System and method for calibrating a monocular optical see-through head-mounted display system for augmented reality

• US 20020105484A1
• Filed: 09/25/2001
• Published: 08/08/2002
• Est. Priority Date: 09/25/2000
• Status: Abandoned Application

• Current Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Original Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Inventors: Navab, Nassir, Tuceryan, Mihran
• Application Number:
  US09/962,910
• Publication Number:
  US 20020105484A1
• Time in Patent Office: Days
• US Class Current: 345/8
• CPC Class Codes: G02B 27/017 Head mounted
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/286 having separate monoscopic and stereoscopic modes
• CPC Class Codes: H04N 13/327 Calibration thereof
• CPC Class Codes: H04N 13/344 with head-mounted left-right displays
• CPC Class Codes: H04N 13/373 for tracking forward-backward translational head movements, i.e. longitudinal movements
• CPC Class Codes: H04N 13/376 for tracking left-right translational head movements, i.e. lateral movements
• CPC Class Codes: H04N 13/38 for tracking vertical translational head movements

Abstract

A system and method for calibrating a monocular optical see-through HMD (head-mounted display). A preferred method integrates measurement for an optical see-through HMD and a six degrees of freedom tracker that is fixedly attached to the HMD to perform calibration. Calibration is based on the alignment of image points with a single 3D reference point in a world coordinate system from various viewpoints. The user interaction to perform the calibration is extremely easy compared to conventional methods and does not require keeping the head static during the calibration process. In one aspect, a calibration method comprises the steps of: displaying a marker image on one display of an HMD for view by a user; aligning the displayed marker image with a preselected reference point; collecting calibration data associated with the alignment; and computing a model of the HMD using the collected calibration data.

Claims

1. A method for calibrating a monocular see-through HMD (head-mounted display) for augmented reality, the method comprising the steps of:

displaying a marker image on one display of an HMD for view by a user;

aligning the displayed marker image with a preselected reference point;

collecting calibration data associated with the alignment; and

computing a model of the HMD using the collected calibration data.

2. The method of claim 1, wherein the model is defined with respect to a coordinate system of a tracker sensor fixedly attached to the HMD.

3. The method of claim 2, wherein the model comprises a projection matrix that defines a transformation between the HMD and coordinates of the tracker sensor.

4. The method of claim 2, wherein the calibration data for a given alignment comprises 2-dimensional image coordinates of the image marker and 3-dimensional coordinates of the preselected reference point in the coordinate system of the tracker sensor.

5. The method of claim 1, wherein the preslected reference point is located on a tracker transmitter.

6. The method of claim 1, wherein the image marker comprises a crosshair.

7. The method of claim 1, wherein the steps of aligning and collecting are performed for each of a plurality of different locations with respect to the preselected reference point.

8. The method of claim 7, wherein calibration data is collected for at least six different locations.

9. A program storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform method steps for calibrating a monocular see-through HMD (head-mounted display) for augmented reality, the method steps comprising:

displaying a marker image on one display of an HMD for view by a user;

receiving as input, calibration data associated with an alignment of the displayed marker image with a preselected reference point; and

computing a model of the HMD using the collected calibration data.

10. The program storage device of claim 9, wherein the model is defined with respect to a coordinate system of a tracker sensor fixedly attached to the HMD.

11. The program storage device of claim 10, wherein the instructions for computing the model comprise instructions for computing a projection matrix that defines a transformation between the HMD and coordinates of the tracker sensor.

12. The program storage device of claim 10, wherein the calibration data for a given alignment comprises 2-dimensional image coordinates of the image marker and 3-dimensional coordinates of the preslected reference point in the coordinate system of the tracker sensor.

13. The program storage device of claim 9, wherein the image marker comprises a crosshair.

14. The program storage device of claim 9, wherein the instructions for computing a model comprise computing the model using calibration data associated with at least six different locations with respect to the preselected reference point.

16. The system of claim 15, wherein the calibration data for a given alignment comprises 2-dimensional image coordinates of the image marker and 3-dimensional coordinates of the preslected reference point in the coordinate system of the tracker sensor.

15. An augmented reality system, comprising:

a monocular see-through HMD (head-mounted display);

a tracker system comprising a transmitter and at least one sensor, wherein the sensor is fixedly attached to the HMD; and

a workstation, operatively connected to the tracker system and HMD, comprising computer readable program code embodied therein for calibrating the HMD, wherein the computer readable program code comprises program code for displaying a marker image on one display of an HMD for view by a user;

receiving as input, calibration data associated with an alignment of the displayed marker image with a preselected reference point; and

computing a model of the HMD using the collected calibration data.

17. A method for calibrating a monocular see-through HMD (head-mounted display) for augmented reality, the method comprising the steps of:

collecting calibration data by aligning a maker image displayed in the HMD to a fixed location viewed by an individual through the HMD for each of a plurality of different viewpoints; and

computing a model using the calibration data, wherein the model defines a relation between a coordinate system of a virtual camera and a coordinate system of a sensor fixedly attached to the HMD, wherein the virtual camera comprises a combination of the HMD and one eye of the individual.