基于标识的增强现实系统的研究60

杭州电子科技大学硕士学位论文基于标识的增强现实系统的研究姓名：盛君申请学位级别：硕士专业：计算机应用技术指导教师：王毅刚20091201I(AugmentedRealityAR)PCARARARARToolKitOpenCVARToolKitAR1AR2ARARToolKitARToolKitARToolKit(poseambiguity)GeraldSchweighoferARToolKitARToolKit3ARToolKitARToolKitAROpenGLARToolKitARToolKitIIABSTRACTAugmentedReality(AR)isacombinationofvirtualenvironmentandrealenvironment.Itusestheknowninformationintherealworldtotrackandregister,thenintegratesthevirtualobjectswhichisgeneratedbycomputerintotherealworld,displaysthefinalimagebymeansofdisplaydeviceatlast.ARwillmakeustohaveabetterunderstandingofourworld.ARhasitswideapplicationprospect.ManyusershavePCandwebcam.Thismeetsthebasicrequirementfordesk-topARsystem.Theregistrationbasedonmarkershasahighaccuracyandrequiresnocomplextrackhardware.Themarkiseasytotrack.SotheresearchofARsystembasedonmarkersissomewhatpracticalandsignificant.ThemainpurposeofthisthesisistoimplementasimpleARsystembasedonMarker.Accordingtoanalyzingresultofcharacteristicoftheaugmentedrealitysystem,wedevelopthisARsystemwithARToolKitandOpenCVSDK.TrackingbyARToolKitmarker,weusefinger-tipasinteractivemeans.Themainworkshavethreepoints:1.Throughthestudyoftheconcept,applicationofAR,wesummarizethethreemaintechnologies,andgivetheanalysisoftheprosandconsofthesetechnologies,proposethatthemarker-basedregistrationsuitscurrentARapplicationbecauseofitsportableandhighreal-timeperformance.2.Wedescribetheprincipleofmarker-basedregistrationandanalyzefourkindsofARtoolsbasedonmarkerwhichareverypopular,thenselectARToolKitasourresearchobject.WegiveasimpleintroductionofthefeatureandarchitectureofARToolKit,makeadeepresearchforARToolKitmodulesandregistrationalgorithm.Inviewoftheposeambiguity,weimproveregistrationmoduleofARToolKit.AmingatthedefectofARToolKitregistrationmodule—poseambiguity,usesgloballyconvergentposeestimationalgorithmandrobustposeestimationalgorithmfromaplanartargetwhichwasproposedbyGeraldSchweighofertoimprovetheoriginalregistrationmodule.Theexperimentresultshowsthattheimprovedmodulecouldreducetheprobabilityofposeambiguityanditismorerobustthanoriginalregistrationmodule.3.Todevelopasimplefinger-interactiveARsystembasedonmarker,weuseARToolKitforadvanceddevelopment,andthenuseOpenGLandMetasequoiamodelingsoftwaretodographicsrendering.UsingtheimprovedARToolKitalgorithmtorealizetheregistration,weusefinger-tiptointeractivewiththevirtualmenustocontrolthevirtualmodel.Theactionwasdecidedbyjudgingwhetherthefinger-tipwasinthevirtualmenuareasthroughfinger-tipdetectinginimagespace.ThisARsystemhasasimplehardwareandconvenientoperation.Experimentalresultsdemonstratethesystemiseffectivetodetectthecorrectpositionoffinger-tipanditisreal-timewhentheIIIintensityoflightismoderate.KeywordsAugmentedReality,Marker,RegistrationTechnology,HumanInteraction,ARToolKit111.1(AugmentedRealityAR)(VirtualRealityVR)10202010[1]ARARARARPCARARAR1.22080902[2]2060CRT(See-ThroughHead-MountedDisplaySTHMD)IvanSutherland[3]2090(VR)AR[4]ARAR(UNCatChapelHill)(MIT)(ColumbiaU)(GeorgiaTech)(RochesterU)(Boeing)(TorontoU)(ECRC)(SonyCSL)Martin[5]GillsSimon[6]RyoHiroseAR[7]HITARToolKitARAR[8]3D[9]ARAR3108ARARARARAR1.3ARToolKitARToolKitARARTKARToolKitIGD(InstituteGraphicsDatenverarbeitung)SCR(SiemensCorporateResearch)HOM(Hoffmanmarkersystem)ARToolKitARToolKitARARToolKitARToolKit452AR2.12.1.1ARVR[10]2060208090[11](Registration)6Milgram[12]2.1(MixedRealityMR)ARAV(MR)(AR)(AV)2.12.1.2(1)AR[13]CTMRIARARARAR(UNC)(STC)ARAR7[14]2.22.2(2)AR3D3DSteveFeinerMaclntyreAR[15]3D2.3AR[16]2.3ARAR8AR2.42.4AR[17][18][19][20][21](3)AR[22]2.5[23]AR2.5()(4)9AR[24]2.62.6ARARARAR(5)ARPCPDAAR[25]AR2.72.7SONYPS33D2.8102.8(6)AR3D[26]2008(7)[27]2.92.9112.22.102.10AR[28]AR30Hz(30Hz)AR()[29]ARARARAR30Hz30Hz12AR3D3DAR3D3D3DARAR2.10ARAR1)2)3)4)AR2.32.213,ARAR2.3.180%ARARARAR1(MonitorBasedDisplays)PCAR3D3D3DAR2(see-through)14VR(VideoSee-throughHMD)(OpticalSee-throughHMD)[30](videSee-through)3(HandHeldDisplayHHD)LCDNaviCaml[31]LCDHITLabARMagicBook[32]3DAR2.11152.11MagicBook4(ProjectionDisplays)100/2.12[33]16(a)(b)(c)(d)-2.12AR[33]2.3.2(Registration)(tracking)17AR()AR()ARAR[34]AR[35](1)(accuracy)(resolution)[36](2)(3)(robustness)(robustness)(4)(Rangeofoperations)(5)ARAR181AR(magnetic)(optic)(acoustic)(inertial)(1)[37]Ascension(FlockofBirds)POLHEMUSPolhemusFastrak(4input)with1sensorLIBERTY[38]144LIBERTY240[39]AR(2)193rdTechHiBall-3100AscensionLaserBIRDFARO(LaserTracker)LED()LaserBTRDDSPSapphireRubyLEDHiBall-310044488(3)202000020000202000020AR(4)XsensTechnologiesMTIAHRSMTxAscension3D-BIRDAscension3DBird3DOFTracker33430GPSXsensMTi-GGPSGPS360AR2,21(1)(marker)ARIDID3DARIDID3D(2)ARARARARAR3GPS22AR[40]2.3.3IvanSutherland(Sketchpad)NewmanSproull(PrinciplesofInteractiveComputerGraphics)[41](-)(-)AR(1)ARAR2DAVI[42](2)AR23PCPDAAR,,(3),(4)ARAR[43][44](5)2.4243ARARToolKit(poseambiguities)ARToolKit3.13.1.1AR3.1MK253.1[45](1)()Tmmmzyx,,()Tccczyx,,(3.1)==1100011398726541321mmmmmmccczyxtrrrtrrrtrrrzyxOTRzyx(3.1)RTO(2)()(3.2):=101000000001cccddzyxffyxw(3.2)()3.2xyxkyk3.2126