基于 Marker-SLAM 的视触觉增强现实交互算法

视触觉增强现实是将触觉感知加入到增强现实中的一种新技术。 不仅可以融合真实场景和虚拟对象,还能实现视觉和触觉的同步感知。 基于 3D Systems Touch 触觉设备提出一种新的视触觉交互算法。 首先,基于 Marker-SLAM 算法搭建增强现实环境,用于实时获得相机在地图中的位姿;其次,为了将触觉信息融入到增强现实环境中,提出基于无跟踪器的触控笔尖端姿态优化算法;最后,分别采集测量点在触觉和世界坐标系中的三维信息,通过确定两个坐标系间的刚性变换,将触觉设备的正向运动模型映射到增强现实空间中。 所提出的跟踪注册方法的注册准确率均达到 90% 以上,与基于跟踪器的方法相比,所提出的姿态优化算法获得的校正位置的平均误差为 2. 3±0. 2 mm。

Visuo-haptic augmented reality interaction algorithm based on Marker-SLAM

The visuo-haptic augmented reality is a new technology that adds haptic perception to augmented reality, which helps to realizethe integration of real scenes and virtual objects, as well as the synchronization of vision and touch. This article proposes a new visuohaptic interaction algorithm based on the 3D Systems Touch haptic device. Firstly, an augmented reality environment built on theMarker-SLAM algorithm is adopted to obtain positions and poses of the camera in the map in real time. Secondly, to integrate hapticinformation into the augmented reality environment, a tracker-free stylus tip pose optimization algorithm is proposed. Finally, the 3Dinformation of the measurement points in the haptic and world coordinate systems is collected respectively. The forward motion model ofthe haptic device is mapped into the augmented reality space by determining the rigid transformation between the two coordinate systems.The registration accuracy of the tracking registration methods proposed in this article is all above 90% . Different from the tracker-basedmethod, the average error of the corrected position obtained by the pose optimization algorithm in this article is 2. 3±0. 2 mm.