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Three-dimensional mixed registration method in combination with visual registration and mechanical registration

A mechanical registration and three-dimensional registration technology, which is applied in image data processing, instruments, calculations, etc., can solve problems such as difficult integration into augmented reality systems, and achieve the effects of increased diversity, large spatial area, and high precision

Inactive Publication Date: 2013-02-20
BEIHANG UNIV
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Problems solved by technology

At the same time, the defect of this method is that it is not easy to integrate into the augmented reality system, and it needs to use other methods to convert its coordinate system into the world coordinate system

Method used

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  • Three-dimensional mixed registration method in combination with visual registration and mechanical registration
  • Three-dimensional mixed registration method in combination with visual registration and mechanical registration
  • Three-dimensional mixed registration method in combination with visual registration and mechanical registration

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Embodiment Construction

[0037] Such as figure 1 Shown, the concrete realization steps of the present invention are as follows:

[0038]Step S101, in step S101, two methods are required to determine the internal parameters of the camera when calibrating the camera. The specific method is to first use the calibration method of opencv to calibrate the camera to obtain the result R1=(fx1, fy1, cx1, cy1), where fx1 and fy1 are the focus distance, cx1 and cy1 are the coordinates of the main point on the image plane, and then use the matlab calibration method to get the result R2=(fx2, fy2, cx2, cy2), when the difference between the two |R1- When the value of R2| is less than n=(Δfx, ΔfyΔcx, Δcy), use R2 as the result of this internal reference calibration, otherwise, recalibrate until the condition |R1-R2|<n is met. The purpose of doing this is to avoid errors caused by manual operation as much as possible, so that the calibration of internal parameters can achieve the best results.

[0039] exist figu...

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Abstract

The invention provides a three-dimensional mixed registration method in combination with visual registration and mechanical registration. The method mainly comprises the following steps of: converting a camera coordinate system to a Natural point coordinate system; and calculating conversion between the camera coordinate system and an infrared marker coordinate system by using conversion between a left-hand coordinate system and a right-hand coordinate system and conversion between a viewport and a camera so as to register a virtual object into a scene. According to the method, the viewport on a vision marker in the conventional method is avoided, and the camera is registered in a relatively larger space, so that the anti-shielding effect is good; and as only a few of the registration process is involved by human, a real-time scene is suitably and quickly generated, and the requirements of industrial three-dimensional registration on precision and speed can be satisfied.

Description

technical field [0001] The present invention relates to the technical field of three-dimensional registration, in particular to a hybrid three-dimensional registration method combining visual registration and mechanical registration, which uses the method of outputting 6DOF information from Naturalpoint to obtain the real-time exterior of the camera from the transformation matrix between the camera and the infrared marker Parameters for real-time 3D registration of 3D models in augmented reality environments. Background technique [0002] In augmented reality, users get a hybrid scene that superimposes a real background image and a virtual 3D model. Three-dimensional registration technology is one of the key technologies of augmented reality. It obtains the position and attitude of the camera and calculates the mapping position of the virtual object on the projection plane, so that the virtual object will be displayed in the correct position of the display in real time. Co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 沈旭昆郝爽赵凌张凤全
Owner BEIHANG UNIV
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