Method and device of mobile augmented reality of underground engineering based on mixed registration

Abstract

The invention relates to a method and a device of mobile augmented reality of an underground engineering based on a mixed registration. The method comprises the following steps of: standardizing the inner parameters of a video camera via two-step calibration method; designing a landmark and regarding the landmark as the initial base point of the coordinates; firstly realizing the augmented reality registration based on the landmark; binding the video camera and the tracking sensor to form a rigid body; reading the landmark based on the photogrammetric technology so as to calculate the offset between the center of the video camera and the rigid body of the tracking sensor; adding virtual information and mixing the information with the environmental scene; rendering and outputting so as to realize the augmented reality; fixing a set relay marker within the functional range of the tracking sensor; calculating out the relative coordinates of the relay marker via marking point identification and photogrammetry; calculating the offset value of the relay marker and the initial base point; and converting the offset value into the coordinate extendable matrix to be loaded to the system so as to realize the extension of the coordinate system. Compared with the prior art, the invention has the advantages of low cost, no simple dependence on the landmark or tracking sensor, no need of a global positioning system (GPS), high speed, convenience, high precision and the like, and creates conditions for enhancing the mobility of the reality technology.

Description

technical field [0001] The invention relates to an augmented reality technology, in particular to a hybrid registration-based underground engineering mobile augmented reality method and device thereof. Background technique [0002] Augmented reality technology (Augmented Reality, hereinafter referred to as AR) is a kind of emerging visualization technology. It is a virtual reality technology (Virtual Reality, hereinafter referred to as VR). A new technology for seam matching. [0003] Although VR technology can realize 3D observation from any angle of view in the virtual world, can realize 3D observation from any angle of view in the virtual world, and realize click query on the 3D level, however, when it is applied to actual projects, it faces the following problems: All projects need to establish a 3D model of their entire scene, which requires a huge amount of modeling work and massive data storage servers; the real world scene is extremely complex and contains a lot of ...

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Problems solved by technology

[0003] Although VR technology can realize 3D observation from any angle of view in the virtual world, can realize 3D observation from any angle of view in the virtual world, and realize click query on the 3D level, however, when it is applied to actual projects, it faces the following problems: All projects need to establish a 3D model of their entire scene, which requires a huge amount of modeling work and massive data storage servers; the real world scene is extremely complex and contains a lot of data, and virtual technology modeling cannot truly reflect the real world; the site of the project Conditions will change with the progress of the project, so the 3D model must also be updated dynamically, but it will always lag behind the progress of the project and cannot maintain real-time performance; the interaction with users is temporarily limited to the interaction between the user and the computer screen, and does not realize the interaction between the user and the construction site or Direct dialogue of structural entities

[0006] However, the above methods have specific requirements for the working environment. In the face of tunnels, subway stations, coal mines and other underground projects with unique environmental attributes such as poor light, high interference, and no GPS signal, it is necessary to find a suitable new method to solve AR technology. Registration issues in this environment

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