CN102509348A - Method for showing actual object in shared enhanced actual scene in multi-azimuth way - Google Patents
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Abstract
本发明公开了一种共享增强现实场景的真实物体多方位表示方法。包括步骤：根据场景区域顶点分布特点，针对视频序列对场景的覆盖范围及所需设备数目，优化多视频序列的设置方式，确定每个视频序列的观察区域后利用基准标识物和不同方位视频序列的尺度不变特征匹配确定视频序列之间的共享区域，计算各视频序列的空间位置关系，然后使用基准标识物完成各视频序列中的虚实注册，再综合各视频序列对真实物体的局部描绘，利用计算机视觉原理估计真实物体的三维凸包，对进入的新协作用户，根据其视频序列的空间位置关系，给出快速注册方法，绘制真实物体在各方位视频序列中的二维映射效果。本发明提供的方法应用成本低，能够快速响应新加入协同用户。
The invention discloses a multi-directional representation method of a real object sharing an augmented reality scene. Including the steps: according to the distribution characteristics of the vertices of the scene area, according to the coverage of the video sequence on the scene and the number of required equipment, optimize the setting method of the multi-video sequence, determine the observation area of each video sequence, and use the reference markers and different orientation video sequences Scale-invariant feature matching to determine the shared area between video sequences, calculate the spatial position relationship of each video sequence, and then use the reference markers to complete the virtual and real registration in each video sequence, and then synthesize the partial description of the real object in each video sequence, The computer vision principle is used to estimate the three-dimensional convex hull of the real object. For the new collaborative users who enter, according to the spatial position relationship of their video sequences, a fast registration method is given to draw the two-dimensional mapping effect of the real object in the video sequence of each orientation. The application cost of the method provided by the invention is low, and can quickly respond to newly joined collaborative users.
Description
Technical field
The present invention relates to computational geometry, Flame Image Process and augmented reality field, particularly the method for expressing of real-world object in the multi-faceted video sequence of shared augmented reality scene.
Background technology
In the cooperating type augmented reality; Different collaborative work users gets in the augmented reality scene; In perception and the interaction area of being everlasting separately, have different viewpoints with different mutual, can accomplish the predetermined anti-task of doing jointly, need set up a shared augmented reality scene in order to make these users; Thereby need the cooperating type augmented reality system can describe true environment a plurality of orientation, that constantly change, set up scene three-dimensional space model based on many video sequences.Wherein, It is the problem that presses for solution that real-world object in the scene is carried out multi-faceted expression; Specifically comprise a plurality of video sequences being set rationally and effectively, transmit the unified observed information of each video sequence and real-world object in the scene is carried out multi-faceted expression to cover shared scene.
In order to show true environment information; The Regenbrecht of Germany Chrysler technical research division not only disposes Helmet Mounted Display for each user; And the Global Information that video camera obtains true environment is set; Can support 4 users to observe same shared augmented reality scene, carry out alternately, carry out various collaborative works, and use true light source to simulate virtual lighting effect with dummy object in the scene with upper position.Though this system has obtained the video information in a plurality of orientation, these information are not carried out associated treatment, do not consider the rationality that video sequence is provided with yet.
To a plurality of video sequences problem is set, Klee has proposed famous gallery problem: a given gallery, need how many platform video cameras, and where should place them in, can guarantee that the summation of all video camera viewing areas is maximum.Chvatal points out that at first for a polygon that contains n summit, points all in this polygon always can be observed by [n/3] individual video camera.Fisk has proved should theory; It at first is decomposed into a plurality of triangles with polygon; Adopt three coloring algorithms to all vertex colorings then, guarantee that there is various colors on adjacent summit, the corresponding vertex position of color of dyeing minimum number is exactly the placed point of video camera.
Research on Interactive Problem for many video sequences; The people such as Pilet of the federal Institute of Technology of Lausanne, SUI have proposed to support the method that method that the log-on message of many video sequences in a plurality of users' the cooperating type augmented reality is complementary and illumination information are obtained; If from one of them video can't complete observation to mark; Can utilize the log-on message in other orientation to come supplementary copy orientation log-on message; Make virtual object by correct being registered on the mark, but the influence that the error that this system does not consider to produce in the complementary process causes complementary result.
The people such as Schall of Graz, Austria Polytechnics utilize fiducial marker, have accomplished the splicing and the modeling of large scale scene.This method is divided into several sections with large scale scene, has placed a series of benchmark marker between per two adjacent parts, utilizes this benchmark marker can confirm the spatial relation of video sequence.At first begin to measure from being numbered 1 space, in obtaining this space the information of all collection points and deposit computing machine in after, more next space is measured; The collection point information of being had living space so all can obtain; And because the mark of different spaces juncture area is measured to 2 times, then pass through coordinate transformation after, can obtain the position relation in two spaces; After so whole space measurement being finished; Can obtain the position relation between a plurality of spaces, and can set up out the three-dimensional model of whole scene according to this relation, the coordinate transformation algorithm of this project is worth using for reference.
People such as the Wang Xiyong of Univ Florida USA incorporate real-world object in the virtual scene based on the laser 3 dimension scan model of color mark registration.At first, use a 3D scanner that real-world object is expressed as a dummy model with sweep trace, then, remove the noise of generation, arrange sweep trace, at last the blank between sweep trace is filled.For the real-time follow-up real-world object; This system has used the color calibration thing to obtain the position of real-world object; Calculate the position of corresponding virtual model under virtual coordinates thus, and draw, this system can be good at making user's experience events in virtual scene; But this method adopts instrument relatively more expensive, is only limited to few user.
Can draw through analyzing domestic and international present Research; Though the multi-faceted expression of many tissues or mechanism real-world object in research cooperating type augmented reality system is arranged at present; But the problem that also has three aspects: at first: the shared augmented reality scene of great majority all seldom considers how to utilize less camera to obtain bigger range of observation at present; Its video sequence of all supposing setting can fully obtain needed true environment information, the method to set up of many video sequences is not described; Secondly, after many video sequences are set, existing mechanism less to log-on message complementation study, even this problem of consideration is arranged, also seldom consider the influence that error is brought complementary result, error analysis is not fed back in complementary the calculating; At last, in representing towards the real-world object of collaborative work task, many methods are carried out modeling with entire environment, and calculated amount is big, do not consider the needs of sharing information sharing in the augmented reality scene.Because each collaboration user has different perception and interaction area, so its required real-world object information is often different.
Summary of the invention
The objective of the invention is to utilize less camera to obtain bigger range of observation, reduce the influence that error is brought complementary result, realize sharing information sharing in the augmented reality scene.
For this reason, the invention discloses a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene.The multi-faceted method for expressing step of said real-world object is following:
Step 5, repeating step four are up to calculating each observation station and at least one other observation station spatial relation each other;
The real-world object information of modeling is wanted in step 6, extracting, makes up silhouettes figure and the disparity map of this real-world object with respect to each observation station;
Step 7, according to silhouettes figure and disparity map, create out the real-world object model of arbitrary new observation station fast.
Preferably; In the multi-faceted modeling method of the real-world object of described shared augmented reality scene; In said step 1, with shared augmented reality scene abstract in one plane be to a horizontal plane, to realize through the edge projection that will share the augmented reality scene.
Preferably; In the multi-faceted modeling method of the real-world object of described shared augmented reality scene; In said step 1, this polygonized structure is cut apart through the realization of triangle split plot design, be about to this polygonized structure and be divided into a plurality of triangles in zero lap zone each other.
Preferably, in the multi-faceted modeling method of the real-world object of described shared augmented reality scene, said observation station is the position for video camera.
Preferably, in the multi-faceted modeling method of the real-world object of described shared augmented reality scene, grasping and wanting the real-world object information of modeling is to obtain through the mode that manual work is chosen.
Preferably; In the multi-faceted modeling method of the real-world object of described shared augmented reality scene; In said step 6, grasping the real-world object information want modeling is to share new entering real-world object in the augmented reality scene through detecting, and grasps that the mode of this real-world object obtains.
Preferably; In the multi-faceted modeling method of the real-world object of described shared augmented reality scene; In said step 6; Making up this real-world object is through getting two positions for video camera in each observation station with respect to the disparity map of each observation station, measures the depth distance of real-world objects through two positions for video camera, to form disparity map.
The invention has the beneficial effects as follows:
1, the present invention is directed to the demand that true environment information is obtained in the shared augmented reality scene, use fewer purpose collecting device, guarantee fully to obtain scene environment information simultaneously, with the computing cost of the follow-up shared augmented reality scene application of remarkable reduction.
2, adopt the complementary mode of log-on message to solve the problem that single video sequence can't be observed all scenes, part has been avoided the possibility of the three-dimensional registration failure of video sequence self simultaneously.
3, to the FAQs of sharing real-world object method for expressing in the augmented reality scene; Adopted three-dimensional Convex Hull Method based on vision; In statement real-world object surface point and video sequence spatial relation; Control the expansion of quantity of information, can respond the collaborative user of new adding fast, satisfied the needs of sharing augmented reality environment.
Figure of description
Fig. 1 is this modular design figure that invents a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene;
Fig. 2 is this complementary synoptic diagram of log-on message of inventing many video sequences in a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene;
Fig. 3 is that this is invented in a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene the adjacent video sequence and transmits the log-on message synoptic diagram;
Fig. 4 is this log-on message conveying flow figure that invents many video sequences in a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene;
Fig. 5 is this synoptic diagram of inventing new collaborative user's quick three-dimensional registration in a kind of multi-faceted method for expressing of real-world object of shared augmented reality scene.
Embodiment
Below in conjunction with accompanying drawing the present invention is further specified, so that those of ordinary skills are with reference to implementing according to this behind this instructions.
As shown in Figure 1, the multi-faceted method for expressing of the real-world object of a kind of shared augmented reality scene of the present invention comprises the steps:
Step 5, each two field picture and a background image of using the background subtracting method newly to obtain compare; Obtain the projected outline of real-world object in a certain video sequence; Use thresholding to handle to every pair of pixel difference; Thereby determine the position that belongs to prospect in every two field picture, prospect is the real-world object that the user is concerned about;
Step 6, for a video sequence, in order to calculate the world coordinates value of observed point, need to obtain corresponding disparity map from this orientation; At first need belong to the orientation, two cameras are set obtain two width of cloth images at video sequence, in the image except the zone that is blocked; The match point that all picture elements can meet with a response in other piece image meets on the corresponding sweep trace of polar curve constraint search and estimates the coupling pixel sequences at two width of cloth images then, and calculates the right horizontal ordinate difference of match point; This difference is saved in the disparity map as parallax value, when calculate object on image the silhouettes line and obtain the disparity map under this orientation after, utilize projection formula to calculate the visible D coordinates value of real-world object surface point under world coordinate system in this orientation; Utilize binocular stereo vision in each orientation then, obtain the outer parameter matrix of left and right sides image respectively, and calculate the distance b of left and right cameras; Preserve the intrinsic parameter matrix of video camera simultaneously based on the computing machine scaling method; Through being the point of foreground object in the traversal silhouettes figure, utilize the corresponding parallax value size of inside and outside parameter matrix, b and this point, utilize projection formula; With the two-dimensional pixel spot projection of the plane of delineation in camera coordinate system; Can obtain corresponding three-dimensional coordinate point, owing to have the video camera in a plurality of orientation, therefore; Need be with in different camera coordinate system unification to world coordinate systems; For the three-dimensional coordinate point after the projection, also need it to be transformed in the world coordinate system according to the outer parameter information of having tried to achieve, the three-dimensional point set that this moment, each orientation calculated can be unified in the world coordinate system;
Step 7, after calculating the observable real-world object surface point of certain video sequence, obtain this moment is that the point of part surface point converges and closes, and uses the three-dimensional convex closure of putting cloud to represent the surface configuration of real-world object then: at first to select not four points of coplane; Construct a tetrahedron,, be increased in the polyhedron of front construction according to certain order then for remaining point; If it is initiate inner at polyhedron; Then can directly ignore, handle next point, if initiate outside at polyhedron; Then need construct new limit and face; Add in the current polyhedron, and delete those sightless limit and faces, obtain the model of real-world object at last;
Step 8, as shown in Figure 5, for the user of new entering, it at first sends initialization requests to all initial users; Confirm the video sequence that it is contiguous, if having shared region between the video sequence, then can be according to the spatial relation that a bit calculates in the shared region between the video sequence; And preserve this positional information, if do not have shared region between the video sequence, then the video sequence in other orientation is passed null value back through Network Transmission; When new user confirmed with its most contiguous left and right sides video sequence after; Send request to these two video sequences, obtain these two existing real-world objects in orientation and represent information, what this stylish orientation obtained still is the point set of real-world object surface point; The data of a plurality of points that can return two orientation are carried out fusion treatment, obtain the model of new real-world object.
Claims (7)
1. the multi-faceted modeling method of the real-world object of a shared augmented reality scene is characterized in that, may further comprise the steps:
Step 1, will to share the augmented reality scene in one plane abstract; Form polygonized structure; This polygonized structure is cut apart, and calculated based on segmentation result and can cover the observation station that the required minimum number of all parts in the augmented reality scene is shared in observation;
Step 2, in shared augmented reality scene; For each observation station is provided with at least one benchmark marker; Confirm the observation area of each observation station; Calculate the yardstick invariant features vector in the observation area of each observation station, and utilize benchmark marker and characteristic matching to confirm the shared observation area between each observation station;
Step 3, each observation station are carried out the three-dimensional registration under the guide of benchmark marker;
Step 4, according to the observed result of two observation stations to the benchmark marker in its shared observation area, calculate the spatial relation of these two observation stations;
Step 5, repeating step four are up to calculating each observation station and at least one other observation station spatial relation each other;
The real-world object information of modeling is wanted in step 6, extracting, makes up silhouettes figure and the disparity map of this real-world object with respect to each observation station;
Step 7, according to silhouettes figure and disparity map, create out the real-world object model of arbitrary new observation station fast.
2. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1; It is characterized in that; In said step 1, with shared augmented reality scene abstract in one plane be to a horizontal plane, to realize through the edge projection that will share the augmented reality scene.
3. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1; It is characterized in that; In said step 1; This polygonized structure is cut apart through the realization of triangle split plot design, be about to this polygonized structure and be divided into a plurality of triangles in zero lap zone each other.
4. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1 is characterized in that said observation station is the position for video camera.
5. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1 is characterized in that, grasping and wanting the real-world object information of modeling is to obtain through the mode that manual work is chosen.
6. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1; It is characterized in that; In said step 6; Grasping the real-world object information want modeling is to share new entering real-world object in the augmented reality scene through detecting, and grasps that the mode of this real-world object obtains.
7. the multi-faceted modeling method of the real-world object of shared augmented reality scene as claimed in claim 1; It is characterized in that; In said step 6; Making up this real-world object is through getting two positions for video camera in each observation station with respect to the disparity map of each observation station, measures the depth distance of real-world objects through two positions for video camera, to form disparity map.
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| CN113920027B (en) * | 2021-10-15 | 2023-06-13 | 中国科学院光电技术研究所 | A Fast Sequence Image Enhancement Method Based on Bidirectional Projection |
| CN113920027A (en) * | 2021-10-15 | 2022-01-11 | 中国科学院光电技术研究所 | Method for rapidly enhancing sequence image based on bidirectional projection |
| CN114663624B (en) * | 2022-03-14 | 2024-07-26 | 东南大学 | A spatial range perception method based on augmented reality |
| CN114663624A (en) * | 2022-03-14 | 2022-06-24 | 东南大学 | Space range sensing method based on augmented reality |
| CN115633248A (en) * | 2022-12-22 | 2023-01-20 | 浙江宇视科技有限公司 | Multi-scene cooperative detection method and system |
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