Geographic entity registration method and program product

Abstract

The application provides a geographic entity registration method and program product, and relates to the technical field of augmented reality (AR). The method comprises the following steps: taking an observation point of an entity to be registered as an origin, establishing a spherical tangent plane coordinate system according to a tangent plane and a normal line of the earth; determining a conversion relationship between a geocentric coordinate system and the spherical tangent plane coordinate system, and a conversion relationship between the spherical tangent plane coordinate system and an augmented reality space (AR-GIS) coordinate system describing a relative position relationship between the observation point and the entity to be registered; and converting a geographic three-dimensional position of the entity to be registered in the geocentric coordinate system into the AR-GIS coordinate system according to the conversion relationship. The application provides an entity registration method combining vision and GNSS, fully considers three-dimensional space information of a real geographic scene, constructs a spherical tangent plane coordinate system to realize high-precision coordinate matching between a virtual scene and a real scene, improves the accuracy and real-time performance of visual registration, and enhances the AR visualization effect and application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of augmented reality technology, in particular to a geo-registration method and program product based on augmented reality. BACKGROUND

[0002] With the continuous deepening of smart city construction, AR-GIS (augmented reality-geographic information system) technology, as an innovative technology that combines augmented reality and geographic information system, is increasingly attracting attention. It provides users with enhanced reality navigation and location information services by superimposing virtual digital information, such as three-dimensional building models, underground pipe network systems, road network information, traffic information, and commercial plaza information, onto real-world buildings and roads. In this technical system, augmented reality geo-registration technology plays a crucial role, as it is responsible for accurately matching and superimposing virtual objects with real-world objects.

[0003] Traditional geo-registration techniques mainly rely on visual registration or sensor registration, as well as multi-source fusion geo-registration methods, among which a combination of visual Simultaneous Localization and Mapping (SLM) and Inertial Measurement Unit (IMU) for hybrid registration has become mainstream. Although these methods have achieved good results in indoor environments, they face challenges when dealing with outdoor large scenes. The reason is that these methods do not fully consider the three-dimensional spatial information of the real scene during the registration process, but rely only on temporarily set local coordinate systems, making it difficult to achieve accurate coordinate matching and limiting the effectiveness of augmented reality visualization and the range of applications.

[0004] Therefore, there is an urgent need for a geo-registration technology that can fully consider the three-dimensional spatial information of the real scene and achieve high-precision coordinate matching. SUMMARY

[0005] To achieve the above-mentioned purpose, the present application provides a geo-registration method and program product, which can fully consider the three-dimensional spatial information of the real scene and achieve high-precision coordinate matching, making the coordinate systems of virtual and real scenes consistent, and improving the accuracy and real-time performance of augmented reality.

[0006] In a first aspect, the present application provides a geo-registration method, which comprises:

[0007] S1, establishing a spherical tangent plane coordinate system according to the tangent plane and normal line of the earth, with the observation point of the entity to be registered as the origin;

[0008] S2. Determine the transformation relationship between the Earth-centered Earth-fixed coordinate system and the spherical tangent plane coordinate system;

[0009] S3. Determine a conversion relationship between the spherical tangent plane coordinate system and an augmented reality space coordinate system, where the augmented reality space coordinate system is used to describe the relative position relationship between the observation point and the entity to be registered;

[0010] S4. According to the conversion relationship corresponding to the spherical tangent plane coordinate system, the geographical three-dimensional position of the entity to be registered in the Earth-centered Earth-fixed coordinate system is converted into the augmented reality space coordinate system.

[0011] In one possible implementation, step S1 includes:

[0012] At the observation point As the origin, the normal of the earth is used as the coordinate system of the spherical tangent plane. Axis, with the direction parallel to the earth's latitude as the spherical tangent plane coordinate system Axis, with the direction parallel to the earth's meridian as the spherical tangent plane coordinate system Axis, creating the spherical tangent plane coordinate system consisting of the earth's tangent plane and normal.

[0013] The spherical tangent plane provided in this application serves as a conversion medium, integrating the "observation point" associated with vision and the "Earth-centered Earth-fixed coordinate system" associated with real geographic space into one coordinate system.

[0014] In one possible implementation, step S2 includes:

[0015] S21, based on the geographic three-dimensional coordinates P of the observation point in the earth-centered earth-fixed coordinate system and the geocentric coordinates , calculate the normalized column vector ;

[0016] S22, according to the spherical tangent plane coordinate system The axis coincides with the Earth's normal. The axis is parallel to the Earth's latitudes, The axis is parallel to the Earth's meridian, and the normalized column vector After translation and / or cross multiplication, the basis vector of the spherical tangent plane coordinate system is obtained 、 and ;

[0017] S23, according to the basis vector represented in the Earth-centered Earth-fixed coordinate system 、 and solving a first conversion relationship between the geocentric terrestrial coordinate system and the tangent plane coordinate system.

[0018] In a possible implementation, the first conversion relationship is expressed by a matrix as follows:

[0019] ;

[0020] wherein, X e Y e Z e represents a three-dimensional coordinate in the geocentric terrestrial coordinate system, represents a three-dimensional coordinate in the tangent plane coordinate system; T 1 is a first translation matrix representing a translation relationship in the first conversion relationship, R 1 is a first rotation matrix representing a rotation relationship in the first conversion relationship, according to the parallel attribute of each coordinate axis of the tangent plane coordinate system relative to the coordinate axis of the geocentric terrestrial coordinate system, R 1 .

[0021] In a possible implementation, before the step S2, the method further includes:

[0022] converting the latitude and longitude information of the entity to be registered into the geocentric terrestrial coordinate system to obtain a geographical three-dimensional coordinate of the entity to be registered.

[0023] In a possible implementation, the conversion process of the latitude and longitude information into the geocentric terrestrial coordinate system is expressed as:

[0024] ;

[0025] ( X e , Y e , Z e ) represents a geographical three-dimensional coordinate of the entity to be registered in the geocentric terrestrial coordinate system, N represents a length of a normal line of the earth, H represents an elevation in the latitude and longitude information, B represents a latitude in the latitude and longitude information, L represents a longitude in the latitude and longitude information, e represents a first eccentricity of the earth.

[0026] In a possible implementation, the step S3 includes:

[0027] S31, obtaining a video / image captured from the perspective of the observation point, matching the video / image with a given visual reference feature library, and determining the relative position of the observation point with respect to the entity to be registered;

[0028] S32. Calculate a second transformation relationship between the spherical tangent plane coordinate system and the augmented reality space coordinate system based on the relative posture.

[0029] In one possible implementation, the second conversion relationship is expressed as:

[0030] ;

[0031] in, X AR Y AR Z AR represents the three-dimensional coordinates in the augmented reality coordinate system, represents the three-dimensional coordinates in the spherical tangent plane coordinate system; T 2 is the second translation matrix representing the translation relationship in the second transformation relationship, R 2 is a second rotation matrix representing the rotation relationship in the second transformation relationship.

[0032] In one possible implementation, the augmented reality space coordinate system includes: a camera coordinate system whose coordinate axes coincide with the viewing direction, representing a two-dimensional coordinate system of a display plane;

[0033] The step S4 comprises:

[0034] S41. According to a corresponding conversion relationship, the geographic three-dimensional coordinates of the entity to be registered in the Earth-centered Earth-fixed coordinate system are converted to the spherical tangent plane coordinate system, and then converted from the spherical tangent plane to a three-dimensional position in the camera coordinate system in the augmented reality space coordinate system;

[0035] S42: Projecting the three-dimensional position in the camera coordinate system into the two-dimensional coordinate system to complete the registration of the entity to be registered in the augmented reality geographic system.

[0036] In a second aspect, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the geographic entity registration method provided in the first aspect is implemented.

[0037] In a third aspect, a computer-readable storage medium is provided, wherein the storage medium stores at least one program, and the at least one program is executed by a processor to implement the geographic entity registration method provided in the first aspect.

[0038] In a fourth aspect, a computing device is provided, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the geographic entity registration method provided in the first aspect.

[0039] The technical solution provided by this application includes at least the following technical effects:

[0040] (1) By constructing a spherical tangent plane coordinate system that takes into account geographic three-dimensional information and visual information, the Global Navigation Satellite System (GNSS) coordinates (that is, the geographic three-dimensional coordinates provided by the Earth-centered Earth-fixed coordinate system) and the visual posture information (that is, the visual relative posture provided by the AR-GIS coordinate system) are accurately unified, making the coordinate systems between virtual and real scenes consistent, thereby improving the accuracy and real-time performance of augmented reality.

[0041] (2) Based on the above high-precision unified coordinate system, an augmented reality visualization coordinate system was established, which allows the precise positioning and visualization of virtual objects in real scenes.

[0042] In summary, this application provides an entity registration method that integrates vision and GNSS, fully considers the three-dimensional spatial information of real geographic scenes, and realizes high-precision coordinate matching between virtual and real scenes by constructing a spherical tangent plane coordinate system, thereby improving the accuracy and real-time performance of visual registration and enhancing AR visualization effects and application scope. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flowchart of a geographic entity registration method provided by an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a spherical tangent plane coordinate system provided in an embodiment of the present application;

[0045] Figure 3 is a schematic diagram of a two-dimensional projection provided in an embodiment of the present application;

[0046] Figure 4 This is a rendering of an outdoor application of an augmented reality geographic system provided by an embodiment of the present application;

[0047] Figure 5 This is a schematic diagram of a geographic entity registration process provided by an embodiment of the present application;

[0048] Figure 6 This is a schematic diagram of the hardware structure of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] To further illustrate each embodiment, the present application provides drawings. These drawings are part of the disclosure of the present application and are mainly used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and the advantages of the present application. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components. The term "at least one" in the present application means one or more, and the term "plurality" in the present application means two or more.

[0050] Currently, related visual registration technologies are typically based on virtual-reality matching in a local relative coordinate system. When used in large outdoor scenes, they can only provide spatial information within the visual matching range and cannot capture spatial attributes within other ranges in the outdoor environment, severely limiting the application of AR-GIS. Furthermore, when relying solely on the absolute spatial coordinates of geographic entities for corresponding virtual information registration, the GNSS-based positioning accuracy of geographic entities cannot meet the requirements for precise virtual-reality matching in augmented reality. Therefore, there is still a lack of an effective mechanism for fusion of outdoor geographic information entity coordinates that can effectively convert local relative coordinates into absolute coordinates in the real scene.

[0051] In view of this, this application proposes an augmented reality geographic entity registration method that integrates vision and GNSS. Based on the relative posture obtained by visual registration, a three-dimensional coordinate conversion model is further constructed in combination with GNSS coordinates to form a unified coordinate reference for virtual scenes and real scenes.

[0052] The technical solution of this application is now further described with reference to the accompanying drawings and specific implementation methods.

[0053] Figure 1 This is a flowchart of a geographic entity registration method provided in an embodiment of the present application, which method at least includes the following steps S1 to S4.

[0054] S1. Take the observation point of the entity to be registered as the origin and establish the spherical tangent plane coordinate system according to the tangent plane and normal of the earth. .

[0055] In the embodiments of this application, entities to be registered refer to geographic entities to be registered with a system or database. These entities may be specific locations, buildings, natural features, or other objects related to geographic location. They typically have specific attributes or characteristics, such as names, location coordinates, and descriptions. During the registration process, information about these entities is collected, verified, and stored so that it can be subsequently queried, used, or managed.

[0056] In the embodiments of the present application, an observation point refers to a specific location or position used to observe, record, or monitor the entity to be registered. An observation point can be a fixed geographic coordinate point or the location of a mobile observation device. By observing and recording at these observation points, real-time or historical data about the entity to be registered can be obtained, which can then be used to verify the entity's existence, location, attributes, and other information. The selection and setting of observation points are usually based on actual needs and the purpose of data collection to ensure that accurate and reliable data can be obtained.

[0057] In some possible implementations, an observation point is a specific location or position where an observing user is located. An observing user is a person, organization, or device unit involved in the geographic entity registration process. An observing user may be a professional responsible for collecting, organizing, and verifying information about entities to be registered, or they may be an ordinary user interested in a specific geographic entity and wishing to register it in the system. Observing users play a crucial role in the geographic entity registration process, providing essential input, feedback, and suggestions to ensure the accuracy and completeness of registration.

[0058] In one possible implementation, step S1 includes:

[0059] Observation point As the origin, the normal of the earth is used as the coordinate system of the tangent plane Axis, with the direction parallel to the earth's latitude as the spherical tangent plane coordinate system Axis, with the direction parallel to the earth's meridian as the spherical tangent plane coordinate system Axis, creating a spherical tangent plane coordinate system consisting of the earth's tangent plane and normal .

[0060] Among them, the spherical tangent plane coordinate system The positive direction of the axis is pointing upward to the sky, and the spherical tangent plane coordinate system is The positive direction of the axis is east, and the spherical tangent plane coordinate system is The axis has the south direction as the positive direction. The spherical tangent plane coordinate system is a right-handed coordinate system.

[0061] In order to facilitate the understanding of the spherical tangent plane coordinate system, the embodiment of the present application provides a schematic diagram of the spherical tangent plane coordinate system, as shown in FIG. Figure 2 As shown, the sphere shown in the figure is the Earth, and the prime meridian is the Earth's zero degree longitude; are geocentric coordinates, represents the Earth-centered Earth-fixed coordinate system; point P is the observation point; spherical tangent plane coordinate system of The axis points to the sky upward (Up) as the positive direction, and the spherical tangent plane coordinate system The axis is in the east direction (East) and the spherical tangent plane coordinate system is The axis is positive in the south direction.

[0062] It can be understood that the tangent plane coordinate system is a three-dimensional coordinate system with the observation point as the origin and the normal line of the earth as the normal line, and passing through the tangent plane of the earth. Therefore, the tangent plane as an intermediate conversion integrates the "observation point" related to vision and the "geocentric coordinate system" related to real geographic space in a coordinate system.

[0063] In the embodiment of the present application, before step S2 is performed, the to-be-registered entity is first converted into a geocentric coordinate system. Specifically, before step S2 is performed, the latitude and longitude information of the to-be-registered entity is converted into a geocentric coordinate system to obtain the geographic three-dimensional coordinates of the to-be-registered entity.

[0064] In a possible implementation, the conversion process of the latitude and longitude information into the geocentric coordinate system is represented by formula (1).

[0065] (1)

[0066] In formula (1), (x, y, z) represents the geographic three-dimensional coordinates of the to-be-registered entity in the geocentric coordinate system, X e , Y e , Z e represents the length of the normal line of the earth, N represents the elevation in the latitude and longitude information, H represents the latitude in the latitude and longitude information, B represents the longitude in the latitude and longitude information, L represents the first eccentricity of the earth. e

[0067] Exemplarily, the latitude and longitude information can be collected by a sensor. Exemplarily, the collection of the latitude and longitude information can utilize the GPS chip built in the smart phone, watch and the like to receive signals from satellites, so as to determine the position of the object and obtain the latitude and longitude information. In addition, professional GPS equipment such as handheld GPS receivers or vehicle-mounted GPS navigators can also provide accurate latitude and longitude data. In some scenarios requiring high-precision measurement, professional measuring instruments such as theodolites, total stations and the like can be used. These instruments can accurately measure the angle and distance relationship between the object and the earth's surface, thereby obtaining accurate latitude and longitude information.

[0068] S2, determine the conversion relationship between the geocentric coordinate system and the tangent plane coordinate system .

[0069] In a possible implementation, the present step S2 includes the following steps S21 to S23.​

[0070] S21, based on the geographic three-dimensional coordinates P of the observation point in the geocentric earth-fixed coordinate system and the geocentric coordinates , calculate the normalized column vector .

[0071] S22, according to the spherical tangent plane coordinate system The axis coincides with the Earth's normal. The axis is parallel to the Earth's latitudes, The property that the axis is parallel to the Earth's meridian will normalize the column vector After translation and / or cross multiplication, the basis vector of the spherical tangent plane coordinate system is converted 、 and .

[0072] 1. Since the normals of the earth all pass through the center of the earth, the coordinate system of the tangent plane is The axis and the earth's normal coincide, and the vector translation does not affect its value, so we can get .

[0073] 2. Assumptions Direction normalized column vector , according to the spherical tangent plane coordinate system is a right-hand coordinate system, according to the right-hand rule Cross product A perpendicular to the plane vector; further along the line segment You can get it by panning .get The process can be expressed by formula (2).

[0074] (2)

[0075] 3. Utilize Cross product You can calculate .

[0076] Through the above steps 1-3, the basis vector of the spherical tangent plane coordinate system can be obtained 、 、 , and the basis vector 、 、 Both can be expressed in the Earth-centered Earth-fixed coordinate system at the same time. Therefore, based on the above basis vectors, the transformation relationship between the Earth-centered Earth-fixed coordinate system and the spherical tangent plane coordinate system can be solved.

[0077] S23, according to the basis vectors expressed in the Earth-centered Earth-fixed coordinate system 、 and , solve the first transformation relationship between the Earth-centered Earth-fixed coordinate system and the spherical tangent plane coordinate system.

[0078] In the embodiment of the present application, the spherical tangent plane coordinate system is equivalent to the Earth-centered Earth-fixed coordinate system obtained by rotation and translation. The axis coincides with the Earth's normal. The axis is parallel to the Earth's latitudes, The axis is parallel to the earth's meridian. Therefore, with the coordinate system of the geocentric earth-fixed coordinate system as the initial state 0°, the relative rotation angle of the spherical tangent plane coordinate system is equivalent to the dot product of the direction vector of each coordinate axis of the spherical tangent plane coordinate system and each coordinate axis of the geocentric earth-fixed coordinate system.

[0079] like Figure 2 As shown, Axis and Z e The angle between the axes is and The dot product of . Axis and Y e axis, and X e Therefore, according to the parallel properties of the coordinate axes of the spherical tangent plane coordinate system relative to the coordinate axes of the Earth-centered Earth-fixed coordinate system, the rotation relationship between the spherical tangent plane coordinate system and the Earth-centered Earth-fixed coordinate system can be expressed as: R1 .

[0080] Furthermore, the first transformation relationship between the spherical tangent plane coordinate system and the Earth-centered Earth-fixed coordinate system is expressed as a matrix as formula (3).

[0081] (3)

[0082] in, X e Y e Z e represents the three-dimensional coordinates in the Earth-centered Earth-fixed coordinate system, Represents the three-dimensional coordinates in the spherical tangent plane coordinate system; T 1 is the first translation matrix representing the translation relationship in the first transformation relationship, R1 is the first rotation matrix representing the rotation relationship in the first transformation relationship, R1 .exist R1 If it is determined, it can be solved T 1. Determine the first conversion relationship.

[0083] S3. Determine the spherical tangent plane coordinate system and augmented reality space coordinate system The conversion relationship between them.

[0084] Among them, the augmented reality space coordinate system is used to describe the relative position relationship between the observation point and the entity to be registered.

[0085] In one possible embodiment, the augmented reality spatial coordinate system described in the present application is an AR-GIS spatial coordinate system. The AR-GIS spatial coordinate system is a set of mathematical rules and parameters used to describe and locate geographic spatial entities in an augmented reality geographic information system (AR-GIS). It combines augmented reality (AR) technology with a geographic information system (GIS) to enable accurate representation and interaction of geographic entities in three-dimensional space.

[0086] For example, when constructing AR-GIS spatial coordinate systems, they are typically based on two types: three-dimensional and two-dimensional coordinate systems. A three-dimensional coordinate system uses a three-dimensional sphere to define locations on the Earth, using longitude and latitude to determine the location of points on the sphere. A two-dimensional coordinate system projects a three-dimensional geographic coordinate system onto a two-dimensional plane, facilitating map creation and spatial analysis on the plane.

[0087] In the embodiment of the present application, this step S3 includes the following steps S31 to S32.

[0088] S31. Obtain the video / image collected from the perspective of the observation point, match the video / image with a given visual reference feature library, and determine the relative pose of the observation point with respect to the entity to be registered.

[0089] Specifically, when the augmented reality system is started, an AR-GIS spatial coordinate system is created with the user / observation point as the perspective. ,During registration initialization, the video / image collected by the observation point / user through ,sensors, cameras and other devices is matched with the visual ,reference feature library to obtain the relative pose.

[0090] S32. Calculate a second transformation relationship between the spherical tangent plane coordinate system and the augmented reality space coordinate system based on the relative posture.

[0091] After obtaining the relative visual pose, the translation and rotation relationship between the spherical tangent plane coordinate system and the AR-GIS coordinate system is further calculated to achieve the coordinate unification of the virtual scene and the real scene.

[0092] Exemplarily, the second conversion relationship is expressed as formula (4).

[0093] (4)

[0094] in, X ARY AR Z AR representing a three-dimensional coordinate in an augmented reality coordinate system, representing a three-dimensional coordinate in a spherical tangent plane coordinate system; T 2 is a second translation matrix representing a translation relationship in the second conversion relationship, R 2 is a second rotation matrix representing a rotation relationship in the second conversion relationship.

[0095] The application unifies the global navigation satellite system coordinates (i.e. the geographic three-dimensional coordinates provided by the geocentric coordinate system) and the visual attitude information (i.e. the visual relative pose provided by the AR-GIS coordinate system) by constructing a spherical tangent plane coordinate system considering geographic three-dimensional information and visual information, so that the coordinate systems of virtual and real scenes are consistent, and the accuracy and real-time performance of augmented reality are improved.

[0096] S4, according to the spherical tangent plane coordinate system According to the corresponding conversion relationship, the geographic three-dimensional position of the entity to be registered in the geocentric coordinate system is converted to the camera coordinate system in the augmented reality space coordinate system .

[0097] In the embodiment of the application, the augmented reality space coordinate system includes: a camera coordinate system in which the coordinate axis and the observation line direction coincide, and a two-dimensional coordinate system representing a display plane.

[0098] In a possible implementation, the step S4 includes the following steps S41 and S42.

[0099] S41, according to the corresponding conversion relationship (including the first conversion relationship and the second conversion relationship), the geographic three-dimensional coordinate of the entity to be registered in the geocentric coordinate system is converted to the spherical tangent plane coordinate system, and then converted from the spherical tangent plane to the three-dimensional position in the camera coordinate system in the augmented reality space coordinate system;

[0100] Based on the first conversion relationship and the second conversion relationship, the virtual three-dimensional coordinate of the entity to be registered in the geocentric coordinate system is fused with the AR-GIS space coordinate system in the spherical tangent plane coordinate system, and carries three-dimensional spatial position information. The association between the two coordinate systems is established through the spherical tangent plane coordinate system, as shown in formula (5).

[0101] (5)

[0102] In the formula, R1 and T1 constitute the first conversion matrix of the spherical tangent plane coordinate system and the geocentric coordinate system R2 and T2 constitute the second conversion matrix of the AR-GIS coordinate system X AR YAR Z AR and the second conversion matrix of the spherical tangent plane coordinate system.

[0103] S42, project the three-dimensional position in the camera coordinate system into the two-dimensional coordinate system, complete the registration of the entity to be registered in the augmented reality geographic system.

[0104] Exemplarily, according to the camera perspective projection principle, the transformation matrix from the camera coordinate system to the two-dimensional coordinate system is represented as formula (6).

[0105] (6)

[0106] In formula (5), f is the focal length of the camera, 1 / dx and 1 / dy represent the physical size of each pixel in the two-dimensional image coordinate axis and the axis direction, u 0 v 0 is the image center coordinate, x c y c z c represents the camera coordinate system, uv represents the two-dimensional coordinate system.

[0107] In order to facilitate understanding of the principle of two-dimensional projection, the application embodiment provides a schematic diagram of two-dimensional projection, as shown in Figure 3 , is the three-dimensional position information of the object to be registered, x c y c z c represents the camera coordinate system in which the coordinate axis and the observation line direction coincide (simulating the user's observation angle); uv represents the two-dimensional coordinate system, located on the projection plane.

[0108] Further, based on the registered entity, the registered entity can be displayed in the augmented reality display interface, for example, the registered entity is a supermarket, a restaurant and other outdoor building sites, when the user selects / arrives at the corresponding building site, the augmented reality effect can be superimposed in the real scene through the display device such as a mobile phone, AR / VR glasses, etc. The augmented reality effect is, for example, the name of the building site, the distance, the icon, etc., and the specific effect is as shown in Figure 4 , Figure 4 is an effect diagram of an outdoor application of an augmented reality geographic system provided by the application embodiment.

[0109] The application establishes an augmented reality visualization coordinate system based on the constructed high-precision unified coordinate system, allows accurate positioning and visual presentation of virtual objects in a real scene, accurately superimposes virtual geographic information and real environment objects, and intuitively displays in the user's field of view.

[0110] Based on the steps S1 to S4 and various possible implementation manners thereof, in order to facilitate understanding of the process of converting the three-dimensional geographic coordinates of the entity to be registered from the geocentric coordinate system to the spherical tangent plane coordinate system, and then from the spherical tangent plane to the camera coordinate system and finally projecting to the two-dimensional coordinate system, the application provides a schematic diagram of a geographic entity registration process, as shown in Figure 5 The three-dimensional position information of the object to be registered The three-dimensional position information of the object to be registered is converted to the three-dimensional position information in the AR-GIS space coordinate system , and finally to the camera coordinate system and then projected to the two-dimensional coordinate system, to achieve registration.

[0111] The traditional visual registration method is often based on a local relative coordinate system, lacks a means of establishing a unified virtual geographic entity and real scene space, and seriously weakens the usability of outdoor augmented reality. The application provides an augmented reality geographic entity registration method that fuses visual and GNSS position information, establishes a spherical tangent plane coordinate system on the basis of GNSS coordinates, then calculates the relative position relationship of the camera visual pose, re-establishes an augmented reality visualization coordinate system, and finally realizes the coordinate unification of the virtual scene and the real scene.

[0112] In summary, the application provides an entity registration method that fuses visual and GNSS, fully considers the three-dimensional spatial information of the real geographic scene, realizes high-precision coordinate matching between the virtual and real scenes by constructing a spherical tangent plane coordinate system, improves the accuracy and real-time performance of visual registration, and enhances the AR visualization effect and application range.

[0113] The geographic entity registration method provided by the application can be executed by a computing device, which can be a personal computer, a vehicle-mounted terminal device, a mobile smart phone, etc. terminal device, but also for servers, server clusters composed of multiple physical servers or distributed file systems, or cloud server clusters that provide cloud storage and cloud services, cloud databases, cloud computing, cloud functions, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (content delivery network, CDN), big data and artificial intelligence platforms, etc. basic cloud computing services, the application does not limit this.

[0114] The application provides a computing device which can be used to execute the geographic entity registration method. Figure 6 Figure 1 is a schematic diagram of a hardware structure of a computing device provided by an embodiment of the application, as shown in the figure, the computing device comprises a processor 601, a memory 602, a bus 603, and a computer program stored in the memory 602 and executable on the processor 601, the processor 601 comprises one or more than one processing core, the memory 602 is connected to the processor 601 through the bus 603, the memory 602 is used to store program instructions, and the processor executes the computer program to implement all or part of the steps in the above method embodiments provided by the application. Figure 6

[0115] The above computing module can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the composition structure of the above computing module is only an example of the computing module and does not constitute a limitation on the computing module, and can include more or fewer components than the above, or combine certain components or different components. For example, the computing module can also include an input / output device, a network access device, a bus, etc., and the embodiments of the application do not limit this.

[0116] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the computer unit, and is connected to each part of the computer unit through various interfaces and lines.

[0117] ​The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the computer unit by running or executing the computer program and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the mobile phone and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0118] The application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to realize all or part of the steps of the method.

[0119] The application further provides a computer program product, which includes computer program / instructions. The computer program / instructions are executed by a processor to realize all or part of the steps of the method.

[0120] The above-mentioned modules / units integrated with the computing modules, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the application realizes all or part of the processes in the above-mentioned embodiment methods, which can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to realize the steps of the above-mentioned various method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM) and software distribution medium, etc. It should be noted that the computer readable medium contains content which can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0121] Although the present application has been particularly shown and described with respect to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application as defined in the appended claims.

Claims

1. A geographic entity registration method, characterized in that: The method comprises: S1. With the observation point of the entity to be registered as the origin, a spherical tangent plane coordinate system is established based on the tangent plane and normal of the earth; S2. Determine the transformation relationship between the Earth-centered Earth-fixed coordinate system and the spherical tangent plane coordinate system; S3. Determine a conversion relationship between the spherical tangent plane coordinate system and an augmented reality space coordinate system, where the augmented reality space coordinate system is used to describe the relative position relationship between the observation point and the entity to be registered; S4. Convert the geographic three-dimensional position of the entity to be registered in the Earth-centered Earth-fixed coordinate system to the augmented reality space coordinate system according to the conversion relationship corresponding to the spherical tangent plane coordinate system; The step S3 comprises: S31, obtaining a video / image captured from the perspective of the observation point, matching the video / image with a given visual reference feature library, and determining the relative position of the observation point with respect to the entity to be registered; S32. Calculate a second transformation relationship between the spherical tangent plane coordinate system and the augmented reality space coordinate system according to the relative posture; The second conversion relationship is expressed as: ； in, X AR Y AR Z AR represents the three-dimensional coordinates in the augmented reality space coordinate system, represents the three-dimensional coordinates in the spherical tangent plane coordinate system; T 2 is the second translation matrix representing the translation relationship in the second transformation relationship, R 2 is a second rotation matrix representing the rotation relationship in the second transformation relationship; Wherein, the step S1 includes: At the observation point As the origin, the normal of the earth is used as the coordinate system of the spherical tangent plane. Axis, with the direction parallel to the earth's latitude as the spherical tangent plane coordinate system Axis, with the direction parallel to the earth's meridian as the spherical tangent plane coordinate system Axis, creating the spherical tangent plane coordinate system consisting of the earth's tangent plane and normal.

2. The geographic entity registration method according to claim 1, characterized in that: The step S2 comprises: S21, based on the geographic three-dimensional coordinates P of the observation point in the earth-centered earth-fixed coordinate system and the geocentric coordinates , calculate the normalized column vector ; S22, according to the spherical tangent plane coordinate system The axis coincides with the Earth's normal. The axis is parallel to the Earth's latitudes, The axis is parallel to the Earth's meridian, and the normalized column vector After translation and / or cross multiplication, the basis vector of the spherical tangent plane coordinate system is obtained 、 and ; S23, according to the basis vector represented in the Earth-centered Earth-fixed coordinate system 、 and , solve the first transformation relationship between the Earth-centered Earth-fixed coordinate system and the spherical tangent plane coordinate system.

3. The geographic entity registration method according to claim 2, characterized in that: The first conversion relationship is expressed in a matrix as follows: ； in, X e Y e Z e represents the three-dimensional coordinates in the Earth-centered Earth-fixed coordinate system, represents the three-dimensional coordinates in the spherical tangent plane coordinate system; T 1 is the first translation matrix representing the translation relationship in the first transformation relationship, R 1 is the first rotation matrix representing the rotation relationship in the first transformation relationship. According to the parallel properties of the coordinate axes of the spherical tangent plane coordinate system relative to the coordinate axes of the Earth-centered Earth-fixed coordinate system, R 1 .

4. The geographic entity registration method according to claim 1, characterized in that: Before step S2, the method further includes: The longitude and latitude information of the entity to be registered is converted into the Earth-centered Earth-fixed coordinate system to obtain the geographic three-dimensional coordinates of the entity to be registered.

5. The geographic entity registration method according to claim 4, characterized in that: The conversion process of the latitude and longitude information to the Earth-centered Earth-fixed coordinate system is expressed as: ； ( X e , Y e , Z e ) represents the geographic three-dimensional coordinates of the entity to be registered in the Earth-centered Earth-fixed coordinate system, N represents the length of the Earth's normal, H Indicates the elevation in the latitude and longitude information, B represents the latitude in the latitude and longitude information, L represents the longitude in the latitude and longitude information, e represents the first eccentricity of the Earth.

6. The geographic entity registration method according to claim 1, characterized in that: The augmented reality space coordinate system includes: a camera coordinate system whose coordinate axes coincide with the viewing direction, representing a two-dimensional coordinate system of the display plane; The step S4 comprises: S41. According to a corresponding conversion relationship, the geographic three-dimensional coordinates of the entity to be registered in the Earth-centered Earth-fixed coordinate system are converted to the spherical tangent plane coordinate system, and then converted from the spherical tangent plane to a three-dimensional position in the camera coordinate system in the augmented reality space coordinate system; S42: Projecting the three-dimensional position in the camera coordinate system into the two-dimensional coordinate system to complete the registration of the entity to be registered in the augmented reality geographic system.

7. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the geographic entity registration method according to any one of claims 1 to 6 is implemented.

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