用标记点实现物理物体在虚拟环境中的实时追踪，无需复杂设备。
Towards an End-to-End System for 3D Tracking of Physical Objects in Virtual Immersive Environments
- 通过AruCo、AprilTag和自研彩色控制点标记系统实现快速识别
- 支持不同尺寸标记在多种相机下的稳定检测，满足实时追踪需求
- 适合需要快速部署的虚拟训练场景，如工业仿真与XR教育
本研究旨在构建一个面向虚拟现实（VR）应用的物理3D物体端到端追踪系统。重点解决小型物理物体在实时环境中位置追踪及其在虚拟空间中映射的需求。目标是实现即插即用的追踪方式，无需复杂大型追踪设备或手动编码追踪逻辑。为此，提出基于固定标记点的追踪系统及配套软件框架，支持快速配置待追踪对象，并提供面向终端应用的数据流解决方案。系统采用AruCo、AprilTag以及自研的彩色控制点标记体系，确保标记易于检测并可高效获取物体位置信息，对基于VR与扩展现实（XR）的沉浸式训练环境至关重要。我们评估了不同标记尺寸、检测距离及多种摄像头设备的表现，对比理论极限。最终构建出一套完整的基于标记的实时物理-虚拟位置映射方案，适用于多样化应用场景。
原文摘要 · Abstract (English)
This work aims to establish an end-to-end system for tracking of physical 3D objects for virtual reality (VR) applications. We focus on training applications requiring real-time tracking of the position of small physical objects and their reflection in VR space. Out goal is to perform object tracking in a "plug and play" manner, without using complex systems with quite large tracking devices or manually implementing object tracking. We therefore propose a system for object tracking via fiducial markers alongside a software harness, to enable fast and efficient designation of objects to be tracked and data streaming solution for end-use applications. The system utilizes AruCo, AprilTag and an original Colored Control Points based fiducial system. It allows for easy tag detection and use of object position data, which are crucial for immersive training environments based on VR and eXtended Reality (XR). We evaluate various tag sizes, detection distances, and different camera devices against the theoretical limits. In effect, we create a complete solution for implementing marker-based, real-to-virtual object position mapping for various applications.
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