CN109358745B - Position filtering method and device of interactive handle and computer storage medium - Google Patents
Position filtering method and device of interactive handle and computer storage medium Download PDFInfo
- Publication number
- CN109358745B CN109358745B CN201811011560.1A CN201811011560A CN109358745B CN 109358745 B CN109358745 B CN 109358745B CN 201811011560 A CN201811011560 A CN 201811011560A CN 109358745 B CN109358745 B CN 109358745B
- Authority
- CN
- China
- Prior art keywords
- interactive handle
- position information
- motion state
- handle
- interactive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0248—Filters characterised by a particular frequency response or filtering method
- H03H17/0255—Filters based on statistics
- H03H17/0257—KALMAN filters
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Probability & Statistics with Applications (AREA)
- Computer Hardware Design (AREA)
- Mathematical Physics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a position filtering method and a position filtering device for an interactive handle and a computer storage medium, wherein the method comprises the following steps: transmitting an ultrasonic signal to the interactive handle, and determining first position information of the interactive handle relative to the virtual reality equipment helmet according to the reflected ultrasonic signal; acquiring acceleration data acquired by an inertia measurement unit on the interactive handle, and calculating second position information of the interactive handle according to the acceleration data; and performing data fusion on the first position information and the second position information, and performing filtering processing on the position information after the data fusion according to the current motion state of the interactive handle. The position calculated by ultrasonic waves and the position calculated by the acceleration sensor are fused, so that the defect of independently using a position calculation mode is overcome, and the position precision is improved. And corresponding filtering is carried out according to the motion state of the handle, so that different requirements on position jitter and response time under different motion states are met.
Description
Technical Field
The invention relates to the technical field of virtual reality equipment, in particular to a position filtering method and device of an interactive handle and a computer storage medium.
Background
Currently, a head-mounted Virtual Reality (Virtual Reality) device generally includes two parts, a head-mounted part and a handle, wherein the handle is an interactive handle to complete interaction with the head-mounted part. With the development of virtual reality technology and the upgrading progress of supporting industries, virtual reality equipment is widely applied in various industries, interaction is used as the key technology of the virtual reality equipment, and the key technology is very important for the experience feeling of users, so that various interaction technologies surrounding the virtual reality equipment are deeply researched by developers. In these researches, it is an urgent need to solve the technical problems of eliminating and reducing the jitter of the head-mounted display image and reducing the response delay caused by the movement of the handle.
Disclosure of Invention
The invention provides a position filtering method and device of an interactive handle and a computer storage medium, which are used for eliminating and reducing the jitter of a head-mounted display image caused in the moving process of the handle and reducing the response delay.
According to an aspect of the present application, there is provided a method of filtering a position of an interactive handle, comprising:
transmitting an ultrasonic signal to the interactive handle, and determining first position information of the interactive handle relative to the virtual reality equipment helmet according to the reflected ultrasonic signal;
acquiring acceleration data acquired by an inertia measurement unit on the interactive handle, and calculating second position information of the interactive handle according to the acceleration data;
and performing data fusion on the first position information and the second position information, and performing filtering processing on the position information after the data fusion according to the current motion state of the interactive handle.
According to another aspect of the present application, there is provided a position filtering apparatus of an interactive handle, including:
the ultrasonic position determining unit is used for transmitting an ultrasonic signal to the interactive handle and determining first position information of the interactive handle relative to the virtual reality equipment helmet according to the reflected ultrasonic signal;
the IMU position determining unit is used for acquiring acceleration data acquired by an inertia measuring unit on the interactive handle and calculating second position information of the interactive handle according to the acceleration data;
and the filtering unit is used for carrying out data fusion on the first position information and the second position information and carrying out filtering processing on the position information after the data fusion according to the current motion state of the interactive handle.
According to yet another aspect of the present application, a computer storage medium is provided, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method according to one aspect of the present application.
Has the beneficial effects that: the position filtering method and device for the interactive handle, provided by the embodiment of the invention, are used for transmitting an ultrasonic signal to the interactive handle, determining first position information of the interactive handle relative to a virtual reality equipment helmet according to the reflected ultrasonic signal, acquiring acceleration data acquired by an inertia measurement unit on the interactive handle, calculating second position information of the interactive handle according to the acceleration data, performing data fusion on the first position information and the second position information, and performing filtering processing on the position information after the data fusion according to the current motion state of the interactive handle. Therefore, the position calculated by the ultrasonic wave and the position calculated by the acceleration sensor are fused, the defects of high noise and low relative frequency caused by independently using the ultrasonic wave to calculate the position are avoided, the defects of attitude drift and insufficient accumulated error existing in the position determination by the accelerometer are also avoided, and the position determination precision is improved. After the position fusion is carried out, corresponding filtering is carried out according to the motion state of the handle in the embodiment, different requirements for position jitter and response time under different motion states are met, the two requirements for the position jitter and the response time are balanced, and the user experience and the market competitiveness of the virtual reality device are improved.
Drawings
FIG. 1 is a flow chart of a method of filtering the position of an interactive handle according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a method of filtering the position of an interactive handle according to one embodiment of the present invention;
fig. 3 is a block diagram of a position filtering apparatus of an interactive handle according to an embodiment of the present invention.
Detailed Description
The design concept of the invention is as follows: in different motion states (static, slow and fast) of an object, people have different experience requirements on position jitter and response speed. At rest and at slow speed, people can find the shaking of the position of the object more easily, and the shaking is more sensitive. When moving fast, people are not sensitive to position jitter, but have high requirements on response speed. Therefore, the requirements of people on position jitter and response speed are met according to different motion states.
Fig. 1 is a flowchart of a position filtering method of an interactive handle according to an embodiment of the present invention, and referring to fig. 1, the position filtering method of the interactive handle according to the embodiment includes the following steps:
step S101, transmitting an ultrasonic signal to an interactive handle, and determining first position information of the interactive handle relative to a virtual reality equipment helmet according to the reflected ultrasonic signal;
step S102, acquiring acceleration data acquired by an inertia measurement unit on the interactive handle, and calculating second position information of the interactive handle according to the acceleration data;
and S103, performing data fusion on the first position information and the second position information, and performing filtering processing on the position information after the data fusion according to the current motion state of the interactive handle.
As shown in fig. 1, the position filtering method for the interactive handle (the interactive handle interacts with the helmet of the virtual reality device) of the embodiment fuses ultrasonic waves and IMU data, thereby avoiding large noise and low relative frequency caused by separately using ultrasonic waves to calculate the position, avoiding attitude drift and accumulated errors existing in the position determination by using an accelerometer, and improving the accuracy of position determination. After the position fusion is carried out, corresponding filtering is carried out according to the motion state of the handle in the embodiment, different requirements for position jitter and response time under different motion states are met, two requirements for position jitter and response time are balanced, and user experience is improved.
It can be understood that the ultrasonic ranging scheme can achieve low power consumption and low price. But the ultrasonic noise is large and the relative frequency is low. The IMU (Inertial Measurement Unit) can calculate the attitude using accelerometer, gyroscope, and magnetometer data, and the frequency of the IMU is relatively high, but the IMU has a problem of attitude drift and attitude has accumulated errors. Relying solely on accelerometers to calculate displacement is inaccurate, and if only accelerometers are relied on to calculate position, then a few seconds later, the position error will be large.
In contrast, the position filtering method of the interactive handle in the embodiment of the invention integrates the position calculated by ultrasonic waves and the position calculated by the IMU, and avoids the problems of large noise and low precision when a single means is used for calculating the position. In addition, the attention points of the users are different in different motion states, so that the requirements for experience are different. That is to say, the method of the embodiment of the present invention obtains gyroscope data collected by an inertial measurement unit on an interactive handle, and determines the current motion state of the interactive handle according to the gyroscope data. Specifically, the current motion state of the handle is determined, for example, the mode length of the gyroscope data is calculated, the mode length of the gyroscope data is compared with a preset threshold, and when the mode length of the gyroscope data is smaller than or equal to a first threshold, the current motion state of the interactive handle is determined to be static; when the data modulus of the gyroscope is larger than or equal to a second threshold value, determining that the current motion state of the interactive handle is a rapid motion state; when the data modular length of the gyroscope is larger than a first threshold value and smaller than a second threshold value, determining that the current motion state of the interactive handle is a slow motion state; wherein the second threshold is greater than the first threshold.
In the embodiment of the invention, the position information after data fusion is filtered according to the current motion state of the interactive handle, so that the position jitter is small and the position jitter is more stable when the interactive handle is in static and slow motion. And when the motion is fast, the response is more timely. The requirements under different motion states are met. The specific steps of the position filtering method of the interactive handle according to the embodiment of the present invention will be described with reference to fig. 2, fig. 2 is a schematic diagram of the position filtering method of the interactive handle according to the embodiment of the present invention, referring to fig. 2,
(1) the ultrasound calculates the position. The interactive handle comprises an ultrasonic receiver, an ultrasonic transmitter is installed in a head wear matched with the ultrasonic receiver, a processor on the head wear controls the ultrasonic transmitter to transmit ultrasonic waves to the interactive handle and receive reflected ultrasonic signals, the distance between the handle and two points on the head wear can be determined according to the time used by the returned ultrasonic signals and the known transmission speed of the ultrasonic waves, and the position of the handle relative to the head wear is determined. It should be noted that the ultrasonic wave is a prior art, and therefore, more details about the calculation of the ultrasonic wave position can be found in the related description of the prior art, and will not be described here. Referring to fig. 2, the position information of the hand grip calculated by the ultrasonic wave is inputted to the kalman filter.
(2) The IMU data. The interactive handle of this embodiment has a built-in nine-axis IMU including a gyroscope (three axes), an accelerometer (three axes), and a magnetometer (three axes). The posture of the handle can be accurately measured through the gyroscope. The displacement of the handle can be obtained through twice integration of the accelerometer, and therefore the current posture and the relative displacement of the handle can be obtained. The position calculated from the acceleration data is input to the kalman filter, see fig. 2.
(3) And judging the motion state. And judging the motion state of the handle according to the size of the mode of the gyroscope data, wherein the motion state comprises three states of static state, slow speed and fast speed.
When the mode length is smaller than or equal to a first threshold value, determining that the current motion state of the interactive handle is static; when the mode size is larger than or equal to a second threshold value, determining that the current motion state of the interactive handle is a rapid motion state; and when the mode length is larger than the first threshold and smaller than the second threshold, determining that the current motion state of the interactive handle is a slow motion state.
That is, the modulo length Gyrolength (gyrox) of the three-axis gyroscope data Gyrodata (gyrox, gyroy, gyroz) is calculated as sqrt (gyrox)2+gyroy2+gyroz2)；
If Gyrolength is less than or equal to the first Threshold Threshold1, the motion state is determined to be stationary. If the mode length Gyrolength is greater than or equal to the second Threshold2, the motion state is determined to be fast. If the mode length is greater than the first Threshold value Threshold1 and less than the second Threshold value Threshold2, the motion state is determined to be slow. It should be noted that the fast speed and the slow speed of the present embodiment are divided by a certain motion speed value. Similar to running and walking, running pertains to fast movements, while walking pertains to slow movements.
(4) And (5) Kalman filtering. The ultrasonic position and the position calculated by the accelerometer are fused, and data fusion is the prior art and is not described in detail here. Referring to fig. 2, for the position information after data fusion, a motion state determined by the motion state determination is determined, and a set of corresponding filtering parameters is selected to meet different requirements for jitter and response time in different motion states. That is to say, according to the determined current static, fast or slow motion state of the interactive handle, a corresponding set of filtering parameters is selected from three sets of filtering parameters preset in a Kalman filter to perform first-stage filtering processing on the position information after data fusion, wherein under different filtering parameters, system noise and observation noise are different.
It should be noted that, in the embodiment of the present invention, three sets of filtering parameters, which are denoted as a1, a2, and A3, are set in advance in the kalman filter, and a corresponding relationship between the filtering parameters and the motion state is set, for example, the set of parameters of a1 corresponds to a stationary motion state, and the set of parameters of a2 corresponds to a fast motion state. When the result of the motion state judgment is the static state, the set of parameters a1 of the kalman filter is selected in the present embodiment, and the set of parameters a1 is used to perform the filtering process on the position data. In this embodiment, the system noise and the observation noise are different under different filtering parameters. That is, the system noise and the observation noise vary according to the different motion states, so that the user can be satisfied with the position jitter and the response speed when the different motion states are ensured.
(5) And (4) first-order exponential filtering. Referring to fig. 2, after the first-stage filtering process is performed, the embodiment of the present invention selects a corresponding adjusting parameter from three adjusting parameters preset in a first-order exponential filter to perform a second-stage filtering process on the position information after data fusion, so as to obtain a filtering result.
Specifically, the first-order exponential filtering process is to perform Loc _ out ═ Loc _ new on the first frame
Loc_Last＝Loc_new；
For the second frame and frames thereafter,
Loc_out＝(1-α)*Loc_Last+α*Loc_new；
Loc_Last＝Loc_out；
the values of the adjusting parameters alpha corresponding to different motion states are different, so that the user can be satisfied with the position jitter and the response speed in different motion states.
Therefore, in the embodiment of the invention, the user can not perceive the current motion state of the handle and the static motion state of the handle under the condition of position jitter by judging the current motion state of the handle and selecting different parameters during filtering according to the difference of the current motion state. And when the handle moves rapidly, the user can respond in time, and the requirement of the user on response time is met. The competitiveness of user experience and virtual reality equipment is improved.
Fig. 3 is a block diagram of a position filter apparatus of an interactive handle according to an embodiment of the present invention, and referring to fig. 3, a position filter apparatus 300 of an interactive handle according to an embodiment of the present invention includes:
the ultrasonic position determining unit 301 is configured to transmit an ultrasonic signal to the interactive handle, and determine first position information of the interactive handle relative to the virtual reality device helmet according to the reflected ultrasonic signal;
the IMU position determining unit 302 is used for acquiring acceleration data acquired by an inertia measuring unit on the interactive handle and calculating second position information of the interactive handle according to the acceleration data;
and the filtering unit 303 is configured to perform data fusion on the first position information and the second position information, and perform filtering processing on the position information after the data fusion according to the current motion state of the interactive handle. The position filtering device of the interactive handle of the embodiment can be applied to a virtual reality helmet.
In one embodiment of the present invention, the apparatus shown in fig. 3 further comprises: and the motion state determining unit is used for acquiring gyroscope data acquired by the inertial measuring unit on the interactive handle and determining the current motion state of the interactive handle according to the gyroscope data.
In an embodiment of the present invention, the motion state determining unit is specifically configured to calculate a mode length of the gyroscope data, compare the mode length of the gyroscope data with a preset threshold, and determine that the current motion state of the interactive handle is static when the mode length is less than or equal to a first threshold; when the mode size is larger than or equal to a second threshold value, determining that the current motion state of the interactive handle is a rapid motion state; when the mode length is larger than a first threshold value and smaller than a second threshold value, determining that the current motion state of the interactive handle is a slow motion state; wherein the second threshold is greater than the first threshold.
In an embodiment of the present invention, the filtering unit 303 is specifically configured to select a corresponding set of filtering parameters from three sets of filtering parameters preset in a kalman filter according to the determined current static, fast or slow motion state of the interactive handle to perform a first-stage filtering process on the position information after data fusion, where system noise and observation noise are different under different filtering parameters; and after the first-stage filtering processing is carried out, selecting corresponding adjusting parameters from three adjusting parameters preset in the first-order exponential filter to carry out second-stage filtering processing on the position information after data fusion to obtain a filtering result.
In an embodiment of the present invention, the filtering unit 303 is specifically configured to, for the first frame, output the position information Loc _ out equal to the new position information Loc _ new by the first-order exponential filter, and output the last position information Loc _ out equal to the new position information Loc _ new by the first-order exponential filter;
for the second and subsequent frames,
wherein the value of the adjustment parameter α is different for different states of motion.
It should be noted that, for the illustration of the functions performed by each unit in the position filter apparatus of the interactive handle shown in fig. 3, the description is the same as the illustration in the foregoing method embodiment, and the description is omitted here.
In summary, according to the position filtering method and device for the interactive handle in the embodiments of the present invention, the position calculated by the ultrasonic wave and the position calculated by the acceleration sensor are fused, so that the defects of large noise and low relative frequency caused by separately using the ultrasonic wave to calculate the position are avoided, the defects of attitude drift and accumulated error existing in the position determination by using the accelerometer are also avoided, and the accuracy of position determination is improved. After the position fusion is carried out, corresponding filtering is carried out according to the motion state of the handle in the embodiment, different requirements for position jitter and response time under different motion states are met, the two requirements for the position jitter and the response time are balanced, and the user experience and the market competitiveness of the virtual reality device are improved.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a page performance testing apparatus according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program for executing the steps of the method according to the present invention, and which can be read by a processor of an electronic device, and when the computer program is executed by the electronic device, causes the electronic device to execute the steps of the method described above, and in particular, the computer-readable storage medium stores a computer program that can execute the method shown in any of the embodiments described above. The computer program may be compressed in a suitable form.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of illustrating the invention rather than the foregoing detailed description, and that the scope of the invention is defined by the claims.
Claims (6)
1. A position filtering method of an interactive handle, wherein the interactive handle interacts with a helmet of a virtual reality device, the interactive handle comprises an ultrasonic receiver, and a matched helmet of the virtual reality device is provided with an ultrasonic transmitter, comprising the following steps:
transmitting an ultrasonic signal to the interactive handle, and determining first position information of the interactive handle relative to the virtual reality equipment helmet according to the reflected ultrasonic signal;
acquiring acceleration data acquired by an inertia measurement unit on the interactive handle, and calculating second position information of the interactive handle according to the acceleration data;
acquiring gyroscope data acquired by an inertial measurement unit on the interactive handle, and determining the current motion state of the interactive handle according to the gyroscope data;
carrying out data fusion on the first position information and the second position information, and carrying out filtering processing on the position information after the data fusion according to the current motion state of the interactive handle, wherein the filtering processing comprises the following steps:
selecting a corresponding set of filtering parameters from three sets of filtering parameters preset in a Kalman filter to carry out first-stage filtering processing on the position information after data fusion according to the determined current static, quick or slow motion state of the interactive handle, wherein the system noise and the observation noise are different under different filtering parameters;
after the first-stage filtering processing is carried out, adjusting parameters corresponding to the current motion state are selected from three adjusting parameters preset in a first-order exponential filter to carry out second-stage filtering processing on the position information after data fusion, and a filtering result is obtained.
2. The method of claim 1, wherein determining the current motion state of the interactive handle from the gyroscope data comprises:
calculating the modulus length of the gyroscope data, comparing the modulus length of the gyroscope data with a preset threshold value,
when the mode length is smaller than or equal to a first threshold value, determining that the current motion state of the interactive handle is static;
when the mode size is larger than or equal to a second threshold value, determining that the current motion state of the interactive handle is a rapid motion state;
when the mode length is larger than a first threshold value and smaller than a second threshold value, determining that the current motion state of the interactive handle is a slow motion state;
wherein the second threshold is greater than the first threshold.
3. The method of claim 1, wherein selecting the corresponding adjustment parameter from three adjustment parameters preset in a first-order exponential filter to perform the second-stage filtering processing on the data-fused position information comprises:
for the first frame, the position information Loc _ out output by the first-order exponential filter is equal to the new position information Loc _ new, and the last position information Loc _ last output by the first-order exponential filter is equal to the new position information Loc _ new;
for the second and subsequent frames,
wherein the value of the adjustment parameter α is different for different states of motion.
4. The utility model provides a position filtering device of interactive handle, its characterized in that, interactive handle interacts with the helmet of virtual reality equipment, contain the ultrasonic receiver in the interactive handle, and installed ultrasonic transmitter in the virtual reality equipment helmet supporting with it, includes:
the ultrasonic position determining unit is used for transmitting an ultrasonic signal to the interactive handle and determining first position information of the interactive handle relative to the virtual reality equipment helmet according to the reflected ultrasonic signal;
the IMU position determining unit is used for acquiring acceleration data acquired by an inertia measuring unit on the interactive handle and calculating second position information of the interactive handle according to the acceleration data;
the motion state determining unit is used for acquiring gyroscope data acquired by an inertia measuring unit on the interactive handle and determining the current motion state of the interactive handle according to the gyroscope data;
the filtering unit is used for carrying out data fusion on the first position information and the second position information and carrying out filtering processing on the position information after the data fusion according to the current motion state of the interactive handle;
the filtering unit is specifically used for selecting a corresponding set of filtering parameters from three sets of filtering parameters preset in a Kalman filter to perform first-stage filtering processing on the position information after data fusion according to the determined current static, fast or slow motion state of the interactive handle, wherein system noise and observation noise are different under different filtering parameters; after the first-stage filtering processing is carried out, adjusting parameters corresponding to the current motion state are selected from three adjusting parameters preset in a first-order exponential filter to carry out second-stage filtering processing on the position information after data fusion, and a filtering result is obtained.
5. The device according to claim 4, wherein the motion state determination unit is specifically configured to calculate a mode length of the gyroscope data, compare the mode length of the gyroscope data with a preset threshold, and determine that the current motion state of the interactive handle is stationary when the mode length is smaller than or equal to a first threshold; when the mode size is larger than or equal to a second threshold value, determining that the current motion state of the interactive handle is a rapid motion state; when the mode length is larger than a first threshold value and smaller than a second threshold value, determining that the current motion state of the interactive handle is a slow motion state; wherein the second threshold is greater than the first threshold.
6. A computer storage medium on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the method of any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011560.1A CN109358745B (en) | 2018-08-31 | 2018-08-31 | Position filtering method and device of interactive handle and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011560.1A CN109358745B (en) | 2018-08-31 | 2018-08-31 | Position filtering method and device of interactive handle and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109358745A CN109358745A (en) | 2019-02-19 |
| CN109358745B true CN109358745B (en) | 2022-07-19 |
Family
ID=65350403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811011560.1A Active CN109358745B (en) | 2018-08-31 | 2018-08-31 | Position filtering method and device of interactive handle and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109358745B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262667B (en) * | 2019-07-29 | 2023-01-10 | 上海乐相科技有限公司 | Virtual reality equipment and positioning method |
| CN111760270A (en) * | 2020-06-30 | 2020-10-13 | 歌尔科技有限公司 | Rocker drift processing method and device and related components |
| CN111935396A (en) * | 2020-07-01 | 2020-11-13 | 青岛小鸟看看科技有限公司 | 6DoF data processing method and device of VR (virtual reality) all-in-one machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201594225U (en) * | 2010-02-03 | 2010-09-29 | 姜开淦 | Joystick with gesture recognition function |
| CN102538781A (en) * | 2011-12-14 | 2012-07-04 | 浙江大学 | Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method |
| CN106598230A (en) * | 2016-11-24 | 2017-04-26 | 北京小鸟看看科技有限公司 | Virtual reality headset and method and device for tracking spatial attitude information thereof |
| CN107563255A (en) * | 2016-06-30 | 2018-01-09 | 北京合众思壮科技股份有限公司 | The filtering method and device of a kind of Inertial Measurement Unit |
| CN108267715A (en) * | 2017-12-26 | 2018-07-10 | 青岛小鸟看看科技有限公司 | Localization method and device, the virtual reality device and system of external equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1970005B1 (en) * | 2007-03-15 | 2012-10-03 | Xsens Holding B.V. | A system and a method for motion tracking using a calibration unit |
-
2018
- 2018-08-31 CN CN201811011560.1A patent/CN109358745B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201594225U (en) * | 2010-02-03 | 2010-09-29 | 姜开淦 | Joystick with gesture recognition function |
| CN102538781A (en) * | 2011-12-14 | 2012-07-04 | 浙江大学 | Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method |
| CN107563255A (en) * | 2016-06-30 | 2018-01-09 | 北京合众思壮科技股份有限公司 | The filtering method and device of a kind of Inertial Measurement Unit |
| CN106598230A (en) * | 2016-11-24 | 2017-04-26 | 北京小鸟看看科技有限公司 | Virtual reality headset and method and device for tracking spatial attitude information thereof |
| CN108267715A (en) * | 2017-12-26 | 2018-07-10 | 青岛小鸟看看科技有限公司 | Localization method and device, the virtual reality device and system of external equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109358745A (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109358745B (en) | Position filtering method and device of interactive handle and computer storage medium | |
| US10650533B2 (en) | Apparatus and method for estimating eye gaze location | |
| US8913134B2 (en) | Initializing an inertial sensor using soft constraints and penalty functions | |
| KR101509472B1 (en) | Motion parameter determination method and device and motion auxiliary equipment | |
| JP6152763B2 (en) | Exercise support device, exercise support method, and exercise support program | |
| KR101573196B1 (en) | Systems, methods, and apparatuses for classifying user activity using combining of likelihood function values in a mobile device | |
| US20160077166A1 (en) | Systems and methods for orientation prediction | |
| US11557080B2 (en) | Dynamically modeling an object in an environment from different perspectives | |
| CA2806371C (en) | System and method for sample rate adaption | |
| US11042984B2 (en) | Systems and methods for providing image depth information | |
| CN105892658B (en) | The method for showing device predicted head pose and display equipment is worn based on wearing | |
| US20170038405A1 (en) | Method and device for measuring flight parameters of an unmanned aerial vehicle | |
| CN108668220B (en) | Electronic device, position determination system, position determination method, and storage medium | |
| JP6794895B2 (en) | Electronic devices, location identification systems, location identification methods and programs | |
| JP5984589B2 (en) | Electronic equipment and programs | |
| JP6973541B2 (en) | Electronic devices, location identification systems, location identification methods and programs | |
| WO2017200553A1 (en) | Sign language inputs to a vehicle user interface | |
| KR101639351B1 (en) | Wearable input system and method for recognizing motion | |
| EP3134705B1 (en) | Initializing an inertial sensor using soft constraints and penalty functions | |
| CN114063761B (en) | Gaze point display method and related device | |
| JP7010806B2 (en) | Vibration displacement estimation program, device and method using filter phase lead | |
| JP6950232B2 (en) | Electronic devices, location identification systems, location identification methods and programs | |
| CN113065572B (en) | Multi-sensor fusion data processing method, positioning device and virtual reality equipment | |
| CN109795592B (en) | Riding gesture recognition method and application device | |
| JP6558010B2 (en) | Electronic device, activity measurement method and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |