AR Reference Frame Alignment Using a Robotic Total Station
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Solution Overview
Problem
Existing augmented reality (AR) devices rely on satellite positioning for georeferencing, limiting their operability to outdoor environments and lacking indoor accuracy.
Innovation Solution
Utilizing a robotic total station (RTS) to create a high-accuracy local grid reference frame, allowing AR devices to be operated indoors and outdoors by tracking a reflector with angle and distance measurements, aligning and rotating reference frames to superimpose 3D models onto real-world images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If satellite positioning is used for georeferencing, then outdoor AR operations are enabled, but indoor accuracy and operation are limited
Solution Approach 1:
The patent introduces a robotic total station (RTS) as an intermediary device to establish a local grid reference frame that serves as a mediator between the AR device and the physical environment. The RTS captures images of the environment and provides geospatial reference data, enabling the AR device to operate accurately both indoors and outdoors without relying on satellite positioning alone.
Solution Approach 2:
The system changes the reference frame parameters by establishing a local grid coordinate system based on RTS measurements rather than relying solely on satellite-based global coordinates. This parameter transformation enables precise positioning in indoor environments where satellite signals are unavailable, while maintaining compatibility with outdoor operations.
2Adaptability or versatility
If a robotic total station is used to create a local grid reference frame, then indoor and outdoor AR operations are enabled, but device complexity increases
Solution Approach 1:
The robotic total station is designed to perform multiple functions: capturing environment images, establishing the local grid reference frame, and providing geospatial reference data. This multi-functionality reduces the need for separate systems for indoor and outdoor AR operations, thereby managing complexity while enhancing versatility.
Solution Approach 2:
The system employs self-calibration techniques where the AR device uses visual fiducial markers and the RTS automatically adjusts its measurements and reference frame calculations. This self-service capability reduces the need for manual calibration and complex setup procedures, simplifying operation despite the sophisticated underlying technology.
3Measurement precision
If reference frames are aligned and rotated to superimpose 3D models, then rendering precision is improved, but computational complexity increases
Solution Approach 1:
The system performs preliminary alignment and rotation calculations of the local grid reference frame based on RTS measurements before superimposing 3D models. By pre-computing the transformation parameters and reference frame orientation, the system reduces real-time computational requirements while maintaining high rendering precision.
Solution Approach 2:
The patent replaces complex mechanical alignment procedures with computational methods. The reference frame alignment and 3D model superimposition are achieved through mathematical transformations and image processing algorithms rather than physical adjustments, reducing mechanical complexity while improving precision.
Data Source
AI summary
Techniques for operating an augmented reality (AR) device using a robotic total station (RTS) are described. An RTS reference frame is correlated with an AR reference frame. A set of RTS measurements are received from the RTS including a distance and an angle from the RTS to a reflector of the AR device. An RTS point within the RTS reference frame is determined based on the distance and the angle. An AR point is determined within the AR reference frame based on a set of vision-based or inertia-based measurements. The RTS reference frame and/or the AR reference frame is shifted to align the RTS point with the AR point. The RTS reference frame and/or the AR reference frame is rotated to align an RTS vector formed using the RTS point with an AR vector formed using the AR point.