A Tracking Registration Method for Augmented Reality Based on Multi-modal Template Matching and Point Clouds

In order to overcome the defects where the surface of the object lacks sufficient texture features and the algorithm cannot meet the real-time requirements of augmented reality, a markerless augmented reality tracking registration method based on multi-modal template matching and point clouds is proposed. The method first adapts the linear parallel multi-modal LineMod template matching method with scale invariance to identify the texture-less target and obtain the reference image as the key frame that is most similar to the current perspective. Then, we can obtain the initial pose of the camera and solve the problem of re-initialization because of tracking registration interruption. A point cloud-based method is used to calculate the precise pose of the camera in real time. In order to solve the problem that the traditional iterative closest point (ICP) algorithm cannot meet the real-time requirements of the system, Kd-tree (k-dimensional tree) is used under the graphics processing unit (GPU) to replace the part of finding the nearest points in the original ICP algorithm to improve the speed of tracking registration. At the same time, the random sample consensus (RANSAC) algorithm is used to remove the error point pairs to improve the accuracy of the algorithm. The results show that the proposed tracking registration method has good real-time performance and robustness.