Method and apparatus for augmented reality hybrid tracking system with fiducial-based heading correction

摘要

An apparatus and method is disclosed for enabling accurate registration of virtual information upon real objects in selected environments from the perspective of a moveable observation platform having a position and an orientation within an observation space positioned within the environment, the position and orientation defining the registration of the virtual information within the observation space within the environment, which may comprise: a plurality of at least three tracking fiducials selectively each respectively located in fixed predetermined locations in the observation space; the observation platform including a position sensor apparatus adapted to sense an estimated position of the observation platform in the observation space and a heading sensor apparatus adapted to sense an estimated heading of the observation platform within the observation space; the observation platform further including a wide view fiducial detection apparatus mounted on the observation platform and adapted to detect the relative direction from the observation platform to each of the plurality of tracking fiducials, relative to a heading direction of the observation platform, assuming an approximated heading direction of the observation platform, the wide view fiducial detection apparatus adapted further to detect fiducials in a panoramic field of view greater than at least one hundred and eight degrees; a heading error detection apparatus adapted to detect the difference between the estimated heading and the present heading based upon the observed relative directions to the respective tracking fiducials, and forming a corrected heading from the estimated heading and the detected heading error; a position error detection apparatus adapted to detect the difference between the estimated position in the observation space and the actual position based upon the observed positions of the respective fiducials and the corrected heading of the observation platform. The apparatus and method may further comprise the estimated heading is derived from at least the output of a rotation sensor and from a prior corrected position determination if a prior corrected position determination is available; the estimated heading is a prior corrected heading determination; the estimated position is derived from at least the output of a position detector and from a prior corrected position determination if a prior corrected position determination is available or the estimated position is a prior corrected position determination.