UG+B法 : 主観及び客観視点カメラと姿勢センサを用いた位置合わせ手法(「複合現実感3」特集)

抄録

This paper describes a new robust registration framework, which is named "UG+B", for Augmented or Mixed Reality (AR/MR) applications. Our methods measure pose of a head-mounted display (HMD) using not only an image captured by a user's view camera mounted on the HMD, but also images captured by bird's-eye view cameras each of which observes the HMD from a third-person's viewpoint, as well as an orientation measured by a sensor mounted on the HMD. In our methods, the markers placed in the scene and that on the HMD are tracked on the user's view and the bird's-eye view image respectively. Then, the pose of the HMD is estimated to minimize the sum of the re-projection error for all markers. Furthermore, the inclination angles measured by the orientation sensor are used as known values to constrain the pose, thus, the remaining parameters, i.e. the position and azimuth angle, are deduced by image information. In addition to theoretical discussions, this paper demonstrates the effectiveness of our methods by experiments in comparison with conventional vision-based registration methods.