增强半虚拟现实飞机座舱关键技术研究
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摘要
相比于大型传统飞行模拟器，采用虚拟现实技术(VR)构建的飞行模拟器具有体积小巧，成本低，通用性强等优点，近年来发展迅速，应用前景广阔。由于技术和硬件设备限制，该类仿真设备也存在人机交互性能低，难以或者无法完成某些复杂座舱交互动作等缺点。为此本文提出并实现了一种增强半虚拟现实飞机座舱技术，以实现自然和谐的人-座舱交互。本文主要研究内容概括如下：
1.增强半虚拟现实飞机座舱技术方案。针对现有虚拟现实飞行模拟器中存在三维模型手视觉效果不理想，电磁跟踪器设备定位信号易受干扰，触觉反馈不真实等问题，以基于图像建模和渲染的图像手取代几何模型手，通过视觉定位进行头部位置跟踪，设计半实物座舱保证用户触觉和力觉反馈，构建出一个具有真实视觉、触觉、力觉等的增强半虚拟现实飞机座舱环境。实验表明，本文交互方案比传统数据手套交互技术方案时间效率提高50%，而且也无需数据手套和电磁跟踪器等硬件设备，可明显降低软硬件开发成本并增强系统实用性。
2.手势自适应分割与虚拟手可视化。针对手势分割过程中肤色检测易受干扰问题，利用视频相邻帧之间肤色像素的连续变化特性对椭圆肤色模型参数进行实时更新，实现最优参数估计以增强检测鲁棒性。为使手势轮廓更加精确平滑，将双边滤波算法引入到平面曲线平滑中，使手轮廓平滑同时能保持指尖等尖锐特征。为解决三维模型手视觉效果不佳问题，将手图像融合到虚拟环境中实现虚拟手可视化。融合过程中同时对手图像进行视点校正，实现虚实视点一致，为用户提供更加合理的视点图像。实验表明融合到虚拟环境中的虚拟手运动特性和视觉特性与真实手完全一致，用户沉浸感更强，更有利于交互动作的完成。
3.基于正交摄像机的头部位置跟踪和虚实注册。为解决现有电磁跟踪器定位过程中易受外界环境干扰，成本高等问题，提出一种基于正交摄像机的定位方法，依据小孔成像原理进行坐标循环迭代，直至收敛到目标真实位置。对比实验表明正交定位系统收敛速度快，定位精度高，可满足虚拟现实系统中高精度头部位置跟踪要求。虚实注册过程中对多坐标系之间转换关系进行了理论推导和分析，择优选取测试数据，减小误差以满足交互需求。
4.基于CAD数据的快速VR建模。三维几何建模是虚拟现实系统中的基础性工作，传统手工方式建模工作量大，并且模型尺寸精度难以保证。本文对从CAD数据中提取出的网格进行分类，并根据网格特点进行针对性简化，在二次误差量度(QEM)简化算法基础上，引入三角形紧致性代价作为新顶点生成准则对复杂网格进行简化。测试表明在相同简化率条件下，经本文算法简化后的三角形网格形状比QEM算法更合理，模型渲染质量更高，并且通过设定不同简化阈值就可生成具有多细节层次的VR模型。经本文方法生成的VR模型在面片数量简化90%情况下，几何外形和视觉基本无变化。
本文最后通过构建实际的增强半虚拟现实飞机座舱系统，对该技术方案的可行性和人机交互性能进行了主客观测试。主观实验表明本文虚拟手视觉效果明显优于传统三维模型手，虚拟手外形特征（柔体变形和肤色纹理）与实际手完全一致，用户视觉真实感更强。客观实验测试发现本文方案完成交互动作时间比其他几种方案明显减少，人-座舱交互性能得到提升。
Compared with traditional flight simulators, VR based flight simulator has great potentialities inthe applications for its compact structure and relatively low price. As the level of technology andhardware restrictions, there were also low performances of human-computer interaction in this type ofsimulator. It is difficult or unable to complete the some complex interaction in cockpit. In order tosolve this problem, we developed an augmented semi virtual reality cockpit technology to achieve anatural human-cockpit interaction. The main contents of this article can be summarized as follows:
1.Augmented semi-virtual reality cockpit. There are several shortcomings in VR based flightsimulator: no real visual effect of3D model hand, electromagnetic tracking device is susceptible tothe interference of the environment, no real haptic and etc. An augmented semi-virtual reality cockpitsystem is proposed, using image based rending hand to replace the geometric model, using opticaltracking system to detect head pose, design of semi-physical cockpit to ensure user's haptic feedback,to build a an augmented semi-virtual reality cockpit environment with real visual feedback, tactilefeedback, haptic feedback. The experiments showed that our method can decrease by50%cost timethan the traditional method without data gloves and electromagnetic tracker. It can significantlyreduce hardware and software development costs and enhance system availability.
2.Adaptive hand segmentation and visualization of virtual hand. In order to solve the susceptibleto interference problems of skin color detection for hand segmentation, the continuous pixels changesbetween the video frames is used to updated parameters of the elliptical color model in real time, toachieve optimal parameter estimation. The experiments show that this adaptive hand segmentationalgorithm was more robustness than the traditional algorithm. In order to make more accurate andsmoothing hand contour, the bilateral filtering algorithm is taken to smooth2D curve, which cansmooth the contour and also maintain the sharp features. Because the poor visualization of3D handmodel, hand image was fusion to realize real visualization of virtual hand. Experiments showed thatvirtual hand's movement and texture were same as the user's real hand. The user would completeinteractive task more quickly in the immersion environment.
3.Head tracking and registration based the orthogonal camera video positioning system. To solvethe problem that electromagnetic tracking device is susceptible to the interference of the environmentand with high cost, an orthogonal camera video positioning system that the optical axes of camerasare set along axes of an orthogonal coordinate is proposed, which all cameras are pointed to the originof coordinate. Then we realize a quick and accurate iterative localization algorithm to compute theobject’s position. Though the theoretical derivation and analysis of conversion relationship betweenthe multi-coordinate system in the registration process, we can select optimum measurement data. As the error is reduced as much as possible, accurate registration is achieved in the augmented virtualsystem, to meet the requirement of interaction.
4.Effective VR modeling based CAD data. The geometry modeling is a foundation work invirtual reality system. In traditional manual modeling way, large amount of modeling work and themodel dimensional accuracy is difficult to guarantee. The CAD model was exported to the media fileand then the mesh data was simplified through the sorting algorithm. Base on quadric error metrics(QEM) algorithm, introducing quadric compactness as new vertex's generation to simplify complexgrid. Experiments showed that triangular mesh shape by our algorithm is more reasonable than QEMalgorithm in the same simplified conditions, with higher quality of rendering. The mesh data could begenerated with a level of detail VR model by setting different simplified threshold. When the meshwas simplified90%, model shape had no change, and the rendering frame rate could be raise onetimes above.
Finally, an augmented virtual reality flight simulator prototype system is built to test theperformance of human-computer interaction in our system. The subjective experiment showed that thevisualization of virtual hand is obviously superior to the traditional3D model hand, its appearancefeatures (flexible deformation and skin texture) is actual same as real hand. The objective experimentshowed that users can complete interaction task more quickly than other interactive method.
1.增强半虚拟现实飞机座舱技术方案。针对现有虚拟现实飞行模拟器中存在三维模型手视觉效果不理想，电磁跟踪器设备定位信号易受干扰，触觉反馈不真实等问题，以基于图像建模和渲染的图像手取代几何模型手，通过视觉定位进行头部位置跟踪，设计半实物座舱保证用户触觉和力觉反馈，构建出一个具有真实视觉、触觉、力觉等的增强半虚拟现实飞机座舱环境。实验表明，本文交互方案比传统数据手套交互技术方案时间效率提高50%，而且也无需数据手套和电磁跟踪器等硬件设备，可明显降低软硬件开发成本并增强系统实用性。
2.手势自适应分割与虚拟手可视化。针对手势分割过程中肤色检测易受干扰问题，利用视频相邻帧之间肤色像素的连续变化特性对椭圆肤色模型参数进行实时更新，实现最优参数估计以增强检测鲁棒性。为使手势轮廓更加精确平滑，将双边滤波算法引入到平面曲线平滑中，使手轮廓平滑同时能保持指尖等尖锐特征。为解决三维模型手视觉效果不佳问题，将手图像融合到虚拟环境中实现虚拟手可视化。融合过程中同时对手图像进行视点校正，实现虚实视点一致，为用户提供更加合理的视点图像。实验表明融合到虚拟环境中的虚拟手运动特性和视觉特性与真实手完全一致，用户沉浸感更强，更有利于交互动作的完成。
3.基于正交摄像机的头部位置跟踪和虚实注册。为解决现有电磁跟踪器定位过程中易受外界环境干扰，成本高等问题，提出一种基于正交摄像机的定位方法，依据小孔成像原理进行坐标循环迭代，直至收敛到目标真实位置。对比实验表明正交定位系统收敛速度快，定位精度高，可满足虚拟现实系统中高精度头部位置跟踪要求。虚实注册过程中对多坐标系之间转换关系进行了理论推导和分析，择优选取测试数据，减小误差以满足交互需求。
4.基于CAD数据的快速VR建模。三维几何建模是虚拟现实系统中的基础性工作，传统手工方式建模工作量大，并且模型尺寸精度难以保证。本文对从CAD数据中提取出的网格进行分类，并根据网格特点进行针对性简化，在二次误差量度(QEM)简化算法基础上，引入三角形紧致性代价作为新顶点生成准则对复杂网格进行简化。测试表明在相同简化率条件下，经本文算法简化后的三角形网格形状比QEM算法更合理，模型渲染质量更高，并且通过设定不同简化阈值就可生成具有多细节层次的VR模型。经本文方法生成的VR模型在面片数量简化90%情况下，几何外形和视觉基本无变化。
本文最后通过构建实际的增强半虚拟现实飞机座舱系统，对该技术方案的可行性和人机交互性能进行了主客观测试。主观实验表明本文虚拟手视觉效果明显优于传统三维模型手，虚拟手外形特征（柔体变形和肤色纹理）与实际手完全一致，用户视觉真实感更强。客观实验测试发现本文方案完成交互动作时间比其他几种方案明显减少，人-座舱交互性能得到提升。
Compared with traditional flight simulators, VR based flight simulator has great potentialities inthe applications for its compact structure and relatively low price. As the level of technology andhardware restrictions, there were also low performances of human-computer interaction in this type ofsimulator. It is difficult or unable to complete the some complex interaction in cockpit. In order tosolve this problem, we developed an augmented semi virtual reality cockpit technology to achieve anatural human-cockpit interaction. The main contents of this article can be summarized as follows:
1.Augmented semi-virtual reality cockpit. There are several shortcomings in VR based flightsimulator: no real visual effect of3D model hand, electromagnetic tracking device is susceptible tothe interference of the environment, no real haptic and etc. An augmented semi-virtual reality cockpitsystem is proposed, using image based rending hand to replace the geometric model, using opticaltracking system to detect head pose, design of semi-physical cockpit to ensure user's haptic feedback,to build a an augmented semi-virtual reality cockpit environment with real visual feedback, tactilefeedback, haptic feedback. The experiments showed that our method can decrease by50%cost timethan the traditional method without data gloves and electromagnetic tracker. It can significantlyreduce hardware and software development costs and enhance system availability.
2.Adaptive hand segmentation and visualization of virtual hand. In order to solve the susceptibleto interference problems of skin color detection for hand segmentation, the continuous pixels changesbetween the video frames is used to updated parameters of the elliptical color model in real time, toachieve optimal parameter estimation. The experiments show that this adaptive hand segmentationalgorithm was more robustness than the traditional algorithm. In order to make more accurate andsmoothing hand contour, the bilateral filtering algorithm is taken to smooth2D curve, which cansmooth the contour and also maintain the sharp features. Because the poor visualization of3D handmodel, hand image was fusion to realize real visualization of virtual hand. Experiments showed thatvirtual hand's movement and texture were same as the user's real hand. The user would completeinteractive task more quickly in the immersion environment.
3.Head tracking and registration based the orthogonal camera video positioning system. To solvethe problem that electromagnetic tracking device is susceptible to the interference of the environmentand with high cost, an orthogonal camera video positioning system that the optical axes of camerasare set along axes of an orthogonal coordinate is proposed, which all cameras are pointed to the originof coordinate. Then we realize a quick and accurate iterative localization algorithm to compute theobject’s position. Though the theoretical derivation and analysis of conversion relationship betweenthe multi-coordinate system in the registration process, we can select optimum measurement data. As the error is reduced as much as possible, accurate registration is achieved in the augmented virtualsystem, to meet the requirement of interaction.
4.Effective VR modeling based CAD data. The geometry modeling is a foundation work invirtual reality system. In traditional manual modeling way, large amount of modeling work and themodel dimensional accuracy is difficult to guarantee. The CAD model was exported to the media fileand then the mesh data was simplified through the sorting algorithm. Base on quadric error metrics(QEM) algorithm, introducing quadric compactness as new vertex's generation to simplify complexgrid. Experiments showed that triangular mesh shape by our algorithm is more reasonable than QEMalgorithm in the same simplified conditions, with higher quality of rendering. The mesh data could begenerated with a level of detail VR model by setting different simplified threshold. When the meshwas simplified90%, model shape had no change, and the rendering frame rate could be raise onetimes above.
Finally, an augmented virtual reality flight simulator prototype system is built to test theperformance of human-computer interaction in our system. The subjective experiment showed that thevisualization of virtual hand is obviously superior to the traditional3D model hand, its appearancefeatures (flexible deformation and skin texture) is actual same as real hand. The objective experimentshowed that users can complete interaction task more quickly than other interactive method.
引文
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