Real object space positioning system based on three-dimensional holographic projection technology

Abstract

The invention relates to the field of three-dimensional holographic images, and in particular relates to a real object space positioning system based on a three-dimensional holographic projection technology, which is used for solving the problem that the coupling degree of a scene three-dimensional holographic image without a specific graph and a live-action picture is insufficient due to the fact that the specific graph needs to be used as a positioning point when the three-dimensional holographic image is used. Comprising a positioning generation unit, a positioning tracking unit, a positioning compensation unit, a standby positioning unit and a fault detection unit. According to the invention, real scene acquisition is carried out on the picture, and intelligent analysis and extraction are carried out on the acquired real scene picture, so that a plurality of control points are automatically selected in the picture as generation point locations of a space three-dimensional coordinate system in the real scene picture, and when the real scene picture moves, the moved space three-dimensional coordinate system is verified through the standby control points, and therefore, the real scene picture can be identified. Therefore, it is ensured that the moved space three-dimensional coordinate system can better fit the movement of the real scene picture, and the coupling of the three-dimensional holographic image and the actual environment is ensured.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional holographic images, and in particular to a real object space positioning system based on three-dimensional holographic projection technology. Background Art

[0002] As a key means of describing the real physical world, three-dimensional information is the focus of today's information acquisition technology and is widely used in light detection, autonomous driving, human-computer interaction, and machine vision. Three-dimensional information acquisition technology is divided into active imaging technology and passive imaging technology. Passive imaging technology cannot handle target objects with weak textures and is easily affected by the environment, resulting in limited accuracy. Therefore, active imaging technology is increasingly used in complex real scenes.

[0003] When using 3D holographic imaging technology, in order to ensure the degree of fit of the 3D holographic image, the accuracy of the acquisition and coordinate positioning of the real scene is particularly important. At present, with the development of imaging technology, the coupling degree between the 3D holographic image and the real scene is getting higher and higher. At present, the coupling between the 3D holographic image and the real scene in the existing technology requires a specific graphic to trigger, that is, the positioning point of the 3D holographic image. For scenes without specific graphics, the coupling degree between the 3D holographic image and the real scene is insufficient, resulting in the 3D holographic image being easily misplaced or shifted when the real scene moves.

[0004] In view of the above technical problems, this application proposes a solution. Summary of the invention

[0005] In the present invention, real scene acquisition is performed on the picture, and the acquired real scene picture is intelligently analyzed and extracted, so as to automatically select multiple control points in the picture as generation points of the spatial three-dimensional coordinate system in the real scene picture, so that the three-dimensional holographic image does not need to rely on specific graphics as control points in the application, and solves the problem that the three-dimensional holographic image needs to use specific graphics as positioning points during use, thereby resulting in insufficient coupling between the three-dimensional holographic image of the scene without specific graphics and the real scene picture, and proposes a real object space positioning system based on three-dimensional holographic projection technology.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A real object space positioning system based on three-dimensional holographic projection technology, comprising a positioning generation unit, a positioning tracking unit, a positioning compensation unit, a standby positioning unit and a fault detection unit, wherein the positioning generation unit is used to collect a real scene image and obtain a prominent point in the real scene image, select a control point according to the prominent point, and realize the creation of a spatial three-dimensional coordinate system and the display of a holographic three-dimensional image according to the prominent point;

[0008] The positioning and tracking unit is used to track the movement of the control point when the real scene moves, so as to update the spatial three-dimensional coordinate system, and display the holographic three-dimensional image according to the updated moving spatial three-dimensional coordinate system;

[0009] The backup positioning unit is used to verify the three-dimensional spatial coordinate system according to the backup control points when the real scene moves;

[0010] The positioning compensation unit is used to obtain the movement parameters of the real scene when generating the coordinate system error signal, and to move the holographic three-dimensional image according to the movement parameters.

[0011] As a preferred embodiment of the present invention, the positioning generation unit collects images of physical information through a camera, records the collected images as real-scene images, analyzes the real-scene images, obtains prominent points in the real-scene images, and uses the prominent points as total positioning points.

[0012] As a preferred implementation of the present invention, the process of the positioning generation unit performing real scene analysis on the picture is:

[0013] The real scene image is divided into regions to obtain multiple sub-regions of the same size. Colors are extracted from pixels in each sub-region. Objects in the image are automatically identified through algorithm analysis. Objects in each sub-region are selected, and the edge points of one of the objects are recorded as salient points. Each sub-region is combined, and the salient points in each sub-region are summarized in the real scene image to form multiple salient points.

[0014] As a preferred embodiment of the present invention, the positioning generation unit uses one of the protruding points as the origin to establish a spatial three-dimensional coordinate system, generates corresponding three-dimensional coordinates for each protruding point in the spatial three-dimensional coordinate system, and records the three-dimensional coordinates generated by all protruding points as a set as a total positioning point coordinate set;

[0015] The positioning generation unit sends the total positioning point coordinate set, the origin, and the spatial three-dimensional coordinate system to the positioning tracking unit;

[0016] The positioning tracking unit selects at least three groups of positioning points from the total positioning points, records them as control points, obtains the coordinates of the control points from the total positioning point coordinate set as positioning coordinates, and counts the positioning coordinates as a control coordinate set;

[0017] The backup positioning unit records the prominent points other than the control points and the origin selected by the positioning tracking unit as backup control points, records the coordinates of all the backup control points as backup positioning coordinates, and counts the backup positioning coordinates as a backup coordinate set;

[0018] The positioning tracking unit displays the holographic three-dimensional image based on the positioning coordinates and the spatial three-dimensional coordinate system, and saves the coordinates of the holographic three-dimensional image as an image coordinate set.

[0019] As a preferred embodiment of the present invention, when the real-scene image moves, the positioning and tracking unit uses the moved image as the origin, and simultaneously obtains the control coordinate set before the movement, and uses the moved image origin and control coordinates as known points to create a new mobile space three-dimensional coordinate system through function commands.

[0020] As a preferred embodiment of the present invention, the backup positioning unit obtains a new three-dimensional spatial coordinate system and a real scene after the movement through the positioning tracking unit, marks all visible backup control points in the real scene after the movement, obtains the coordinates of the visible backup control points in the new three-dimensional spatial coordinate system, records them as the changed verification positioning coordinates, and counts all the changed verification positioning coordinates as a changed coordinate set;

[0021] The backup positioning unit compares the repetition of the changed coordinate set with the backup coordinate set. When comparing, the changed verification positioning coordinates corresponding to the same backup control point are compared with the backup positioning coordinates. If the changed verification positioning coordinates are the same as the backup positioning coordinates, they are recorded as repeated elements.

[0022] The backup positioning unit calculates the ratio of the number of repeated elements to the number of all visible backup control points, and records it as the repeatability. If the repeatability is less than a preset repeatability threshold, a coordinate abnormality signal is generated;

[0023] After generating the coordinate anomaly signal, the backup positioning unit creates a backup space three-dimensional coordinate system based on all the backup control points as known points, and sends the backup space three-dimensional coordinate system to the positioning and tracking unit.

[0024] As a preferred embodiment of the present invention, the positioning tracking unit obtains the coordinates of the control point in the three-dimensional coordinate system of the backup space, and compares the obtained coordinates with the positioning coordinates. If the obtained coordinates are the same as the positioning coordinates, a coordinate system correct signal is generated; if the obtained coordinates are different from the positioning coordinates, a coordinate system error signal is generated;

[0025] The positioning tracking unit sends the coordinate system error signal to the fault detection unit. After acquiring the coordinate system error signal, the fault detection unit sends the coordinate system error signal through the network, issues an audible and visual alarm, and sends the coordinate system error signal to the positioning compensation unit at the same time;

[0026] After generating a correct coordinate system signal, the positioning tracking unit replaces the new mobile space three-dimensional coordinate system with the spare space three-dimensional coordinate system and displays the holographic three-dimensional image in the spare space three-dimensional coordinate system.

[0027] As a preferred embodiment of the present invention, after obtaining the coordinate system error signal, the positioning compensation unit obtains the protruding points before the real scene picture moves and the protruding points after the real scene picture moves, overlaps and compares the two pictures, and calculates the moving direction and moving distance of the protruding points by a three-dimensional space algorithm, and records them as picture movement parameters. The positioning compensation unit obtains the holographic three-dimensional image before the real scene picture moves, and moves the holographic three-dimensional image before the real scene picture moves by the picture movement parameters to obtain the compensated holographic three-dimensional image and display it.

[0028] After obtaining the compensated holographic three-dimensional image, the image compensation unit sends a repositioning signal to the positioning generation unit. The positioning generation unit re-collects the real scene image, generates a prominent point, an origin and a spatial three-dimensional coordinate system in the collected real scene image, and digitizes the compensated holographic three-dimensional image in the spatial three-dimensional coordinate system to obtain an image coordinate set.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. In the present invention, real scene collection is performed on the picture, and the collected real scene picture is intelligently analyzed and extracted, so as to automatically select multiple control points in the picture as the generation points of the spatial three-dimensional coordinate system in the real scene picture, so that the three-dimensional holographic image does not need to rely on specific graphics as control points in the application, thereby improving the application effect of the three-dimensional holographic image in different environments.

[0031] 2. In the present invention, during the three-dimensional imaging process, when the real scene moves, not only the control points are used as known points of the spatial three-dimensional coordinate system, but also the spare control points are used to verify the spatial three-dimensional coordinate system after the movement, thereby ensuring that the spatial three-dimensional coordinate system after the movement can better fit the movement of the real scene, and ensuring the coupling of the three-dimensional holographic image with the actual environment.

[0032] 3. In the present invention, when the movement of the three-dimensional coordinate system in space is abnormal, the movement parameters are obtained through real scene movement, and the movement compensation is performed on the three-dimensional holographic image using the movement parameters as compensation, thereby improving the accuracy of the three-dimensional holographic image display. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0034] Figure 1 is a system block diagram of the present invention;

[0035] Figure 2 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0036] The technical scheme of the present invention will be described clearly and completely in conjunction with the embodiments below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1:

[0038] See also Figure 1 - Figure 2 As shown, a real object space positioning system based on three-dimensional holographic projection technology includes a positioning generation unit, a positioning tracking unit, a positioning compensation unit, a backup positioning unit and a fault detection unit. The positioning generation unit collects images of real object information through a camera and records the collected images as real scene images. The positioning generation unit analyzes the real scene images to obtain prominent points in the real scene images and uses the prominent points as total positioning points.

[0039] The process of the positioning generation unit performing real scene analysis on the picture is as follows:

[0040] Step 1: Divide the real scene into regions to obtain multiple sub-regions of the same size;

[0041] Step 2: Extract the color of pixels in each sub-area of ​​the picture, and automatically identify the objects in the picture through algorithm analysis;

[0042] Step 3: Select objects in each sub-region of the picture, and record the edge point of one of the objects as a salient point;

[0043] Step 4: Combine each screen sub-area, and summarize the salient points in each screen sub-area into the real scene to form multiple salient points.

[0044] The positioning generation unit takes one of the protruding points as the origin, establishes a spatial three-dimensional coordinate system, generates corresponding three-dimensional coordinates for each protruding point in the spatial three-dimensional coordinate system, and records the three-dimensional coordinates generated by all the protruding points as a set as a total positioning point coordinate set;

[0045] The positioning generation unit sends the total positioning point coordinate set, the origin, and the spatial three-dimensional coordinate system to the positioning tracking unit;

[0046] The positioning tracking unit selects at least three groups of positioning points from the total positioning points, records them as control points, obtains the coordinates of the control points from the total positioning point coordinate set as positioning coordinates, and counts the positioning coordinates as a control coordinate set;

[0047] The backup positioning unit records the prominent points other than the control points and the origin selected by the positioning tracking unit as backup control points, records the coordinates of all the backup control points as backup positioning coordinates, and counts the backup positioning coordinates as a backup coordinate set;

[0048] The positioning tracking unit displays the three-dimensional holographic image based on the positioning coordinates and the spatial three-dimensional coordinate system, and saves the coordinates of the three-dimensional holographic image as an image coordinate set.

[0049] Embodiment 2:

[0050] See also Figure 1 - Figure 2 As shown, when the real scene image moves, the positioning tracking unit uses the image after the movement as the origin, and obtains the control coordinate set before the movement. The origin of the image after the movement and the control coordinates are used as known points, and a new mobile space three-dimensional coordinate system is created through function commands, and the coordinates of the control points in the new mobile space three-dimensional coordinate system are kept unchanged;

[0051] After the new mobile space three-dimensional coordinate system is created, the image coordinate set is assigned to the new mobile space three-dimensional coordinate system according to the coordinates, so that the three-dimensional holographic image can follow the movement of the real scene.

[0052] Embodiment three:

[0053] See also Figure 1 - Figure 2 As shown, the standby positioning unit obtains a new three-dimensional spatial coordinate system and a real scene after the move through the positioning tracking unit, marks all visible standby control points in the real scene after the move, and obtains the coordinates of the visible standby control points in the new three-dimensional spatial coordinate system, records them as the changed verification positioning coordinates, and counts all the changed verification positioning coordinates as a changed coordinate set;

[0054] The backup positioning unit compares the repetition of the changed coordinate set with the backup coordinate set. When comparing, the changed verification positioning coordinates corresponding to the same backup control point are compared with the backup positioning coordinates. If the changed verification positioning coordinates are the same as the backup positioning coordinates, they are recorded as repeated elements. If the changed verification positioning coordinates are different from the backup positioning coordinates, they are recorded as changed elements.

[0055] The backup positioning unit calculates the ratio of the number of repeated elements to the number of all visible backup control points, records it as the repeatability, and compares the repeatability with the preset repeatability threshold. If the repeatability is greater than the preset repeatability threshold, a coordinate normal signal is generated; if the repeatability is less than the preset repeatability threshold, a coordinate abnormal signal is generated;

[0056] After generating the coordinate anomaly signal, the standby positioning unit creates a standby spatial three-dimensional coordinate system based on all standby control points as known points, and sends the standby spatial three-dimensional coordinate system to the positioning and tracking unit;

[0057] The positioning tracking unit obtains the coordinates of the control point in the three-dimensional coordinate system of the backup space, and compares the obtained coordinates with the positioning coordinates. If the obtained coordinates are the same as the positioning coordinates, a coordinate system correct signal is generated; if the obtained coordinates are different from the positioning coordinates, a coordinate system error signal is generated;

[0058] The positioning tracking unit sends the coordinate system error signal to the fault detection unit. After acquiring the coordinate system error signal, the fault detection unit sends the coordinate system error signal through the network and issues an audible and visual alarm, and at the same time sends the coordinate system error signal to the positioning compensation unit.

[0059] After generating the correct coordinate system signal, the positioning and tracking unit replaces the new mobile space three-dimensional coordinate system with the spare space three-dimensional coordinate system and displays the three-dimensional holographic image in the spare space three-dimensional coordinate system.

[0060] Embodiment 4:

[0061] See also Figure 1 - Figure 2 As shown, after obtaining the coordinate system error signal, the positioning compensation unit obtains the protruding points before the real scene picture moves and the protruding points after the real scene picture moves, overlaps and compares the two pictures, and calculates the moving direction and moving distance of the protruding points through a three-dimensional space algorithm, and records them as picture movement parameters. The positioning compensation unit obtains the three-dimensional holographic image before the real scene picture moves, and moves the three-dimensional holographic image before the real scene picture moves according to the picture movement parameters to obtain the compensated three-dimensional holographic image and display it;

[0062] After obtaining the compensated three-dimensional holographic image, the image compensation unit sends a repositioning signal to the positioning generation unit. The positioning generation unit re-collects the real scene image, generates prominent points, origins and a spatial three-dimensional coordinate system in the collected real scene image, and digitizes the compensated three-dimensional holographic image in the spatial three-dimensional coordinate system to obtain an image coordinate set.

[0063] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A real object space positioning system based on three-dimensional holographic projection technology, characterized in that: It includes a positioning generation unit, a positioning tracking unit, a positioning compensation unit, a standby positioning unit and a fault detection unit. The positioning generation unit is used to collect real scene images and obtain prominent points in the real scene images, select control points according to the prominent points, and realize the creation of a spatial three-dimensional coordinate system and the display of a three-dimensional holographic image according to the prominent points; The positioning and tracking unit is used to track the movement of the control point when the real scene moves, so as to update the three-dimensional spatial coordinate system, and display the three-dimensional holographic image according to the updated moving three-dimensional spatial coordinate system; The backup positioning unit is used to verify the three-dimensional spatial coordinate system according to the backup control points when the real scene moves; The positioning compensation unit is used to obtain the movement parameters of the real scene when generating the coordinate system error signal, and to move the three-dimensional holographic image according to the movement parameters.

2. The real object space positioning system based on three-dimensional holographic projection technology according to claim 1, characterized in that: The positioning generation unit collects images of physical information through a camera, and records the collected images as real-scene images. The positioning generation unit analyzes the real-scene images, obtains prominent points in the real-scene images, and uses the prominent points as total positioning points.

3. The real object space positioning system based on three-dimensional holographic projection technology according to claim 2, characterized in that: The process of the positioning generation unit performing real scene analysis on the picture is as follows: The real scene image is divided into regions to obtain multiple sub-regions of the same size. Colors are extracted from pixels in each sub-region. Objects in the image are automatically identified through algorithm analysis. Objects in each sub-region are selected, and the edge points of one of the objects are recorded as salient points. Each sub-region is combined, and the salient points in each sub-region are summarized in the real scene image to form multiple salient points.

4. The real object space positioning system based on three-dimensional holographic projection technology according to claim 3, characterized in that: The positioning generation unit uses one of the protruding points as the origin to establish a spatial three-dimensional coordinate system, generates corresponding three-dimensional coordinates for each protruding point in the spatial three-dimensional coordinate system, and records the three-dimensional coordinates generated by all the protruding points as a set as a total positioning point coordinate set; The positioning generation unit sends the total positioning point coordinate set, the origin, and the spatial three-dimensional coordinate system to the positioning tracking unit; The positioning tracking unit selects at least three groups of positioning points from the total positioning points, records them as control points, obtains the coordinates of the control points from the total positioning point coordinate set as positioning coordinates, and counts the positioning coordinates as a control coordinate set; The backup positioning unit records the prominent points other than the control points and the origin selected by the positioning tracking unit as backup control points, records the coordinates of all the backup control points as backup positioning coordinates, and counts the backup positioning coordinates as a backup coordinate set; The positioning tracking unit displays the three-dimensional holographic image based on the positioning coordinates and the spatial three-dimensional coordinate system, and saves the coordinates of the three-dimensional holographic image as an image coordinate set.

5. The real object space positioning system based on three-dimensional holographic projection technology according to claim 4, characterized in that: When the real scene image moves, the positioning tracking unit uses the moved image as the origin, and obtains the control coordinate set before the movement. The moved image origin and the control coordinates are used as known points, and a new mobile space three-dimensional coordinate system is created through function commands.

6. The real object space positioning system based on three-dimensional holographic projection technology according to claim 5, characterized in that: The backup positioning unit obtains a new three-dimensional spatial coordinate system and a real scene after the movement through the positioning tracking unit, marks all visible backup control points in the real scene after the movement, obtains the coordinates of the visible backup control points in the new three-dimensional spatial coordinate system, records them as the changed verification positioning coordinates, and counts all the changed verification positioning coordinates as a changed coordinate set; The backup positioning unit compares the repetition of the changed coordinate set with the backup coordinate set. When comparing, the changed verification positioning coordinates corresponding to the same backup control point are compared with the backup positioning coordinates. If the changed verification positioning coordinates are the same as the backup positioning coordinates, they are recorded as repeated elements. The backup positioning unit calculates the ratio of the number of repeated elements to the number of all visible backup control points, and records it as the repeatability. If the repeatability is less than a preset repeatability threshold, a coordinate abnormality signal is generated; After generating the coordinate anomaly signal, the backup positioning unit creates a backup space three-dimensional coordinate system based on all the backup control points as known points, and sends the backup space three-dimensional coordinate system to the positioning and tracking unit.

7. The real object space positioning system based on three-dimensional holographic projection technology according to claim 5, characterized in that: The positioning tracking unit obtains the coordinates of the control point in the three-dimensional coordinate system of the backup space, and compares the obtained coordinates with the positioning coordinates. If the obtained coordinates are the same as the positioning coordinates, a coordinate system correct signal is generated; if the obtained coordinates are different from the positioning coordinates, a coordinate system error signal is generated; The positioning tracking unit sends the coordinate system error signal to the fault detection unit. After acquiring the coordinate system error signal, the fault detection unit sends the coordinate system error signal through the network, issues an audible and visual alarm, and sends the coordinate system error signal to the positioning compensation unit at the same time; After generating a correct coordinate system signal, the positioning tracking unit replaces the new mobile space three-dimensional coordinate system with the spare space three-dimensional coordinate system and displays the three-dimensional holographic image in the spare space three-dimensional coordinate system.

8. The real object space positioning system based on three-dimensional holographic projection technology according to claim 5, characterized in that: After obtaining the coordinate system error signal, the positioning compensation unit obtains the protruding points before the real scene picture moves and the protruding points after the real scene picture moves, overlaps and compares the two pictures, and calculates the moving direction and moving distance of the protruding points by a three-dimensional space algorithm, and records them as picture movement parameters. The positioning compensation unit obtains the three-dimensional holographic image before the real scene picture moves, and moves the three-dimensional holographic image before the real scene picture moves according to the picture movement parameters to obtain the compensated three-dimensional holographic image and display it; After obtaining the compensated three-dimensional holographic image, the image compensation unit sends a repositioning signal to the positioning generation unit. The positioning generation unit re-collects the real scene image, generates a prominent point, an origin and a spatial three-dimensional coordinate system in the collected real scene image, and digitizes the compensated three-dimensional holographic image in the spatial three-dimensional coordinate system to obtain an image coordinate set.

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