光学透射式AR-HUD系统的标定方法研究
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摘要
针对增强现实系统中的标定问题,提出了一种光学透射式平视显示系统标定方法.分析系统中各组成部分之间的关系,定义不同的坐标系.由于在标定时相机与光学显示系统会带来一定程度上的虚拟图像畸变,因此在建立模型时,将相机与光学显示部分的畸变考虑进去,并进行校正.利用非线性回归估计方法对模型求解,计算系统标定参数.这种结合光学显示图像畸变与相机成像畸变校正的标定方式,提高了光学透射式平视显示系统的标定精度.实验结果表明,本文标定算法的平均相对误差小于0.42%,基本满足系统对标定精度的要求.
In order to solve the calibration problem in augmented reality system,a novel optical transmission head up display system calibration method was proposed.First,the different coordinate systems are defined by analyzing the relationship among the components in system.Because of the distortion of camera and optical display system,virtual image distortion will be brought to some error.Therefore,the distortion of the camera and the optical display part is taken into account and corrected simultaneously when building the model.Finally,the non-linear regression estimation method is used to solve the model and calculate the calibration parameters.This calibration method,which combines optical display image distortion and camera imaging distortion correction,improves the calibration accuracy of optical transmission head up display system.The experimental results show that the average relative error of the calibration algorithm is less than 0.42% which basically satisfied the requirements of the system for calibration accuracy.
In order to solve the calibration problem in augmented reality system,a novel optical transmission head up display system calibration method was proposed.First,the different coordinate systems are defined by analyzing the relationship among the components in system.Because of the distortion of camera and optical display system,virtual image distortion will be brought to some error.Therefore,the distortion of the camera and the optical display part is taken into account and corrected simultaneously when building the model.Finally,the non-linear regression estimation method is used to solve the model and calculate the calibration parameters.This calibration method,which combines optical display image distortion and camera imaging distortion correction,improves the calibration accuracy of optical transmission head up display system.The experimental results show that the average relative error of the calibration algorithm is less than 0.42% which basically satisfied the requirements of the system for calibration accuracy.
引文
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[3]KRESS B,STARNER T.A review of head-mounted displays(HMD)technologies and applications for consumer electronics[C].Photonic Applications for Aerospace,Commercial,and Harsh Environments IV International Society for Optics and Photonics,2013:87200A.
[4]ELBAMBY M S,PERFECTO C,BENNIS M,et al.Toward low-latency and ultra-reliable virtual reality[J].IEEENetwork,2018,32(2):78-84.
[5]CHEN X Y,CHEN Z,ZHAOY.Numerical research on virtual reality of vibration characteristics of the motor based on GA-BPNN model[J].Neural Computing&Applications,2018,29(5):1343-1355.
[6]IJGSSE W M,VAN H G,LUURSEMA J M.Saving robots improves laparoscopic performance:transfer of skills from a serious game to a virtual reality simulator.[J].Surgical Endoscopy,2018,32(7):3192-3199.
[7]REHMAN U,CAO S.Augmented-reality-based indoor navigation:a comparative analysis of handheld devices versus google glass[J].IEEE Transactions on Human-Machine Systems,2017,47(1):140-151.
[8]ROESNER F,KOHONO T,MOLNAR D.Security and privacy for augmented reality systems[J].Communications of the Acm,2016,57(4):88-96.
[9]KIRIAKOS N,KUTULAKOS,JAMESS R,et al.Calibration-free augmented reality[J].IEEE Transactions on Visualization and Computer Graphics,2002,4(1):1-20.
[10]TUCERYAN M,GENC Y,NAVAB N.Single-point active alignment method(SPAAM)for optical see-through HMDcalibration for augmented reality[C].IEEE and ACM International Symposium on Augmented Reality,2002:149-158.
[11]OISHI T.Methods to calibrate projection transformation parameters for see-through head-mounted displays[J].Presence,1996,5(1):122-135.
[12]GENC Y,TUCERYAN M,KHAMENE A,et al.Optical see-through calibration with vision-based trackers:propagation of projection matrices[C].IEEE and ACM International Symposium,2001:147-156.
[13]OWEN C B,ZHOU J,TANG A,et al.Display-relative calibration for optical see-through head-mounted displays[C].IEEE and ACM International Symposium on Mixed and Augmented Reality,2004:70-78.
[14]GILSON S J,FITZGIBBON A W,GLENNERSTER A.Spatial calibration of an optical see-through head-mounted display[J].Journal of Neuroscience Methods,2008,173(1):140-146.
[15]KELLNER F,BOLTE B,BRUDER G,et al.Geometric calibration of head-mounted displays and its effects on distance estimation[J].IEEE Transactions on Visualization and Computer Graphics,2012,18(4):589-596.
[16]HUO Ju,ZHANG Gui-yang,CUI Jian-shan,et al.Corrected calibration algorithm with a fixed constraint relationship and an error compensation technique for a binocular vision measurement system[J].Applied Optics,2018,57(19):5492-5504.
[17]AN Zhe,XU Xi-ping,YANG Jin-hua,et al.Research on virtual reality registration method for optical transmission HUD system[J].Acta Armamentarii,2018,39(5):1006-1011.安喆,徐熙平,杨进华,等.光学透射式汽车抬头显示器系统的虚实注册方法研究[J].兵工学报,2018,39(5):1006-1011.
[18]AN Zhe,XU Xi-ping,YANG Jin-hua,et al.Research of AR-HUD system based on image semantic segmentation[J].Acta Optica Sinica,2018,38(7):0710004.安喆,徐熙平,杨进华,等.结合图像语义分割的增强现实型平视显示系统设计与研究[J].光学学报,2018,38(7):0710004.
[19]ZHANG Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2002,22(11):1330-1334.
[20]ZHOU Xin-xin,SU Chen,LI Hai-feng,et al.Research on monocular focusing characteristic for horizontal lighe field three-dimentional display[J].Acta Optica Sinica,2017,37(9):0912001.周欣鑫,苏忱,李海峰,等.水平光场三维显示单目聚焦特性研究[J].光学学报,2017,37(9):0912001.