AUTOMATIC MAPPING OF AUGMENTED REALITY FIDUCIALS
First Claim
1. A method of pose determination in an augmented reality system, comprising the steps of:
- placing at least one synthetic fiducial in a real environment to be augmented;
providing a camera including apparatus for obtaining directly measured camera location and orientation (DLMO) information;
acquiring an image of the environment with the camera;
detecting the natural and synthetic fiducials;
estimating the pose of the camera using a combination of the natural fiducials, the synthetic fiducial if visible in the image, and the DLMO information if determined to be reliable or necessary.
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Accused Products
Abstract
Systems and methods expedite and improve the process of configuring an augmented reality environment. A method of pose determination according to the invention includes the step of placing at least one synthetic fiducial in a real environment to be augmented. A camera, which may include apparatus for obtaining directly measured camera location and orientation (DLMO) information, is used to acquire an image of the environment. The natural and synthetic fiducials are detected, and the pose of the camera is determined using a combination of the natural fiducials, the synthetic fiducial if visible in the image, and the DLMO information if determined to be reliable or necessary. The invention is not limited to architectural environments, and may be used with instrumented persons, animals, vehicles, and any other augmented or mixed reality applications.
307 Citations
20 Claims
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1. A method of pose determination in an augmented reality system, comprising the steps of:
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placing at least one synthetic fiducial in a real environment to be augmented; providing a camera including apparatus for obtaining directly measured camera location and orientation (DLMO) information; acquiring an image of the environment with the camera; detecting the natural and synthetic fiducials; estimating the pose of the camera using a combination of the natural fiducials, the synthetic fiducial if visible in the image, and the DLMO information if determined to be reliable or necessary. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13)
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10. A method of determining the pose (position and orientation) of a plurality of fiducials in an environment, comprising the steps of:
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determining the pose of a first fiducial, A; imaging the environment with a field of view including A and a plurality of other fiducials; and determining the pose of the other fiducials by batch optimizing the translation between some or all of the fiducials within the field of view, thereby eliminating the need for the DLMO information.
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14. An augmented reality system, comprising:
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a camera for imaging a real environment to be augmented, the camera including apparatus for obtaining directly measured camera location and orientation (DLMO) information; at least one synthetic fiducial positioned in the environment; and a processor operative to detect the natural and synthetic fiducials in the image acquired by the camera and estimate the pose of the camera using a combination of the natural fiducials, the synthetic fiducials if visible in the image, and the DLMO information if determined to be reliable or necessary. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification