一种头盔显示器的滤波处理和图像准备

Head Position Filtering Processing and Image Preparing for HMD

为一套基于多传感器的实验室头盔显示器设备的头位信号处理过程引入离散扩展卡尔曼滤波(EKF)环节,并在图像准备程序处理中加入图像快速角度补偿计算。用软件EKF和图像处理结合的方式消除多传感器和渲染外场景条件下头位感应的噪声和延迟。二级卡尔曼滤波器用于补偿输入误差和测量误差,图像快速角度补偿流程针对设备图像准备过程设计,能够降低图像处理单元对于渲染过程的延迟时间。经过三自由度转台测试,使用此集成方法能够较好地减少头盔显示系统使用中多传感器产生的干扰和延迟,保证头盔显示器的定位质量。

An Extend Kalman Filter （EKF） based on tracking data process was introduced for a multi-sensor laboratory Helmet-mounted Display （HMD） system. Moreover, a set of image preprocessing program was designed to represent head position based on vision. Fast angle compensation procedure （based on translation to rotate pre-rendering） was used to compensate rendering delay dynamically. EKF combined with prediction technique reduces prediction error of measurement and process. Fast angle compensation allows extending the rendering lacking time tolerance of display processing unit. 3-DOF rotating platform verification results show that compared with the original equipment, the filter reduces the noise and delay greatly and thus guarantees the quality of helmet usages.