METHOD, SYSTEM, AND DEVICE FOR SYNCHRONOUSLY PERFORMING THREE-DIMENSIONAL RECONSTRUCTION AND AR VIRTUAL-REAL REGISTRATION

摘要

A method, system, and device for synchronously performing three-dimensional reconstruction and AR virtual-real registration. The method comprises the following processes: performing associative binding on an AR glasses camera and a depth camera, so as to obtain a coordinate transformation matrix between the two camera coordinate systems; according to consecutively acquired RGB-D data of a scene, performing real-time 3D reconstruction of the scene, and outputting virtual models of objects stored in the form of point clouds; performing visualization processing on the virtual models of the objects according to the coordinate transformation matrix, and performing virtual-real registration for objects in a static state; and dividing, according to the RGB-D data of the scene, the point clouds belonging to the different objects into independent clusters, performing computation to obtain an OBB for each cluster, processing the point cloud within the bounding box, and updating a virtual-real registration result, thereby completing virtual-real registration for objects in a moving state. The method improves registration efficiency, and improves the accuracy of tracking and positioning, thereby enhancing user experience.