一种高保真视-触觉增强现实系统的搭建  

Construction of a High Fidelity Visuo-Haptic Augmented Reality System

作　　者：刘佳[1,2,3] 方韬 陈大鹏 郭斌 LIU Jia;FANG Tao;CHEN Dapeng;GUO Bin(School of Automation,Nanjing University of Information Science&Technology,Nanjing 210044,China;Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot(C-IMER),Nanjing 210044,China;Jiangsu Key Laboratory of Big Data Analysis Technology(B-DAT),Nanjing 210044,China)

机构地区：[1]南京信息工程大学自动化学院,江苏南京210044 [2]江苏省智能气象探测机器人工程研究中心,江苏南京210044 [3]江苏省大数据分析技术重点实验室,江苏南京210044

出　　处：《测控技术》2023年第4期67-74,87,共9页Measurement & Control Technology

基　　金：国家自然科学基金(62003169,61773219);江苏省自然科学基金青年基金(BK20200823)。

摘　　要：随着增强现实技术的发展,仅包含视觉的增强现实技术已经不能满足人们的需求,而加入触觉信息形成的视-触觉融合的增强现实系统却越来越受到关注。触觉设备是将真实环境和虚拟环境连接起来的纽带。然而,触觉设备在视场中的存在会带来两个问题,一方面触觉设备占据了很大的视觉空间,另一方面触觉设备的定位往往会出现较大的误差,导致了视-触觉增强现实的真实性下降。为了增加使用者的体验感,提出一种高保真视-触觉增强现实环境的搭建方法。首先基于改进的ORB(Oriented FAST and Rotated BRIEF)和KLT(Kanade-Lucas-Tomasi)增强现实跟踪注册算法搭建稳定的视觉增强现实环境。其次提出了一种能校准触笔位置和方向的方法,以提升交互体验。然后提出一种基于力反馈的触觉渲染算法,最后使用改进的全局泊松方程和Criminisi算法对触觉设备进行隐藏和修复,减小因触觉设备存在对用户沉浸感造成的影响。With the development of augmented reality technology,augmented reality technology that only includes vision can no longer meet people\s needs,while the visuo-haptic fusion augmented reality system formed by adding haptic information has attracted more and more attention.Haptic devices are the link that connects the real and virtual environments.However,the presence of haptic devices in the field of view also poses two problems.On the one hand,haptic device occupies a large visual space.On the other hand,the positioning of haptic device often has large errors,which causes the decline of the authenticity of visuo-haptic augmented reality(VHAR).In order to increase user’s sense of experience,a construction method of high fidelity VHAR environment is proposed.Firstly,based on the improved oriented FAST and rotated BRIEF(ORB)and Kanade-Lucas-Tomasi(KLT)augmented reality tracking and registration algorithms,a stable visual augmented reality environment is built.Secondly,a method to calibrate the position and orientation of the stylus is proposed to improve the interactive experience.Then,a haptic rendering algorithm based on force feedback is proposed.Finally,the Poisson\s equation and Criminisi algorithm are used to hide and inpainting the haptic device,so as to reduce the impact of the presence of the haptic device on the user\s immersion.

关 键 词：增强现实 视触觉融合 图像修复 共址定位 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]