Implementation And Application Of Augmented Reality Interactive System Based On SLAM And IMU

In recent years,with the introduction of metaverse,SLAM(Simultaneous Localization and Mapping)and augmented reality have become popular research aspects as they are the underlying technologies in this field.In-depth research in these two aspects are crucial to the future development and practice of artificial intelligence and the metaverse.Since visual SLAM is limited by many aspects such as illumination changes and weak textures,it cannot obtain stable performance in commercial applications.However,the combination of visual SLAM and the inertial measurement unit(IMU)can provide a more robust performance due to the acceleration and angular velocity information provided by the IMU,which is a relatively hot research direction.After doing in-depth research on the existing papers,this thesis designs and implements an augmented reality interactive system based on the visual inertial system,which has great development potentials and application value in the future.The main contribution of this thesis is as follows:First,this thesis designs and implements a visual inertial system using tightly-coupled IMU and SLAM system,and makes improvements in feature extraction,pose estimation and joint optimization part.In order to meet the real-time requirements when combined with augmented reality section,this thesis optimizes the system by using parallel threads.On the basis of ensuring the accuracy of the result,the efficiency of the system is improved.Secondly,for the augmented reality system,this thesis proposes an optimized plane detection algorithm.Through a large number tests of point cloud data in various forms,it can efficiently identify the largest plane in the point cloud,provide a good foundation for the demonstration of augmented reality.Finally,this thesis designs and realizes the interactive module which supports both hand recognition and face recognition,and designs the information transmission between the SLAM system and the augmented reality module.In addition,a large number of tests are carried out to adjust the parameters to ensure a promising effect.