Reconstruction model registration method based on spatial three-point alignment

Abstract

The invention provides a reconstruction model registration method based on spatial three-point alignment, which is used for solving the technical problem of poor immersion experience when a user usesmixed reality equipment, and comprises the following steps of: (1) reconstructing a three-dimensional model; (2) acquiring three-dimensional coordinates of the tracker and the two positioners; (3) establishing three vectors X1, Y1 and Z1 which are perpendicular to one another in a real scene; (4) establishing three vectors Xr, Yr and Zr which are perpendicular to one another in the three-dimensional model; (5) calculating a rotation matrix R from the three-dimensional model to a real scene; (6) calculating a translation vector T from the three-dimensional model to a real scene; and (7) obtaining a three-dimensional model aligned with the real scene. Once the coordinates of the three groups of points of the tracker and the two positioners are obtained, the coordinates cannot be changed dueto external conditions, so that the three-dimensional model cannot disappear due to movement, visual angle change or movement shielding of a user, and the immersion experience of the user when the user uses the mixed reality equipment is improved.

Description

technical field [0001] The invention belongs to the technical field of virtual reality, and relates to a method for registering a reconstructed model in a real scene, in particular to a method for registering a reconstructed model in a real scene based on spatial three-point alignment, which can be used when a user uses a mixed reality device to The reconstructed models are shown in real scenes. Background technique [0002] When users use mixed reality devices, they need to display the model somewhere in the real scene. This process is called model registration. The model may disappear due to the user's movement, perspective change, or motion occlusion. Therefore, whether the model can stably exist in the real scene will directly affect the user's immersive experience. [0003] The traditional method of registering a model in a real scene uses a virtual model to be registered in a real scene, so when a user uses a mixed reality device, collisions with obstacles may occur, ...

AI Technical Summary

Problems solved by technology

However, when the marker is partially or fully occluded, the marker cannot be recognized correctly, causing the reconstructed scene to disappear in the real scene, reducing the user's immersive experience

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