DYNAMIC VISUAL REGISTRATION OF A 3-D OBJECT WITH A GRAPHICAL MODEL

摘要

The invention displays computer graphics in combination with imagery of real objects, while maintaining apparent alignment notwithstanding any changes of viewpoint of an imaging device relative to the real object. A computer executed control loop recognizes features in the image and finds a corresponding position and orientation of a CAD model by projecting the CAD representation onto a "virtual camera" and "moving" the virtual camera to track the relative motion of the real imaging device, according to an efficient "visual servoing" algorithm. In an alternate embodiment of the invention, computing tasks are divided between an "image processing host" and one or more "display hosts" which communicate over a channel. Bandwidth is conserved by performing image registration locally at the display host(s) using the "visual servoing" algorithm.