为了提高增强现实系统三维注册的精度和效率，提出了一种基于计算机视觉的增强现实三维注射算法，并已将其用于采用透射式头盔显示器的增强现实系统中，该算法有如下特点：（1）构架简单，实用性强，一般情况下只需4个平面标志物就可实现三维注册；（2）工作范围大，甚至可以应用到室外的增强现实系统中；（30数值求解过程最线性过程，误差小，可以满足增强现实系统高精度三维注册的要求，另外，应用这种算法所需要作的图象处理计算量很小，其典型系统包括一个彩色CCD和几个不同颜色的标志点，由于很容易获得标志点的对应像面位置，而且不需要计算图象对，因此实时性好，是一般图形工作站和PC机上的增强现实系统进行实时注册的算法基础。

Instead of computely redacting the real world as a Virtual Reality(VR) system does, the user can see computer-generated 3D model superimposed on the real world with an Augmented Reality(AR) system. One of the key technologies of AR is the real-time 3D registration of objects in the real world. This paper describes a vision-based method for AR registration and its application in an AR system with See-Through Head Mounted Display(STHMD). The scheme has a simple structure, which employs one color CCD camera and several mark points with different colors. The real world coordinates of the markers are known, and their screen coordinates are obtained through color filtering of the input video stream. If all the markers are successfully tracked, a translation matrix and an orientation matrix can be uniquely determined using projective transform relations. The algorithm requires only linear equation solving with small calculation errors and little computation time consumption. Therefore it has good real-time performance characteristics and can be employed with either graphic workstations or ordinary PCs. The method can work at long ranges and is applicable to outdoor augmented reality systems.