Novel mark point graph and its recognition, tracking and positioning algorithm based on visual sense constantmagnitude

A technology of marking points and variables, applied in the field of virtual reality, can solve problems such as increasing the computational burden of computers, and achieve the effects of saving area, improving accuracy and high robustness

Active Publication Date: 2009-01-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

At the same time, the code needs to be decoded during the tracking and registration process, which increases the computing burden of the computer

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  • Novel mark point graph and its recognition, tracking and positioning algorithm based on visual sense constantmagnitude
  • Novel mark point graph and its recognition, tracking and positioning algorithm based on visual sense constantmagnitude
  • Novel mark point graph and its recognition, tracking and positioning algorithm based on visual sense constantmagnitude

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with specific implementation examples. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0032] Place the pentagonal mark points designed by the present invention in the real scene, and use the camera to shoot the scene to obtain the image information of the scene. The specific implementation process of the identification, tracking and positioning algorithm is as follows:

[0033] (1) Extract all the black areas in the collected image, which does not limit the image binarization algorithm;

[0034] In this embodiment, the watershed adaptive threshold algorithm is used to extract black areas, so as to ensure the adaptability of the algorithm to illumination changes.

[0035] (2) Detect the connected regions of the extracted black regions, which does not limit the use of connected regi...

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Abstract

The invention relates to a novel marked point pattern based on vision invariants and identification and tracking positioning algorithm thereof. The invention comprises a design of novel marked point pattern based on vision invariants and identification and tracking positioning algorithm based on the novel marked point. The novel marked point pattern based on vision invariants is a black pentagon with a round mark. The marked point can be a convex pentagon or a concave pentagon. The round mark is used for identifying a first vertex of the pentagon. The pattern is coded using the cross-ratio invariant of the pentagon and combining the concavity and convexity of the vertex. The marked point pattern based on vision invariants can conduct attitude calculation using self-characteristics and realize the coding of the marked point, thus saving the area needed by coding patterns, reducing the pattern size of the marked point and improving the registration precision in unit area. The tracking registration algorithm can be used for identifying the marked point, tracking the head posture of the user and calculating the accurate position and posture of virtual scenes in true environmental space.

Description

technical field [0001] The invention relates to a design of a mark point pattern based on visual invariance, in particular to an augmented reality tracking registration algorithm utilizing the special mark point, and belongs to the field of virtual reality. Background technique [0002] The tracking and registration technology based on artificial landmarks is the most mature and widely used registration technology in the current augmented reality system. The so-called "mark point" refers to the special graphic pattern printed by artificial design. Due to the particularity of its graphic pattern, it is difficult to be similar to the environmental background in various scenes, so it is easy to distinguish from the environment. After the identification and positioning algorithm of the landmark point, the corresponding point set of its three-dimensional coordinates in space and its projection image can be obtained, and the six-degree-of-freedom attitude information of the camer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T15/70
Inventor 陈靖王涌天李玉
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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