一种基于手眼标定的增强现实跟踪注册方法

A Tracker Registration Method for Augmented Reality Based on Hand-eye Calibration

手眼标定是机器人领域常用的一种确定机器人末端坐标系和摄像机坐标系之间相互关系的标定方法。跟踪和定位是增强现实研究的热点,跟踪定位通常为复合跟踪系统,结合多传感器跟踪信息,优势互补,达到更高测量精度和准确度。跟踪注册是实现信息有效融合的基本前提。文章将机器人手眼标定引入多传感器跟踪注册,并通过实验验证了这种基于手眼标定的跟踪注册方法的有效性。

The hand-eye calibration is a method for tracker alignment that is used a lot in the research field of robotics.Its task is to compute the relation between the coordinates of the robot＇s hand and the on the arm rigidly mounted camera.Tracking and registration are essential technologies to realize Augmented Reality.Every tracking system has its advantages as well as its particular drawbacks.The idea of fusion of tracking systems is to take advantages of their complementary merits to get an improved tracking resuh.It requires an alignment of the trackers,with the combination of different tracking systems to track the same object.The method of hand-eye calibration is introduced in tracker registration in this paper.Finally the experiment results prove that this innovative tracker registration method based on hand-eye calibration is effective.