Monocular and IMU fused stable motion tracking method and device based on mobile terminal

A motion tracking, mobile terminal technology, applied in image data processing, instrumentation, computing, etc., can solve problems such as constraints, image motion blur, tracking failure, etc.

Inactive Publication Date: 2016-09-07
北京暴风魔镜科技有限公司
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Problems solved by technology

From the perspective of the sensor itself, due to the limitation of the imaging quality and frame rate of the mobile terminal, when there are few feature points in the environmental image, it is easy to cause tracking failure; when the device moves quickly, it will cause motion blur in the image, result...

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  • Monocular and IMU fused stable motion tracking method and device based on mobile terminal
  • Monocular and IMU fused stable motion tracking method and device based on mobile terminal
  • Monocular and IMU fused stable motion tracking method and device based on mobile terminal

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[0073] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0074] On the one hand, the present invention provides a stable motion tracking method based on mobile monocular and IMU fusion, such as figure 1 shown, including:

[0075] Step S101: acquiring an image;

[0076] Step S102: Determine whether the number of tracking feature points in the current frame of the image is greater than the preset threshold, if so, use the optical flow method to track the feature points, and obtain the current pose of the camera, if not, use the FAST feature detection operator to obtain Feature points, and use the BRIEF algorithm to calculate the descriptor to perform feature matching on the image to obtain the current pose of the camera;

[0077] This step is a motion tracking process based on monocular acquisition of visual i...

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Abstract

The invention discloses a monocular and IMU fused stable motion tracking method and device based on a mobile terminal, belonging to the technical field of AR/VR motion tracking. The method comprises the following steps of: judging whether the number of tracking feature points of a current frame of an image is greater than a pre-set threshold value or not, if so, performing feature point tracking by adopting an optical flow method so as to obtain the current pose of a camera, if not, obtaining feature points by adopting a FAST feature detection operator, and performing feature matching of the image by adopting a BRIEF algorithm calculation descriptor so as to obtain the current pose of the camera; performing Kalman filtering of the current pose of the camera so as to obtain a visual pose; obtaining acceleration and angular speed values generated by an IMU in a three-dimensional space, and performing integral operation of the acceleration and angular speed values so as to obtain the pose of the IMU; and performing Kalman fusion of the visual pose and the pose of the IMU, and performing motion tracking. Compared with the prior art, more stable and rapid motion tracking can be obtained on mobile terminal equipment.

Description

technical field [0001] The present invention relates to the technical field of AR / VR motion tracking, in particular to a stable motion tracking method and device based on mobile monocular and IMU fusion. Background technique [0002] Motion tracking technology is to measure, track, and record the trajectory of objects in three-dimensional space. It mainly obtains the information of the motion scene through sensor technology, and calculates the attitude of the tracked object in space in real time. It is mainly used in fields such as AR (Augmented Reality, Augmented Reality) / VR (Virtual Reality, Virtual Reality), wearable devices, robots, and autonomous driving navigation. At present, motion tracking such as mobile AR / VR mainly uses handles for interaction, and only the gyroscope of the mobile phone is used for rotation tracking during the interaction process. Since Nister first proposed the concept of visual odometry in 2004, the method based on visual odometry has become th...

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Application Information

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IPC IPC(8): G06T7/20
Inventor 邓欢军方维乔羽李根古鉴
Owner 北京暴风魔镜科技有限公司
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