DYNAMIC VISUAL REGISTRATION OF A 3-D OBJECT WITH A GRAPHICALMODEL

摘要

The invention displays computer graphics in combination with imagery of real objects (24), while maintaining apparent alignment notwithstanding any chang es of viewpoint of an imaging device (20) relative to the real object (24). A computer executed control loop recognizes features (26) in the image and fin ds a corresponding position and orientation of a CAD model by projecting the CA D 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" (3 0) and one or more "display hosts" (260, 264, 266) which communicate over a channel (262). Bandwidth is conserved by performing image registration local ly at the display host(s) using the "visual servoing" algorithm.