DE102011122206A1 - Method for representation of virtual image component i.e. augmented reality image, on transparent display of augmented reality system, involves determining position of component, and representing virtual image component by display - Google Patents
Method for representation of virtual image component i.e. augmented reality image, on transparent display of augmented reality system, involves determining position of component, and representing virtual image component by display Download PDFInfo
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- DE102011122206A1 DE102011122206A1 DE102011122206A DE102011122206A DE102011122206A1 DE 102011122206 A1 DE102011122206 A1 DE 102011122206A1 DE 102011122206 A DE102011122206 A DE 102011122206A DE 102011122206 A DE102011122206 A DE 102011122206A DE 102011122206 A1 DE102011122206 A1 DE 102011122206A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
- G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Darstellung eines virtuellen Bildbestandteils auf einem transparenten Display.The invention relates to a method for displaying a virtual image component on a transparent display.
Die
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Es ist Aufgabe der Erfindung, die Effizienz von Adgmented-Reality-Systemen mit Durchsichtdisplay zu verbessern. Dazu ist es insbesondere wünschenswert, Augmented-Reality-Systeme mit Durchsichtdisplay schneller einsatzbereit zu machen. Dazu soll insbesondere das Kalibrieren eines derartigen Systems beschleunigt werden.It is an object of the invention to improve the efficiency of Adsegmented Reality systems with see-through display. For this purpose, it is particularly desirable to make augmented reality systems with a transparent display faster ready for use. In particular, the calibration of such a system should be accelerated.
Vorgenannte Aufgabe wird durch ein Verfahren zur Darstellung eines virtuellen Bildbestandteils auf einem transparenten Display (Durchsichtdisplay) gelöst, wobei ein Transformationsmodul in Abhängigkeit der Blickrichtung eines Nutzers (Betrachters) des transparenten Displays erzeugt wird, wobei die Position des virtuellen Bildbestandteils mittels des Transformationsmoduls in Abhängigkeit der Position eines mittels des virtuellen Bildbestandteils zu überlagernden realen Objektes (in der Umgebung des transparenten Displays, die ein Nutzer/Betrachter bei Durchsicht durch das transparente Display sieht) bestimmt wird, und wobei der virtuelle Bildbestandteil mittels des transparenten Displays (an der mittels des Transformationsmoduls bestimmten Position des virtuellen Bildbestandteils) dargestellt wird.The above object is achieved by a method for displaying a virtual image component on a transparent display (see-through display), wherein a transformation module depending on the viewing direction of a user (viewer) of the transparent display is generated, wherein the position of the virtual image component by means of the transformation module in dependence Position of a real object to be superimposed by means of the virtual image component (in the vicinity of the transparent display which a user / viewer sees when viewing through the transparent display), and wherein the virtual image component is determined by means of the transparent display (determined by means of the transformation module Position of the virtual image component).
Ein virtueller Bildbestandteil im Sinne der Erfindung kann alphanumerische Zeichen umfassen oder aus solchen bestehen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann alphanumerische Zeichen sowie einen farblichen Hintergrund für diese Zeichen umfassen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann aus alphanumerische Zeichen in Verbindung mit einem farblichen Hintergrund für diese Zeichen bestehen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann eine Zeichnung sein oder eine solche umfassen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann eine Skizze sein oder eine solche umfassen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann ein Icon sein oder ein solches umfassen. Ein virtueller Bildbestandteil im Sinne der Erfindung kann eine Animation sein oder eine solche umfassen.A virtual image component within the meaning of the invention may comprise alphanumeric characters or consist of such. A virtual image component within the meaning of the invention may comprise alphanumeric characters as well as a color background for these characters. A virtual image component within the meaning of the invention can consist of alphanumeric characters in conjunction with a color background for these characters. A virtual image component within the meaning of the invention may be a drawing or include such a drawing. A virtual image component within the meaning of the invention may be a sketch or comprise such a sketch. A virtual image component within the meaning of the invention may be or include an icon. A virtual image component within the meaning of the invention may be or include an animation.
Eine Blickrichtung im Sinne der Erfindung ist insbesondere der Sichtstrahl eines Auges (auf ein reales oder virtuelles (im Durchsichtdisplay dargestelltes) Objekt).A viewing direction in the sense of the invention is in particular the visual beam of an eye (on a real or virtual (shown in the see-through display) object).
In vorteilhafter Ausgestaltung der Erfindung ist vorgesehen, dass zur Erzeugung des Transformationsmoduls bzw. zur Erzeugung einer Transformationsmatrix des Transformationsmoduls ein Nutzer (insbesondere aufgrund von eigener Auswahl [und insbesondere entsprechender Eingabe oder Mitteilung] oder auf Aufforderung), seinen Blick auf einen bestimmten (ausgewählten) realen Punkt, der bei Durchsicht durch das transparente Display sichtbar ist, richtet. Darüber hinaus wird mittels des transparenten Displays in weiterhin vorteilhafter Ausgestaltung der Erfindung eine Markierung erzeugt, die in weiterhin vorteilhafter Ausgestaltung der Erfindung der Blickrichtung des Betrachters folgt (so dass die Markierung und der ausgewählte reale Punkt für den Nutzer in Deckung [auf einem Sichtstrahl] liegen). In weiterhin vorteilhafter Ausgestaltung der Erfindung werden die Koordinaten der Markierung den Koordinaten des ausgewählten realen Punktes zugeordnet, wenn die Blickrichtung des Betrachters einen vorbestimmten Grenzwert lang im Wesentlichen unverändert ist bzw. konstant bleibt. In weiterhin vorteilhafter Ausgestaltung der Erfindung wird das in diesem Absatz beschriebene Verfahren zumindest einmal in vorteilhafter Weise zumindest fünfmal wiederholt (also zumindest zweimal bzw. zumindest sechsmal durchlaufen), wobei der Blick des Betrachters oder Nutzers auf Objekte unterschiedlicher Position (bzw. unterschiedliche ausgewählte reale Punkte) zu richten ist. Eine Markierung im Sinne der Erfindung ist insbesondere ein Fadenkreuz.In an advantageous embodiment of the invention, it is provided that to generate the transformation module or to generate a transformation matrix of the transformation module, a user (in particular due to his own selection [and in particular corresponding input or message] or on request), his view of a particular (selected) real point visible when looking through the transparent display. In addition, by means of the transparent display in a further advantageous embodiment of the invention, a marking is produced which, in a further advantageous embodiment of the invention, follows the viewing direction of the observer (so that the marking and the selected real point are in the user's sight [on a viewing beam] ). In a further advantageous embodiment of the invention, the coordinates of the marking are assigned to the coordinates of the selected real point, if the viewing direction of the observer for a predetermined limit long substantially unchanged or remains constant. In a further advantageous embodiment of the invention, the method described in this paragraph is repeated at least once in an advantageous manner at least five times (ie at least twice or at least six times), the view of the viewer or user on objects of different positions (or different selected real points ). A marker according to the invention is in particular a crosshair.
In weiterhin vorteilhafter Ausgestaltung der Erfindung wird das Transformationsmodul in Abhängigkeit eines Datensatzes erzeugt, in dem zumindest sechs unterschiedlichen realen Positionen, die bei Durchsicht durch das transparente Display sichtbar sind, Positionen einer Markierung zugeordnet sind. In weiterhin vorteilhafter Ausgestaltung der Erfindung umfasst das Transformationsmodul eine Transformationsmatrix. In weiterhin vorteilhafter Ausgestaltung der Erfindung wird die Transformationsmatrix in Abhängigkeit eines Datensatzes erzeugt, in dem zumindest sechs unterschiedlichen realen Positionen, die bei Durchsicht durch das transparente Display sichtbar sind, Positionen einer Markierung zugeordnet sind.In a further advantageous embodiment of the invention, the transformation module is generated as a function of a data record in which at least six different real positions, which are visible when viewed through the transparent display, are associated with positions of a marking. In a further advantageous embodiment of the invention, the transformation module comprises a transformation matrix. In a further advantageous embodiment of the invention, the transformation matrix is generated as a function of a data record in which at least six different real positions, which are visible when viewed through the transparent display, are assigned to positions of a marking.
In weiterhin vorteilhafter Ausgestaltung der Erfindung wird die Blickrichtung des Nutzers (Betrachters) des transparenten Displays mittels einer auf zumindest ein Auge des Nutzers (Betrachters) des transparenten Displays gerichteten Kamera ermittelt. Eine geeignete Kamera ist auf der Internetseite www.istar-project.org offenbart. In weiterhin vorteilhafter Ausgestaltung der Erfindung sind das transparente Display und die Kamera mechanisch verbunden. In weiterhin vorteilhafter Ausgestaltung der Erfindung sind das transparente Display und die Kamera mechanisch zueinander fixiert. In weiterhin vorteilhafter Ausgestaltung der Erfindung sind das transparente Display und die Kamera gemeinsam an einem Headset angeordnet. In weiterhin vorteilhafter Ausgestaltung der Erfindung ist das transparente Display derart an dem Headset angeordnet, dass es nur einem Auge des Nutzers (Betrachters) zugeordnet ist. Dabei ist insbesondere vorgesehen, dass ein zweites Auge nicht dem transparenten Display zugeordnet ist, das heißt, dass mittels des zweiten Auges die Sicht ohne Durchsicht auf das transparente Display freigegeben ist.In a further advantageous embodiment of the invention, the viewing direction of the user (observer) of the transparent display is determined by means of a camera aimed at at least one eye of the user (observer) of the transparent display. A suitable camera is disclosed on the website www.istar-project.org. In a further advantageous embodiment of the invention, the transparent display and the camera are mechanically connected. In a further advantageous embodiment of the invention, the transparent display and the camera are mechanically fixed to each other. In a further advantageous embodiment of the invention, the transparent display and the camera are arranged together on a headset. In a further advantageous embodiment of the invention, the transparent display is arranged on the headset that it is associated with only one eye of the user (viewer). In this case, it is provided in particular that a second eye is not assigned to the transparent display, that is to say that the view is released by the second eye without looking through the transparent display.
In weiterhin vorteilhafter Ausgestaltung der Erfindung ist dem Headset ein Sensor (z. B. Kamera) zugeordnet, die insbesondere an dem Headset fixiert angeordnet ist. Alternativ oder zusätzlich kann ein Sensor vorgesehen sein, die sowohl das reale Objekt, das das Ziel des virtuellen Bildes ist, als auch den Betrachter aufnimmt. Mittels dieser Sensoren erfolgt insbesondere ein Tracking bzw. eine Veränderung des Transformationsmoduls, wenn sich die Ausrichtung des realen Objekts zum Kopf des Nutzers bzw. Betrachters ändert.In a further advantageous embodiment of the invention, the headset is associated with a sensor (eg camera), which is arranged in particular fixed on the headset. Alternatively or additionally, a sensor may be provided which records both the real object that is the target of the virtual image and the viewer. By means of these sensors, in particular tracking or a change of the transformation module takes place when the orientation of the real object to the head of the user or viewer changes.
Es ist eine weitere Aufgabe der Erfindung, die Kosten bei der Produktion von technischen Komponenten, insbesondere die Kosten für die Produktion von Kraftfahrzeugen oder die Kosten für deren Reparatur zu senken.It is a further object of the invention to reduce the cost of the production of technical components, in particular the cost of the production of motor vehicles or the cost of their repair.
Vorgenannte Aufgabe wird – insbesondere in Verbindung mit vorgenannten Merkmalen – durch ein Verfahren zum Herstellen einer technischen Komponente, insbesondere eines Kraftfahrzeuges oder einer Kraftfahrzeugkomponente, gelöst, wobei ein zu montierendes Bauteil mittels des virtuellen Bildbestandteils gemäß dem vorgehend beschriebenen Verfahren markiert oder gekennzeichnet wird, und dass das zu montierende Bauteil in der technischen Komponente, in dem Kraftfahrzeug oder in der Kraftfahrzeugkomponente montiert wird.The aforementioned object is achieved - in particular in connection with the aforementioned features - by a method for producing a technical component, in particular a motor vehicle or a motor vehicle component, wherein a component to be mounted is marked or identified by means of the virtual image component according to the method described above, and that the component to be mounted in the technical Component is mounted in the motor vehicle or in the motor vehicle component.
Vorgenannte Aufgabe wird – insbesondere in Verbindung mit vorgenannten Merkmalen – zudem durch ein Verfahren zum Herstellen einer technischen Komponente, insbesondere eines Kraftfahrzeuges oder einer Kraftfahrzeugkomponente, gelöst, wobei der Montageort eines zu montierenden Bauteils mittels des virtuellen Bildbestandteils gemäß dem vorgehend beschriebenen Verfahren markiert oder gekennzeichnet wird, und dass das zu montierende Bauteil in der technischen Komponente, in dem Kraftfahrzeug oder in der Kraftfahrzeugkomponente am Montageort montiert wird.The aforementioned object is - in particular in connection with the aforementioned features - also solved by a method for producing a technical component, in particular a motor vehicle or a motor vehicle component, wherein the mounting location of a component to be mounted by means of the virtual image component according to the method described above is marked or marked , And that the component to be mounted in the technical component, in the motor vehicle or in the motor vehicle component is mounted at the mounting location.
Vorgenannte Aufgabe wird – insbesondere in Verbindung mit vorgenannten Merkmalen – zudem durch ein Verfahren zum Herstellen einer technischen Komponente, insbesondere eines Kraftfahrzeuges oder einer Kraftfahrzeugkomponente, gelöst, wobei ein Montageablauf zum Montieren eines zu montierenden Bauteils mittels des virtuellen Bildbestandteils gemäß dem vorgehend beschriebenen Verfahren ermittelt oder verifiziert wird, und dass das zu montierende Bauteil in der technischen Komponente, in dem Kraftfahrzeug oder in der Kraftfahrzeugkomponente entsprechend dem Montageablauf montiert wird.The above object is - in particular in connection with the aforementioned features - also solved by a method for producing a technical component, in particular a motor vehicle or a motor vehicle component, wherein an assembly process for mounting a component to be mounted by means of the virtual image component determined according to the method described above or is verified, and that the component to be mounted in the technical component, in the motor vehicle or in the motor vehicle component is mounted according to the assembly process.
Kraftfahrzeug im Sinne der Erfindung ist insbesondere ein individuell im Straßenverkehr benutzbares Landfahrzeug. Kraftfahrzeuge im Sinne der Erfindung sind insbesondere nicht auf Landfahrzeuge mit Verbrennungsmotor beschränkt.Motor vehicle in the sense of the invention is in particular a land vehicle which can be used individually in road traffic. Motor vehicles according to the invention are not limited in particular to land vehicles with internal combustion engine.
Weitere Vorteile und Einzelheiten ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen. Dabei zeigen:Further advantages and details emerge from the following description of exemplary embodiments. Showing:
Das in
Dem Schritt
Es folgt ein Schritt
Dem Schritt
Dem Schritt
Aus der Matrix B wird entsprechend den Zusammenhängen der Gleichungen (7), (8) und (9) in dem
Zur positionsgenauen Einblendung des virtuellen Bildes VIRT in dem Schritt
Aus dem Vektor PVIRT'' ergibt sich die Position PVIRT des virtuellen Bildes VIRT in dem transparenten Display wie folgt:From the vector PVIRT '' the position PVIRT of the virtual image VIRT in the transparent display results as follows:
In dem in
Die Elemente und Winkel in
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
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Zitierte Nicht-PatentliteraturCited non-patent literature
- Artikel Mihran Tuceryan, Nassir Navab: Single point active alignment method (SPAAM) for optical see-through HMD calibration for AR (siehe homepages.cwi.nl/~robertl/2IV55/papers/tuceryan.pdf) [0035] Article Mihran Tuceryan, Nassir Navab: Single point active alignment method (SPAAM) for optical see-through HMD calibration for AR (see homepages.cwi.nl/~robertl/2IV55/papers/tuceryan.pdf) [0035]
- Artikel Mihran Tuceryan, Nassir Navab: Single point active alignment method (SPAAM) for optical see-through HMD calibration for AR (siehe homepages.cwi.n/~robertl/2IV55/papers/tuceryan.pdf) [0036] Article Mihran Tuceryan, Nassir Navab: Single point active alignment method (SPAAM) for optical see-through HMD calibration for AR (see homepages.cwi.n / ~ robertl / 2IV55 / papers / tuceryan.pdf) [0036]
- Artikel Mihran Tuceryan, Nassir Navab: Single, point active alignment method (SPAAM) for optical see-through HMD calibration for AR (siehe homepages.cwi.nl/~robertl/2IV55/papers/tuceryan.pdf) [0037] Article Mihran Tuceryan, Nassir Navab: Single, point active alignment method (SPAAM) for optical see-through HMD calibration for AR (see homepages.cwi.nl/~robertl/2IV55/papers/tuceryan.pdf) [0037]
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Claims (9)
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