therefore at all times to the real view. This is a prerequisite for the virtual expansion of the real field of view to be carried out in a positionally accurate manner.
  • the implementation of the tracking process can be done in terms of both hardware and software.
  • optical, inertial, acoustic, magnetic, etc. methods are used. sentence.
  • the individual methods are based on different algorithms and technologies, all of which provide a more or less accurate statement about the user's pose.
  • the individual procedures must be supplied with information in order to determine the user position and location. This information can be, for example, three-dimensional models of the environment in question, images of objects viewed from different positions, recognized striking points, lines, color gradients, etc. or specially attached, coded markers. This information, which is necessary for tracking, is usually fed to the process initially.
  • Ckingtechnische the suitability of various disposal ordered depends in particular on the environment behaves ⁇ nissen the user from.
  • Optical methods in which the environment is analyzed with a camera and taken from the set ⁇ images adjusts the position and attitude of the user be ⁇ is suitable for many applications.
  • Inertial systems or methods are known as an alternative to optical methods, which generally also require a great deal of computing power. These have very good real-time capability. However, only relative movements of the user can be recorded with them.
  • Magnetic processes also exist, but are very susceptible to environments with strong magnetic fields, such as those found in industrial environments due to the existing machines and electrical drives. This can easily disrupt the process. Also known acoustic methods can Hurschkulisse due to the Ge ⁇ in an industrial production environment only partly are used.
  • the invention is based on the object of enabling adaptive tracking with regard to the environmental conditions of a user.
  • a tracking system for determining the pose of a user or a movable device comprising:
  • At least one sensor for acquiring environmental information that describes the environmental conditions of the user or the movable device
  • a first memory area for tracking algorithms provided for carrying out different tracking methods
  • Determination means for determining a configuration data record suitable for pose determination on the basis of the environmental information
  • Execution means for executing the tracking algorithm provided for carrying out the configured tracking method are executed by Execution means for executing the tracking algorithm provided for carrying out the configured tracking method.
  • the object is achieved by a method for determining the pose of a user or a movable device with the following method steps:
  • the invention is based on the finding that tracking, in particular with regard to the environmental conditions, can be significantly improved compared to the prior art if a tracking system is available, which means for selecting a suitable tracking method and its configuration depending on the environmental ratio ⁇ se has.
  • a tracking system which means for selecting a suitable tracking method and its configuration depending on the environmental ratio ⁇ se has.
  • has the erfindungsge ⁇ Permitted tracking system at least one sensor, with which the working environment of the user or the moveable loading device can be initially recognized.
  • the sensor can be an optical, inertial, magnetic or also acoustic sensor.
  • different types of sensors can also be combined to record the environmental information in order to obtain the most complex information possible.
  • the tracking system is able to carry out various tracking methods.
  • the tracking system has the first memory area in which the tracking algorithms suitable for carrying out the various tracking methods are stored. So with regard to the current environmental conditions of the user or If a certain tracking method is selected for the movable device, the tracking system can load the corresponding tracking algorithm from the first memory area and execute it using the execution means.
  • the tracking system can load the corresponding tracking algorithm from the first memory area and execute it using the execution means.
  • a specific tracking method can be configured with different configuration data sets, the optimal configuration data set of a selected tracking method in turn depending on the environmental conditions of the user or the movable device.
  • the configuration data records are, for example, mathematical parameters with the aid of which the tracking algorithms stored in the first memory area can be parameterized. But can continue the configuration data records also contain ⁇ parame ter for used in the system components.
  • a parameter could define the exposure time of a camera used for optical tracking. Such a parameter would be determined, for example, as a function of the lighting conditions of the user or the movable device using the determination means.
  • the configuration data record taking into account the environment information is determined, the appropriate tracking is moved first using configuration means with the common suitable configuration record configured and then executed. For this purpose, a corresponding tracking algorithm is loaded from the first memory area and, after parameterization, is carried out using the execution means using the parameters contained in the configuration data record.
  • the selection according to the invention, destination, configuration ⁇ and executing means can separate intelligent building parts such as digital signal processors or microcontrollers. Alternatively, all or any combination of the means mentioned can be implemented jointly on such an intelligent component.
  • the first and the second memory area can be implemented on a common or on two separate memory modules.
  • the tracking system according to the invention has the decisive advantage over today's systems that a wider range of application domains can be served with this tracking system. Thanks to the described possibilities of the system, a better result can be achieved for augmented reality applications in the areas of industry, medicine and consumers.
  • the determination means are provided for determining the suitable configuration data record from one of the configuration data records stored in the second memory area.
  • Various configuration data records are available in the second memory area, which are suitable for different environmental conditions of the user or the movable device. After the environmental conditions have been recorded with the aid of the sensor, a suitable configuration data record can therefore simply be selected from the second memory area and used to configure the suitable tracking method with the configuration means.
  • the determination means are provided for generating new configuration data records that have not yet been stored in the second memory area. If, for example, no suitable configuration data record can be found in the second memory area for the current environmental conditions, this further embodiment of the invention offers the possibility of generate during the tracking operation, new configuration data records, particularly through existing configuration ⁇ records are adapted to the ambient conditions. In this way it can be ensured that an optimized configuration for the selected tracking method can always be made available, even if this should not yet be in the second memory area. Such an embodiment of the tracking system according to the invention becomes learnable in that the new configuration data records are stored in the second memory area together with the corresponding environmental conditions after their generation.
  • the environmental change can ssensCat direction of the user or the mobile ⁇ ago. Therefore, in a particularly advantageous embodiment of the invention, the tracking system has analysis means for determining the quality of an ongoing tracking process during the pose determination. In this way, tracking methods and / or selected configuration data records can be exchanged at an early stage if they no longer work optimally with regard to the environmental conditions.
  • analysis means are provided for determining the quality on the basis of an evaluation of the runtime behavior and / or the sensitivity to interference and / or the number of necessary reinitializations of the ongoing tracking method.
  • the quality and stability of the current tracking process can be controlled very well on the basis of the sizes mentioned.
  • the tracking system is designed such that the selection of the appropriate Tra ⁇ ckingbacters and the determination of the appropriate configuration data set, the configuration of the appropriate tracking method with the appropriate configuration data set and the execution of the execution of the configured tracking Procedure provided tracking algorithm are automatically initiated if the quality of the ongoing tracking process is poor.
  • a new tracking method and / or a new configuration record are elected once using the analy ⁇ seffen insufficient quality of the current tracking method is determined. In this way, a loss of tracking can be avoided in advance, so that a user who uses the tracking system under changing environmental influences always receives optimal tracking results.
  • the change in the tracking process or the configuration data record is carried out in such a way that the user does not feel anything at all.
  • the system archiving means for generating and archiving on a review record that describes the quality of the current tracking process in response to the assigned during the running time of the tracking method, the configuration data set and the existing during the period Conversely ⁇ advertising relationships.
  • a sort of knowledge base that can be used in the selection of the tracking method and a geeig ⁇ Neten configuration data set in consideration of the existing ambient conditions. In this way, the tracking system is learnable. If, for example, new configuration data is generated, entries can be made in the evaluation data record for this newly generated configuration data record and the tracking method configured with it, from which the quality can be derived in later applications in certain environmental conditions.
  • a further embodiment of the invention is advantageous in which the selection means are provided for selecting the suitable tracking method on the basis of the evaluation data record and / or the determination means for determining the suitable one Configuration data set are provided on the basis of the evaluation data set.
  • the evaluation data set generated during operation can be used to determine the optimal tracking method and the optimal configuration data set under certain environmental conditions even faster.
  • the system benefits from its learning ability and can perform even more powerful tracking.
  • Various embodiments are possible for the sensor used, which in turn also determine the various tracking methods available.
  • the senor is designed as a camera.
  • the surrounding environment can ⁇ relationships of the user and the mobile device are detected, to generate the corresponding environment information.
  • the camera can also be used directly for optical tracking methods, in which the pose is calculated on the basis of image information.
  • the senor can also be designed as a magnetic, internal or acoustic sensor in a further embodiment of the invention.
  • the use of a camera in combination with an acoustic and / or magnetic sensor for detecting the environmental information is also conceivable and encompassed by the invention.
  • the tracking system can also be implemented with several sensors.
  • the tracking system also carried out, for example, both an inertial sensor as a camera, so both optical and inertial Tra ⁇ can ckinghabilit used for poses provision and thus be better responds to the various environmental conditions of the user or the mobile device.
  • the sensor is provided for recording tracking information required for determining the pose when the suitable tracking method is carried out.
  • the sensor e.g. B. a camera, initially used to record the environmental information in order to enable the selection of the suitable tracking method and the determination of the configuration data set.
  • the same sensor is finally used for the continuous tracking of the pose, ie in particular for the continuous detection of the position and the viewing angle of the user.
  • An augmented reality system with a tracking system for determining the pose of a user or a movable device is advantageous in order to be able to display virtual information in the user's field of view as reliably and reliably as possible under various environmental influences.
  • the figure shows a method for determining the pose of a user or a movable device with the aid of a tracking system according to an embodiment of the invention.
  • the tracking system illustrated is part of a Augmen- ted Reality system in which virtual information positi ⁇ onsgenau in the field of view of a user 11 by means of a data goggles are displayed 12th
  • the system consists on the one hand of a data processing device 22.
  • the data processing unit 22 serves primarily to determine a suitable tracking method and a configuration data configuration suitable for its configuration.
  • sentence 19 taking into account the environmental conditions of the user 11.
  • the environmental conditions are to be understood on the one hand as the manner of the objects that are in the field of vision of the user 11 and for expanding them virtual information into the field of vision of the user 11 should be shown.
  • a different tracking method will generally be expedient when considering an engine compartment for a motor vehicle than when the system is used in the medical environment.
  • environmental conditions are also to be understood as the conditions under which the user views these objects. This means, for example, the lighting conditions in the area surrounding the user 11.
  • the ambient conditions are detected with a head of employing ⁇ DERS 11 mounted camera.
  • 9 Environment information 13 is generated, which is sent to the data processing device 22.
  • the data processing unit 22 comprises a memory having a first memory area 7 and a second memory area 8.
  • first memory area 7 Within the first memory area 7 are various tracking algorithms sets 15 to ⁇ that different for performing tracking method which can be carried out using the system shown to the pose determination takes .
  • second memory area 8 Within the second memory area 8 are Konfigurationsda ⁇ data sets 16.
  • the various executable using the system ordered ckinghabilit the ambient conditions are appropriately configured.
  • the aim of the tracking system shown is to select an optimal tracking method and an optimal configuration for this, taking into account the environmental conditions of the user 11. Therefore, the environmental information 13 captured by the camera 9 is used by selection means 1 of the Data processing unit 22 for selecting a given under the ge ⁇ environmental conditions most suitable Trackin- galgorithmus 18 from the first memory area 7 herangezo ⁇ gene.
  • the data processing unit 22 also includes addition determining means 2, by means of which, for example, from the second storage area 8, a suitable configuration record 19 can be selected. If there is no suitable configuration data record for the currently prevailing environmental conditions among the configuration data records 16 stored in the second memory area 8, the configuration means 2 can also be used to generate new configuration data in the form of a new configuration data record 17.
  • the selected tracking method with the selected configuration data record 19 is configured using configuration means 3 of the data processing unit 22.
  • the selected suitable configuration data record 19 contains data with which the operating system resources required for the pose determination are configured.
  • the suitable configuration data record 19 contains, for example, parameters of these components, such as an exposure time for the camera 9.
  • the configuration data record 19 contains a number of mathematical parameters with the aid of which a tracking algorithm 18 is parameterized, which is required to carry out the selected tracking method .
  • the system shown also includes execution means 6 with which a tracking algorithm 20 parameterized with the selected configuration data can be executed.
  • the execution means 6 are on one digital signal processor implemented, which in turn is implemented in a mobile device carried by user 11.
  • the data recorded by the camera 9 and the inertial sensor 10 are fed to the digital signal processor.
  • the configured tracking algorithm 20 of the digital signal processor finally generates the current pose 14 of the user 11.
  • the float 14 can use the virtual In ⁇ formations exact position on the data goggles 12 in the field of view of the user are displayed. 11
  • the data processing unit 22 comprises analysis means 4, with the aid of which the quality of the ongoing tracking method is continuously analyzed. Is determined using the analyzing means 4, that the quality of the tracking below a previously defi ned ⁇ minimum required value, a Neuinititechnik the selection of the appropriate Trackingver- can proceedings and / or the appropriate configuration data record are performed 19th As evaluation standards for the quality of the ⁇ used here is the number of Reinitialmaschineen of the system, the runtime behavior and noise sensitivity of the ordered ckingsystems.
  • a kind of knowledge base is built up with the help of the data processing unit 22, by means of which the selection of the suitable tracking method and the suitable configuration data record 19 can be continuously improved while the tracking system is in operation.
  • the As ⁇ ten kausaku 22 filing means. 5 With the aid of the archiving means 5, an evaluation data record 21 is generated.
  • the evaluation data record 21 contains information about which tracking methods with which configuration data records have led to which quality of tracking in the past under certain environmental conditions. Due to this th using the archiving means 5 er Weg ⁇ data an appropriate tracking method and a suitable configuration record 19 can be found very quickly after detection of the ambient conditions.
  • the selection means 1, the determination means 2, the configura ⁇ tion medium 3, the analyzing means 4 and the Archiv istsmit ⁇ tel provides 5 all soirge of an implemented on the data processing unit 22 common processing unit ⁇ .
  • this is a processor of the data processing unit 22, which can execute a computer program for performing the corresponding functions.
  • the different-called agents can of course also on separate cookedseinhei ⁇ th be implemented.
  • the system is not only suitable for determining a user's pose.
  • it can also be used with a movable device of any kind, eg. B.
  • a moving robot can be used.
  • a sol ⁇ cher robot can begin its real environment with a camera.
  • the image information is transmitted online to a remote station, at which it is made visible by a user together with the virtual information that is displayed in a precise position.
  • Such a system can be useful, for example, if an environment that is dangerous for humans is to be examined with the aid of the robot, the augmentation of further information being desired for the user.
  • the invention relates to a tracking system and a method for determining the pose of a user or a movable device and an augmented reality system comprising such a tracking system.
  • the environmental conditions of the User with a suitable sensor and depending on this automatically determines a suitable tracking method and a configuration data record for its configuration.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • User Interface Of Digital Computer (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention concerne un système de poursuite et un procédé pour la détermination des poses d'un utilisateur ou d'un dispositif mobile ainsi qu'un système de réalité augmentée pourvu d'un tel système de poursuite. Pour permettre une poursuite adaptée aux conditions d'environnement de l'utilisateur, les conditions d'environnement de l'utilisateur sont détectées par un capteur adapté à cet effet et un procédé approprié de poursuite et un jeu de données correspondant à sa configuration sont définis en fonction de ces dernières.
PCT/EP2006/067240 2005-12-06 2006-10-10 Système de poursuite et procédé pour la détermination de poses WO2007065750A1 (fr)

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DE102005058240A DE102005058240A1 (de) 2005-12-06 2005-12-06 Trackingsystem und Verfahren zur Posenbestimmung
DE102005058240.0 2005-12-06

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TWI494844B (zh) * 2013-10-02 2015-08-01 Realtek Semiconductor Corp 影像分享系統及相關的電腦程式產品

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