ARCore使用什么传感器? [英] What sensors does ARCore use?
问题描述
兼容手机中ARCore使用哪些传感器:单摄像头，双摄像头，IMU等?
What sensors does ARCore use: single camera, dual-camera, IMU, etc. in a compatible phone?
此外，如果通过切换到其自身的较低精度版本而无法使用传感器，ARCore是否具有足够的动态性以继续工作?
Also, is ARCore dynamic enough to still work if a sensor is not available by switching to a less accurate version of itself?
推荐答案
更新时间:2020年6月30日.
Google的ARCore和Apple的ARKit使用相同类型的传感器来跟踪真实场景. ARCore与IMU设备一起使用单个RGB相机，它是加速度计，磁力计和陀螺仪的组合.您的手机可以以60 fps或30 fps的速度使用ARCore的世界跟踪.惯性测量单元的最高工作频率为1000 Hz.另外，在ARCore 1.18 – ToF相机中可以使用另外一个传感器进行摄影测量. ARCore 1.18现在支持深度API.
Google's ARCore, as well as Apple's ARKit, use the same types of sensors to track a real-world scene. ARCore uses a single RGB camera along with IMU device, what is a combination of an accelerometer, magnetometer and a gyroscope. Your phone can use ARCore's world tracking at 60fps or at 30fps. And Inertial Measurement Unit can operate at up to 1000Hz. Also, there is one more sensor can be used in ARCore 1.18 – ToF camera for photogrammetry. ARCore 1.18 now supports Depth API.
阅读Google对基于Camera + IMU构建的COM方法的评价:
Read what Google says about it about COM method, built on Camera + IMU:
Concurrent Odometry and Mapping–电子设备在环境中跟踪其运动，同时构建环境的三维视觉表示，以用于correct drift跟踪的运动.
Concurrent Odometry and Mapping– An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used tocorrect driftin the tracked motion.
尽管前几年Google倾向于Multicam + Depth-cam设置(在Tango系统中)，但现在它倾向于Single-cam + IMU系统.
Although in previous years Google tended towards Multicam + Depth-cam setup (in Tango system), now it tends to Single-cam + IMU system.
以下是Google的 US15595617 专利:并发里程计的系统和方法以及映射.
Here's Google US15595617 Patent: System and method for concurrent odometry and mapping.
我们都知道，Android设备的最大问题是校准. iOS设备没有此问题(因为Apple控制着自己的硬件和软件).较低的校准质量会导致3D跟踪出现错误，因此您所有的虚拟3D对象可能会漂浮"在3D物体上.在一个跟踪不良的场景中. 因此，没有针对不良跟踪(and you can't switch to a less accurate version of tracking)的奇迹般的按钮.在这种情况下，唯一的解决方案是从头开始重新跟踪场景..
We all know that the biggest problem for Android devices is a calibration. iOS devices don't have this issue ('cause Apple controls its own hardware and software). A low quality of calibration leads to errors in 3D tracking, hence all your virtual 3D objects might "float" in a poorly-tracked scene. So there's no miraculous button against bad tracking (and you can't switch to a less accurate version of tracking). The only solution in such a situation is to re-track your scene from scratch.
以下是获得良好跟踪效果的四个主要规则(如果没有ToF摄像头):
Here are four main rules for good tracking results (if you have no ToF camera):
-
跟踪场景的速度不要太快
Track your scene not too fast, not too slow
跟踪合适的表面和对象
跟踪时使用光线充足的环境
Use well lit environment when tracking
不跟踪折射对象的反射
ARCore最大的问题之一(也是ARKit问题)是Energy Impact.我们知道，帧速率越高，跟踪结果越好.但是30 fps时的能量影响为HIGH，而60 fps时的能量影响为VERY HIGH.这样的能量影响将迅速耗尽您的智能手机的电池(由于CPU/GPU的巨大负担).因此，假设您为ARCore使用2个摄像头–您的手机必须并行处理60 fps的2个图像序列，并处理和存储特征点和AR锚点，同时，手机必须同时渲染动画3D图形具有60 fps的高分辨率纹理.这对于您的CPU/GPU来说太多了.在这种情况下，电池将在15至20分钟内耗尽，并且会像太阳一样热)).在我看来，用户不喜欢它，因为这是糟糕的AR体验.因此，这使得Google工程师仅需将一个后置摄像头用于ARCore应用.
The one of the biggest problems of ARCore (that's ARKit problem too) is an Energy Impact. We understand that the higher frame rate is – the better tracking's results are. But the Energy Impact at 30 fps is HIGH and at 60 fps it's VERY HIGH. Such an energy impact will quickly drain your smartphone's battery (due to an enormous burden on CPU/GPU). So, just imagine that you use 2 cameras for ARCore – your phone must process 2 image sequences at 60 fps in parallel as well as process and store feature points and AR anchors, and at the same time, a phone must simultaneously render animated 3D graphics with Hi-Res textures at 60 fps. That's too much for your CPU/GPU. In such a case, a battery will be dead in 15-20 minutes and will be as hot as a Sun)). It seems to me that users don't like it because this is a bad AR experience. So it makes Google engineers to use only one rear camera for ARCore app.
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