无 SLAM 的增强现实

IF 3 4区 计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Aminreza Gholami, Behrooz Nasihatkon, Mohsen Soryani
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引用次数: 0

摘要

大多数增强现实(AR)流水线通常涉及每帧中摄像机姿态的计算,然后是虚拟物体的二维投影。相机姿态估计通常采用 SLAM(同步定位和映射)算法。然而,SLAM 系统通常仅限于摄像机固有特性保持固定或在所有帧中都已知的情况。本文介绍了一种完全避开姿态估计阶段的初步尝试,即直接使用外极点约束计算 2D 投影。为此,我们首先计算关键帧和每个新帧之间的基本矩阵。然后,通过寻找新帧中外极线的交点,就可以对物体的二维位置进行三角测量。我们提出了一种稳健的算法,可以处理某些基本矩阵完全错误的情况。最值得注意的是,我们引入了一种深度缓冲算法,该算法完全依赖于基本矩阵,无需计算目标视图中的三维点位置。通过利用基本矩阵,我们的方法即使在所有相机固有参数随时间变化的情况下依然有效。值得注意的是,即使求解空间的自由度更大,我们提出的方法也能达到足够的精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Augmented reality without SLAM

Augmented reality without SLAM

Most augmented reality (AR) pipelines typically involve the computation of the camera’s pose in each frame, followed by the 2D projection of virtual objects. The camera pose estimation is commonly implemented as SLAM (Simultaneous Localisation and Mapping) algorithm. However, SLAM systems are often limited to scenarios where the camera intrinsics remain fixed or are known in all frames. This paper presents an initial effort to circumvent the pose estimation stage altogether and directly computes 2D projections using epipolar constraints. To achieve this, we initially calculate the fundamental matrices between the keyframes and each new frame. The 2D locations of objects can then be triangulated by finding the intersection of epipolar lines in the new frame. We propose a robust algorithm that can handle situations where some of the fundamental matrices are entirely erroneous. Most notably, we introduce a depth-buffering algorithm that relies solely on the fundamental matrices, eliminating the need to compute 3D point locations in the target view. By utilizing fundamental matrices, our method remains effective even when all intrinsic camera parameters vary over time. Notably, our proposed approach achieved sufficient accuracy, even with more degrees of freedom in the solution space.

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来源期刊
Multimedia Tools and Applications
Multimedia Tools and Applications 工程技术-工程:电子与电气
CiteScore
7.20
自引率
16.70%
发文量
2439
审稿时长
9.2 months
期刊介绍: Multimedia Tools and Applications publishes original research articles on multimedia development and system support tools as well as case studies of multimedia applications. It also features experimental and survey articles. The journal is intended for academics, practitioners, scientists and engineers who are involved in multimedia system research, design and applications. All papers are peer reviewed. Specific areas of interest include: - Multimedia Tools: - Multimedia Applications: - Prototype multimedia systems and platforms
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