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。
An approach for 3D registration in augmented reality from single circle of image is proposed： Under the assumption of the intrinsic parameters of camera has been calibrated,predefined 2D plane coordinate system and a single circle in object plane are used to achieve pose estimation. The rotation matrix is estimated according to virtual points of intersection between absolute conic and circle; and the translation vector is calculated after determining the centre of circle in image plane,then the 3D registration of augmented reality is accomplished. The present method is applied to the combination of virtual and reality object in product assembling process,the assembly guidance information is superimposed on product assembly video to guide customer to carry out assembly operation. Experiments on the comparison of PnP algorithm indicated that the present algorithm is correct and effective. By using the gear assembling experiment of output shaft in reduction box,the assembling process in the environment of augmented reality assembly guidance is analyzed and described.
出处
《机械科学与技术》
CSCD
北大核心
2014年第6期881-885,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
湖南省教育厅科研项目(12C0396)
湖南省自然科学基金委员会
湘潭市政府自然科学联合基金重点项目(12JJ8010)
湖南科技大学机械设备健康维护湖南省重点实验室开放基金项目(201205)资助
关键词
三维注册
自然特征
绝对二次曲线
装配引导
3D registration
absolute conic
algorithms
assembly guidance
assemlly
augmented reality
calculations
calibration
cameras
computer software
efficiency
estimation
experiments
mathematical models
matrix algebra
nature feature
pixels
schematic diagrams
three dimensional
time series analysis
