Fang Wei, Zheng Lianyu, Deng Huanjun, Zhang Hongbo
School of Mechanical Engineering and Automation, Beihang University, Xueyuan Road, Haidian District, Beijing 100191, China.
Beijing Baofengmojing Technologies Co., Ltd., Zhichun Road, Haidian District, Beijing 100191, China.
Sensors (Basel). 2017 May 5;17(5):1037. doi: 10.3390/s17051037.
In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time.
在移动增强现实/虚拟现实（AR/VR）中，实时六自由度（DoF）运动跟踪对于虚拟场景与现实世界之间的配准至关重要。然而，由于当今移动终端的计算能力有限，连续到达姿态之间的延迟会损害移动AR/VR中的用户体验。因此，本文提出了一种基于视觉惯性的移动AR/VR实时运动跟踪方法。借助惯性传感器的高频和无源输出，实现了移动AR/VR到达姿态的实时性能。此外，为了减轻视觉惯性融合过程中的抖动现象，建立了一个自适应滤波器框架来自动应对不同的运动情况，通过平衡抖动和延迟实现实时六自由度运动跟踪。此外，增强了传统基于视觉的运动跟踪的鲁棒性，在遇到运动模糊时能带来更好的移动AR/VR性能。最后，进行了实验来验证所提出的方法，结果表明该工作能够为移动AR/VR实时提供平滑且鲁棒的六自由度运动跟踪。
