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Kinect-based augmented reality three-dimensional registration method

A technology of 3D registration and augmented reality, which is applied in the input/output process of data processing, input/output of user/computer interaction, image data processing, etc., and can solve problems such as the influence of 3D registration without solving the constraints of distance

Active Publication Date: 2019-09-27
HUAZHONG NORMAL UNIV
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Problems solved by technology

Although this method repairs the holes in the depth map, it does not solve the problem of the influence of distance constraints on 3D registration.

Method used

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  • Kinect-based augmented reality three-dimensional registration method
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  • Kinect-based augmented reality three-dimensional registration method

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Embodiment Construction

[0064] Based on the study of augmented reality three-dimensional registration, the present invention takes Kinect color data and depth data as input, and performs three-dimensional registration by acquiring relative poses of cameras in close-range and non-close-range situations.

[0065] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] like figure 1 As shown, the specific implementation of this embodiment includes the following steps:

[0067] Step 1, the Kinect color camera and the depth camera are calibrated;

[0068] Step 1.1, color camera calibration. Use Kinect to read color image data, use the black and white checkerboard-based visual calibration method to complete the calibration of the internal and external parameters of the Kinect color camera, and obtain the internal reference matrix A color and the external parameter matrix R color , T color .

[0069] Step ...

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Abstract

The invention discloses a Kinect-based augmented reality three-dimensional registration method, which adopts a depth image restoration method fusing the RGB-D information to solve the calibration and the image alignment errors caused by the holes, jitter, edge instability and other problems in a depth image, and provides guarantee for the accuracy of the subsequent three-dimensional registration. A close-range mode automatic judgment method based on a depth histogram is adopted, and in a non-close-range mode, a three-dimensional registration method based on Fast ICP is adopted to calculate the pose of the camera; in the close-range mode, the pose of a camera is calculated by using a three-dimensional registration method of fusing Fast ICP (fast iterative closest point) and ORB (oriented fast and rotated brief), so that the problem of registration failure caused by the hardware limitation is solved, and an accurate and stable three-dimensional registration result can be obtained no matter in a non-close-range mode or a close-range mode. The method is low in algorithm complexity, is easy to understand and implement, is not affected by the illumination and the complex scenes, meets the real-time requirements of an augmented reality system, and can solve a mutual shielding problem.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional registration, and relates to a Kinect-based augmented reality three-dimensional registration method. Background technique [0002] In the augmented reality system, the purpose of 3D registration is to calculate the pose of the camera through the dynamic tracking of the camera, so that the virtual objects can be correctly superimposed on the real scene and enhance the real scene. In order to make augmented reality more widely used, 3D registration is an important problem that must be solved. The real-time, accuracy and stability of 3D registration directly affect the applicability and reliability of the augmented reality system. [0003] Virtual-real registration based on computer vision has become the mainstream method to solve the problem of 3D registration in AR because of its low hardware cost, good accuracy, and strong robustness. As an excellent somatosensory external device, the ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06F3/01
CPCG06F3/011G06T7/80G06T7/85
Inventor 田元周幂李方迪王学璠
Owner HUAZHONG NORMAL UNIV
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