Abstract: The mixing of virtual and actual reality's effects will directly affect the realism and immersion of the augmented assembly system.The correct occlusion relationship and collision interaction between virtual and real objects are essential to the fusion's effect.An occlusion handling method based on “virtual avatar” of transformer equipment is proposed,which has strong robustness and real-time performance.Aiming at the problem that there are too many wrong matching pairs of feature points in the process of 3D registration,the 3D registration method for ORB-Cosine similarity measurement is proposed to improve the accuracy of feature point matching.The current collision detection methods for virtual and real objects have a large amount of calculation and low detection accuracy.It proposes an octree layered collision detection optimization algorithm based on voxel representation of model surface and volume difference,which improves the detection accuracy on the basis of ensuring calculation efficiency.Experimental results show that the proposed methods have high real-time and accuracy,which greatly enhance the realism and immersion of the assembly system.

Key words: Augmented reality, Mixing of virtual and actual reality, Occlusion handling, Collision detection, Virtual avatar