Method and system for collision and occlusion detection between virtual and real objects

Abstract

The invention relates to a method for collision and occlusion detection between virtual and real objects. The method comprises: firstly, establishing a world coordinate system, and positioning a virtual three-dimensional model in a virtual model scene; secondly, using a physical depth camera to capture real environment depth images, and obtaining the position and azimuth of the physical depth camera by using an azimuth tracking system; thirdly, a computer obtaining three-dimensional orientation of the physical depth camera, defining the three-dimensional orientation as a first orientation; placing the virtual depth camera on a second orientation, and synthesizing a first synthetic depth image formed on the virtual depth camera by the virtual three-dimensional model according to the imagingmodel of the depth camera; calculating a depth value of each pixel point on the first synthetic depth image in the first orientation, to obtain a second synthetic depth image; finally, performing collision and occlusion detection and distance calculation of virtual and real objects by using the second synthetic depth image and the real environment depth image. The method is based on the depth image and rasterizes the depth image, and carries out collision and occlusion detection. The processing speed is fast and detection is accurate.

Description

technical field [0001] The invention relates to a method and system for collision interference detection and occlusion detection between a virtual three-dimensional model (generated by a computer) and a real object (physical environment), and belongs to the field of augmented reality and information-physical fusion systems. Background technique [0002] Augmented reality (Augmented Reality, AR) refers to the superimposition of computer-generated virtual models, virtual model scenes or virtual prompt information on real scenes, so as to realize the enhancement of the real environment. Augmented reality technology has the characteristics of combination of virtual and real, real-time interaction and three-dimensional registration. Among them, three-dimensional registration has always been the key technology of the augmented reality system, which refers to the accurate superimposition of the virtual model and the display on the real scene, so as to achieve the consistency of the...

AI Technical Summary

Problems solved by technology

[0004] Collision and occlusion detection based on the object space mostly use the depth camera to obtain the spatial point cloud of the real object, and replace the point cloud data processing with a bounding box or other proxy geometry to collide with the virtual object. This method requires a large amount of calculation and requires a computer. The hardware requirements are high, and at the same time, the workload of point cloud data processing in the early stage is large. If the bounding box is not well constructed, the tightness of the bounding box will be relatively poor, which will lead to false positives without collisions.

[0005] In summary, both estimating the pose of the object and constructing the bounding box model of the object require a lot of computing time, which is not suitable for real-time collision and occlusion detection of virtual and real models.

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