Wearable 3D Model Calibration via Preliminary Pose Estimation
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Solution Overview
Problem
Existing 3D scenery modeling technologies face challenges in accurately estimating the pose of frames due to error accumulation and insignificant feature points, leading to poor quality 3D models.
Innovation Solution
A 3D model construction device and method that integrates a camera and a wearable display, using calibration parameters to transform coordinate systems and update 3D models based on frames, depth information, and user inputs, allowing for real-time adjustment and alignment with environmental scenery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If optimization algorithms are used to reduce errors in pose estimation, then manufacturing precision of 3D model is improved, but device complexity increases
Solution Approach 1:
The system performs preliminary calibration by moving the device along directional straight lines to obtain velocity vectors before actual 3D modeling. This preliminary action establishes reference data that simplifies subsequent pose estimation, reducing the need for complex real-time optimization algorithms while maintaining accuracy.
Solution Approach 2:
The patent introduces calibration parameters as an intermediary element between the camera/wearable display system and the 3D model construction process. These parameters mediate the transformation and alignment of coordinate systems, enabling accurate pose estimation without requiring complex optimization algorithms during the main modeling process.
2Manufacturing precision
If calibration parameters are used to transform coordinate systems, then manufacturing precision of 3D model is improved, but device complexity increases
Solution Approach 1:
The calibration parameters are calculated in advance through a structured process of moving the device along directional straight lines and recording velocity vectors. This preliminary calculation of transformation parameters simplifies the main 3D modeling process by pre-establishing the coordinate system relationships.
Solution Approach 2:
The system changes parameters from raw sensor data (velocity vectors) to derived calibration parameters (transformation matrices) that directly control coordinate system alignment. This parameter transformation approach systematically manages the complexity of coordinate system alignment while achieving high precision.
3Productivity
If real-time pose calculation is performed using velocity vectors, then productivity of 3D model construction is improved, but measurement precision of pose may deteriorate
Solution Approach 1:
The system performs preliminary calibration to establish accurate velocity vector relationships between the camera and wearable display before real-time pose calculation. This pre-established reference data enables fast real-time calculations while maintaining precision by relying on pre-calibrated parameters rather than complex real-time optimization.
Solution Approach 2:
The patent replaces complex mechanical optimization algorithms with a more efficient mathematical approach using pre-calibrated velocity vectors and transformation parameters. This substitution enables real-time pose calculation with both high speed and accuracy by using direct mathematical transformations instead of iterative optimization.
Data Source
AI summary
A 3D model construction device includes a camera and a wearable display coupled to the camera. The camera obtains multiple first frames, a second frame and depth information. The wearable display includes a display unit, a processing unit, a storage unit and a projection unit. The storage unit stores a first module and a second module. When the first module is performed by the processing unit, the processing unit calculates a first pose of the wearable display. When the second module is performed by the processing unit, the processing unit calculates a 3D model according to the first frames, the depth information, the first pose and calibration parameters, and updates the 3D model according to the second frame. The projection unit projects the 3D model and the second frame onto the display unit according to the first pose for being displayed with a real image on the display unit.