3D registration based on V-SLAM and application in augmented reality

摘要

Augmented reality is currently a research hotspot in the field of computer vision and computer graphics, and its applications are becoming more and more extensive. One of its key technologies is the three-dimensional registration of virtual objects. Three-dimensional registration requires accurate camera pose estimation and scene three-dimensional reconstruction. Therefore, this paper studies the 3D registration based on visual SLAM, and mainly contributes the following three aspects. (1) A dense matching method based on a depth camera is proposed, which can be well applied to scenes where the camera moves fast or rotates strongly, such as augmented reality. (2) A dense reconstruction method based on Voxel Hashing is designed, which alleviates the low computational efficiency and low precision of the existing RGB-D SLAM method. (3) A simple augmented reality system was designed to verify the effects of the registration and fusion of virtual objects. Experiments show that compared with the state-of-the-art methods, the algorithm proposed in this paper generates a more refined and smooth reconstructed model, and the virtual-real fusion effect based on this model is also more realistic.