A Kinect-Based Augmented Reality 3D Registration Method

A technology of 3D registration and augmented reality, applied in the input/output process of data processing, input/output of user/computer interaction, image analysis, etc., can solve the problems such as the influence of 3D registration without solving the constraints of distance, and achieve easy realization , low complexity, and the effect of solving mutual occlusion problems

Active Publication Date: 2021-05-04
HUAZHONG NORMAL UNIV
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Problems solved by technology

Although this method repairs the holes in the depth map, it does not solve the problem of the influence of distance constraints on 3D registration.

Method used

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  • A Kinect-Based Augmented Reality 3D Registration Method
  • A Kinect-Based Augmented Reality 3D Registration Method
  • A Kinect-Based Augmented Reality 3D Registration Method

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Embodiment Construction

[0064] Based on the study of augmented reality three-dimensional registration, the present invention takes Kinect color data and depth data as input, and performs three-dimensional registration by acquiring relative poses of cameras in close-range and non-close-range situations.

[0065] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] Such as figure 1 As shown, the specific implementation of this embodiment includes the following steps:

[0067] Step 1, the Kinect color camera and the depth camera are calibrated;

[0068] Step 1.1, color camera calibration. Use Kinect to read color image data, use the black and white checkerboard-based visual calibration method to complete the calibration of the internal and external parameters of the Kinect color camera, and obtain the internal reference matrix A color and the external parameter matrix R color , T color .

[0069] St...

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Abstract

The invention discloses a Kinect-based augmented reality three-dimensional registration method, which adopts a depth image repair method fused with RGB-D information, and solves calibration and image alignment errors caused by problems such as holes, jitter, and edge instability in the depth map, and provides The accuracy of the subsequent three-dimensional registration is guaranteed; the automatic judgment method of the close-range mode based on the depth histogram is adopted; in the non-close-range mode, the three-dimensional registration method based on Fast ICP is used to calculate the camera pose; in the close-range mode, the Fusion Fast ICP (Fast The 3D registration method of Iterative Closest Point) and ORB (Oriented FAST and Rotated BRIEF) calculates the camera pose, which solves the problem of registration failure due to hardware limitations, and can obtain accurate and stable 3D registration results in both non-close view mode and close view mode . The algorithm of the invention has low complexity, is easy to understand and implement, is not affected by illumination and complex scenes, meets the real-time requirements of the augmented reality system, and can solve the problem of mutual occlusion.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional registration, and relates to a Kinect-based augmented reality three-dimensional registration method. Background technique [0002] In the augmented reality system, the purpose of 3D registration is to calculate the pose of the camera through the dynamic tracking of the camera, so that the virtual objects can be correctly superimposed on the real scene and enhance the real scene. In order to make augmented reality more widely used, 3D registration is an important problem that must be solved. The real-time, accuracy and stability of 3D registration directly affect the applicability and reliability of the augmented reality system. [0003] Virtual-real registration based on computer vision has become the mainstream method to solve the problem of 3D registration in AR because of its low hardware cost, good accuracy, and strong robustness. As an excellent somatosensory external device, the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06F3/01
CPCG06F3/011G06T7/80G06T7/85
Inventor 田元周幂李方迪王学璠
Owner HUAZHONG NORMAL UNIV
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