Dynamic robust head-mounted augmented reality equipment registration method

The invention discloses a dynamic robust head-mounted augmented reality device registration method. The method comprises the following steps: step 1, tracking data of a camera and an inertial sensor on a head-mounted augmented reality device in real time; and step 2, masking the video stream obtained by the camera, and removing possible dynamic objects in the video stream. And step 3, extracting feature points from the masked image to enable the feature points to be uniformly distributed. And 4, carrying out simultaneous positioning and mapping by using the data obtained in the previous step to obtain the pose of the equipment in the environment. And 5, performing three-dimensional registration and display according to the pose of the equipment and coordinate transformation from the camera to the display space. According to the method, the image mask and the corresponding feature point extraction method are utilized, the dynamic interference of a positioning and registration algorithm under the use situation