The 3D registration Based on the Single Circle of Image and Application in Augmented Assembly
-
摘要: 提出了一种利用图像自然圆特征实现增强现实三维注册的方法:在摄像机已经完成标定的情况下,利用在目标平面中预定义的平面坐标系和一个圆特征实现位姿估算。根据绝对二次曲线与平面圆之间的虚交点估算出目标平面的旋转矩阵;在图像平面内确定圆心的像后,估算出平移向量,实现增强现实三维注册;并将其应用到产品装配过程的虚实融合中,将装配引导信息叠加到产品装配视频中,引导用户实现装配操作。本算法与PnP法三维注册对比实验说明了本算法的正确性和可行性;以减速箱输出轴上的齿轮装配为例,分析和说明了增强现实装配引导环境下产品的装配过程。Abstract: An approach for 3 D registration in augmented reality from single circle of image is proposed: Under theassumption of the intrinsic parameters of camera has been calibrated, predefined 2D plane coordinate system and asingle circle in object plane are used to achieve pose estimation. The rotation matrix is estimated according tovirtual points of intersection between absolute conic and circle; and the translation vector is calculated afterdetermining the centre of circle in image plane, then the 3 D registration of augmented reality is accomplished. Thepresent method is applied to the combination of virtual and reality object in product assembling process, theassembly guidance information is superimposed on product assembly video to guide customer to carry out assemblyoperation. Experiments on the comparison of PnP algorithm indicated that the present algorithm is correct andeffective. By using the gear assembling experiment of output shaft in reduction box, the assembling process in theenvironment of augmented reality assembly guidance is analyzed and described.
-
Key words:
- 3 D registration /
- absolute conic /
- algorithms /
- assembly guidance
-
[1] Van Krevelen D W F,Poelman r.A survey of augmented reality technologies,applications and limitations[J]. The International Journal of Virtual reality,2010,9(2): 1-20 [2] Schwald B,Figue J,Chauvineau E.Starmate: using augmented reality technology for computer guided maintenance of complex mechanical elements[C]//E-work and E-Commerce,Amsterdam: IOS Press,2001,10(1):196-202 [3] 赵新灿,左洪福,徐兴民.增强现实维修诱导系统关键技术研究[J]. 中国机械工程,2008,9(6): 678-682Zhao X C,Zuo H F,Xu X M.research on key techniques of augmented reality maintenance guiding system[J]. China Mechanical Engineering,2008,9 (6):678-682 (in Chinese) [4] Nister D,Stewenius H.A minimal solution to the generalised 3-point pose problem[J]. J Math Imaging Vis,2007,27(1): 67-79 [5] Moreno Noguer Francesc,Lepetit Vincent,Fua Pascal.Pose priors for simultaneously solving alignment and correspondences[C]//Proceedings of the 10th European Conference on Computer Vision: Part II,Marseille:Springer-Verlag Berlin Heidelberg,2008: 405-418 [6] 赵新灿,左洪福.基于线特征的增强现实注册算法[J]. 应用科学学报,2008,6(1): 68-73Zhao X C,Zuo H F.Augmented reality registration algorithm based on line features[J]. Journal of Applied Sciences-Electronics and Information Engineering,2008,6(1): 68-73 (in Chinese) [7] 潘邵松,左洪福.利用共面圆实现增强现实图像注册[J].光电工程,2010,37(8): 81-85Pan S S,Zuo H F.registration in augmented reality from coplanar circles[J]. Opto-Electronic Engineering,2010,37(8): 81-85 (in Chinese) [8] Zhang Z Y.A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11): 1330-1334 [9] 吴福朝,胡占义.PnP 问题的线性求解算法[J]. 软件学报,2003,14(3): 682-687Wu F C,Hu Z Y.A linear method for the PnP problem [J]. Journal of Software,2003,14 (3): 682-687 (in Chinese)
点击查看大图
计量
- 文章访问数: 134
- HTML全文浏览量: 36
- PDF下载量: 6
- 被引次数: 0