关键词: 增强现实, 视觉标志物, 视觉惯性里程计, 地理信息, 位姿融合

Abstract: Augmented reality technology based on visual markers and visual inertia odometer (VIO) technology have good complementarity. In this paper, a general pose fusion method is proposed to solve the problems of the current augmented reality system based on markers and VIO’s lack of geographic location information and cumulative errors. This method can transform the output of the same trajectory pose in arbitrary two different coordinate systems to the same coordinate system. Aiming at the problems in this paper, we realize the integration of the position and pose of the augmented reality based on visual markers and the visual inertial navigation module, and provide the real geographic information coordinates for the whole system by using the characteristics of the geographic information of the visual markers, so that the positioning system can be combined with the geographic information system. The image and IMU information output from Huawei P10 phone are collected in the form of real-time communication as the data source, and experiment is conducted on Ubuntu16.04 and Unity game engine. The results show that the proposed method can achieve accurate pose fusion effectively.

Key words: augmented reality, visual markers, visual inertia odometer, geographic information, pose fusion