Virtual and real occlusion handling method based on binocular image and range information

A technology of distance information and virtual and real occlusion, applied in the field of virtual reality, can solve complex problems and require high scene layout in advance, and achieve the effect of reducing the amount of calculation

Active Publication Date: 2012-06-20
BEIHANG UNIV
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Problems solved by technology

The virtual and real occlusion processing based on multi-type sensors also uses relatively complex equipment, and also requires high pre-arrangement of the scene
Lost the simplicity and speed of binocular vision and the advantages of not needing to arrange the scene in advance

Method used

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  • Virtual and real occlusion handling method based on binocular image and range information
  • Virtual and real occlusion handling method based on binocular image and range information
  • Virtual and real occlusion handling method based on binocular image and range information

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Embodiment Construction

[0018] Refer to figure 2 The main flow chart of the present invention first performs half-occlusion detection based on the video image data collected by the binocular camera (ie binocular images); if a half-occlusion phenomenon is detected, then the binocular image light intensity step analysis and laser Ranging and distance step analysis based on laser ranging, solving the mapping relationship between the light intensity step and the distance step that minimizes the energy, and then comparing and supplementing the visual difference; finally, the virtual and real occlusion processing is performed.

[0019] Image gray information is inherent to objects and scenes, and can be quantified data information; while image feature information is inherent to the object itself and can be used to define and distinguish information. In an ideal scene, the spacing between objects can be reflected in the edge information of the objects. The edge usually represents the most abundant structure o...

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Abstract

The invention provides a virtual and real occlusion handling method based on a binocular image and range information. The method comprises the following steps of: detecting a half occlusion phenomenon based on the edge of a binocular image object; supplying a light intensity step of the binocular image, a range step of laser ranging and a mapping relation between the two steps; determining a space coordinate mapping relation between the binocular image and the range information according to the mapping relation between the light intensity step and the range step; and compensating depth information of a real scene of the binocular image by adopting the laser ranging, and performing virtual and real occlusion handling between a virtual object and a real object in a half occlusion region. The virtual and real occlusion processing method can be widely applied to generating virtual and real fused scenes in the fields of military, aviation, aerospace, education, entertainment and the like.

Description

Technical field [0001] The invention belongs to the field of virtual reality, and specifically is a virtual and real occlusion processing method based on binocular images and distance information. Background technique [0002] Augmented reality is a further expansion of virtual reality. It uses necessary equipment to make the computer-generated virtual environment and the objective real environment coexist in the same system, and presents the user with the enhancement of the integration of virtual objects and the real environment from the senses. Realistic environment. In an augmented reality system that uses video images to depict the real environment, the virtual and real combination technology needs to calculate the corresponding spatial position of the virtual object in the video image based on the acquisition of the real environment information, determine the occlusion relationship between the virtual object and the real object, and establish A realistic scene where virtual...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N13/00G06T7/00
Inventor 赵沁平陈小武李发明许春敏金鑫
Owner BEIHANG UNIV
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