Patent ID: 6765569
Filing Date: 2004-07-20
Classification: G06T

Abstract:
A method for producing an augmented image by combining a computer-generated virtual-image with a real-world view of a real scene captured by an imaging device, comprising the steps of:capturing a view of the real scene with the imaging device; detecting features in the view corresponding to calibration features in a calibration database containing 3-dimensional coordinates of the calibration features relative to a calibration coordinate frame; corresponding the detected features to the calibration features to provide the 3-dimensional coordinates of the detected features; determining a pose of the imaging means from the corresponded features; changing the pose of the imaging device to a different pose and capturing a different view of the real scene wherein the different view contains at least some of the corresponded features; detecting additional features in the different view of the real scene; calibrating the additional features using the positions of at least some of the corresponded features within the different view to produce a set of autocalibrated features; determining correspondences between at least some of the set of autocalibrated features and features in a model database containing 3-dimensional coordinates of the computer-generated virtual-image relative to a model coordinate frame different from the calibration coordinate frame; determining a transformation between the calibration coordinate frame and the model coordinate frame based on the correspondences between the autocalibrated features and the model database features; and combining the computer-generated virtual-image with the different view of the real scene in an output device by using the transformation between the calibration coordinate frame and the model coordinate frame and the determined different pose.