AR增强装配中的跟踪注册方法研究与应用进展

doi:10.16182/j.issn1004731x.joss.22-0335

摘要/Abstract

摘要：

增强现实(augmented reality，AR)可将虚拟辅助信息以合适的位姿叠加在实际作业现场，实现“所见即所操作”的智能装配指引，缓解传统基于图纸装配中工人识图困难，易出现的错装、漏装等现象。其中装配现场环境下稳定的跟踪注册，是实现增强装配可视化指引中虚实融合的基础，也是现有增强装配在实际应用部署中的关键问题。为此，针对国内外在AR增强装配辅助中跟踪注册方面的研究与应用成果，系统分析了基于视觉、基于传感器和混合式三类不同增强装配跟踪注册方法的研究现状，总结了现有AR增强装配辅助中跟踪注册方法存在的局限及应用发展趋势，对后续AR智能装配系统构建和研究具有借鉴意义。

关键词: 增强装配, 增强现实, 跟踪注册, 可视化指引, 研究和应用进展

Abstract:

Augmented reality (AR) can superimpose virtual auxiliary information in appropriate positions at the actual work site to achieve intelligent assembly guidance of "what you see is what you operate", alleviating the difficulties for workers to recognize drawings in traditional drawing-based assembly and the problems of misassembly, missing parts and so on. Stable tracking registration in the assembly site environment is the basis for achieving the fusion of virtual and actual scene in augmented assembly visual guidance, and also a key issue in the practical application and deployment of existing augmented assembly. In view of the research and application results in tracking and registration for AR-assisted assembly in recent years at home and abroad, this paper systematically analyzes the current research status of three different augmented assembly tracking registration methods based on vision, sensors and hybrids. The limitations of existing tracking registration methods in AR augmented assembly aids and application development trends are summarized. It is meaningful to refer for the subsequent construction and research of AR intelligent assembly systems.

Key words: augmented assembly, augmented reality, tracking registration, visual guidance, research and application progress

中图分类号:

TP391

方维, 许澍虹, 韩磊, 李张文驰. AR增强装配中的跟踪注册方法研究与应用进展[J]. 系统仿真学报, 2023, 35(7): 1438-1454.

Wei Fang, Shuhong Xu, Lei Han, Zhangwenchi Li. Research and Application Progress of Tracking Registration Methods in AR Assembly[J]. Journal of System Simulation, 2023, 35(7): 1438-1454.

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传感器类型	优点	缺点
惯性传感器(陀螺仪加速度计)	高帧率低延时，被动式跟踪方式，低功耗小尺寸	位姿估计易随时间发生漂移，位置估计误差大
磁力传感器(磁力计)	方向精度高，低延时，跟踪范围大	距离精度较低，易受金属环境干扰，低运动跟踪性
电磁传感器((RFID WIFI UWB))	高分辨率，大范围，可供选择的跟踪手段多	对环境噪音水平敏感，易发生遮挡，定位精度较低
超声传感器	跟踪距离长，跟踪分辨率高，价格适中	延时大，易受噪音和环境影响

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