基于点云匹配的AR饰面作业系统跟踪注册方法

Tracking and Registration Method Based on Point Cloud Matching for Augmented Reality Facing Work System

针对建筑机器人饰面作业过程中常因视觉遮挡导致作业效率低的问题,使用增强现实解决遮挡并提出一种基于点云匹配的增强现实跟踪注册方法。利用目标模型点云与作业环境点云的匹配进行目标的初始定位;利用改进的相关滤波跟踪算法对目标进行跟踪获取目标位置;基于迭代最近点法对目标位姿进行估计。在跟踪注册过程中加入位姿优化,保证目标位姿估计精度。为了更加准确地跟踪目标位置,提出一种特征融合和尺度自适应的改进相关滤波目标跟踪算法。通过板材安装实验,表明跟踪注册方法精确性、实时性均较好,最小识别误差达到2.88mm,具有良好的虚实融合效果。

This paper proposes a tracking and registration method based on point cloud matching of augmented reality to solve the occlusion problem in facing work of construction robot.Firstly,the point cloud of the target model and the oper-ating environment is matched and the location of target is initialized.Secondly,the improved correlation filter tracking algo-rithm is adopted to track the target and obtain the target position.Then,the ICP(iterative closest point)method is applied to estimate the pose of target.Finally,pose optimization is added in the tracking registration process.In order to track the target more accurately,the scale-adaptive correlation filter tracking based on multiple features is proposed.Through the panel installation experiments are carried out and the results show that the proposed method has good accuracy and real time performance.The minimum positioning error is 2.88 mm,and the effect of virtual and reality fusion is perfect.