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Processing method, device and equipment of AR-based slam algorithm

An algorithm and terminal equipment technology, applied in image data processing, computing, instruments, etc., can solve the problems of 3D virtual object drift and jitter, 3D virtual object offset distance, etc., to avoid drift and jitter, and improve efficiency.

Active Publication Date: 2022-05-10
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Application Information

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Problems solved by technology

[0005] The present invention provides a processing method, device and equipment for an AR-based SLAM algorithm, which is used to solve the problem that the existing evaluation of an AR-based SLAM algorithm applied to a mobile terminal is manual testing and human subjective judgment, resulting in the presentation of a mobile terminal. In the AR scene, the drift and shake of the 3D virtual object in the real scene and the problem of the large offset distance of the 3D virtual object during repositioning

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  • Processing method, device and equipment of AR-based slam algorithm
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  • Processing method, device and equipment of AR-based slam algorithm

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Embodiment 1

[0047] figure 1 It is a flow chart of the processing method of the AR-based SLAM algorithm provided by Embodiment 1 of the present invention. The embodiment of the present invention aims at the existing evaluation of the AR-based SLAM algorithm applied to the mobile terminal is manual testing and human subjective judgment, resulting in the drift and jitter of the 3D virtual object in the real scene in the AR scene presented by the mobile terminal and For the problem of large offset distance of 3D virtual objects during relocation, a processing method based on AR SLAM algorithm is provided. The method in this embodiment is applied to a terminal device. The terminal device may be a mobile terminal such as a smart phone, a tablet, or an AR device, or a smart device applied to an AR scene. In other embodiments, the method may also be applied For other devices, this embodiment uses a terminal device as an example for schematic description. like figure 1 As shown, the specific st...

Embodiment 2

[0067] figure 2 It is a flow chart of the processing method of the AR-based SLAM algorithm provided by Embodiment 2 of the present invention. On the basis of the first embodiment above, in this embodiment, as figure 2 As shown, the specific steps of the method are as follows:

[0068] In step S201, the terminal device collects execution data obtained by executing the test action during the execution of the test action of the AR scene.

[0069] In this embodiment, during the process of executing the test action of the AR scene, the terminal device collects the execution data obtained by executing the test action, which may be specifically implemented in the following manner:

[0070] In the process of executing the test action of the AR scene, the terminal device collects the video data obtained by executing the test action through the camera of the terminal device, and collects the video data obtained by executing the test action through the inertial measurement unit (IMU)...

Embodiment 3

[0112] image 3 It is a flow chart of the processing method of the AR-based SLAM algorithm provided by Embodiment 3 of the present invention. The embodiment of the present invention aims at the existing evaluation of the AR-based SLAM algorithm applied to the mobile terminal is manual testing and human subjective judgment, resulting in the drift and jitter of the 3D virtual object in the real scene in the AR scene presented by the mobile terminal and For the problem of large offset distance of 3D virtual objects during relocation, a processing method based on AR SLAM algorithm is provided. The method in this embodiment is applied to a location tracking system, such as the Lighthouse system of HTC Vive, etc. In other embodiments, the method can also be applied to other devices. This embodiment uses a location tracking system as an example for schematic illustration.

[0113] In this embodiment, the Lighthouse system is taken as an example to illustrate the positioning and trac...

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Abstract

The present invention provides an AR-based SLAM algorithm processing method, device and equipment. In the method of the present invention, the mobile terminal collects the execution data obtained by executing the test action during the execution of the test action of the AR scene, and obtains the real pose information corresponding to the execution of the test action; the SLAM algorithm is used to process the execution data to obtain Execute the estimated pose information corresponding to the test action; obtain the trajectory error corresponding to the SLAM algorithm according to the real pose information and the estimated pose information; optimize the SLAM algorithm according to the trajectory error, and realize the automatic evaluation and optimization of the SLAM algorithm , when the scale of the AR scene is large, the efficiency of automatic evaluation and optimization of the SLAM algorithm is significantly improved, and the drift and shaking of the 3D virtual object in the real scene in the AR scene presented by the mobile terminal and the 3D virtual object during relocation are avoided. The problem of the large offset distance of the object.

Description

technical field [0001] The present invention relates to the field of communication technology, in particular to a processing method, device and equipment for an AR-based SLAM algorithm. Background technique [0002] With the improvement of the hardware performance configuration of smartphones, the pure visual real-time localization and map construction (Simultaneous Localization And Mapping, SLAM) technology based on the monocular camera has begun to be applied to the augmented reality (Augmented Reality, AR) scene of the mobile terminal. . [0003] In the existing evaluation scheme for mobile terminal AR-based SLAM algorithms, the evaluators select the AR scene to which the SLAM algorithm is applied, and set a set of test actions in each AR scene. In each AR scene, the evaluators hold and move The terminal repeatedly executes the group of test actions, and observes the drift and shake of the 3D virtual object in the real scene, and whether repositioning and the offset dist...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05G06T19/00
CPCG06T17/05G06T19/006
Inventor 刘红保李敏丁广路毛楠钱承君
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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