CN102566053A - Head-mounted display device for profiling system - Google Patents
Head-mounted display device for profiling system Download PDFInfo
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Abstract
The invention provides a head-mounted display which is used for visualizing a medium by displaying an image of the medium below a characteristic surface, which is provided by a profiling system and is subjected to reference in the real environment of a user, through the surface. The image is overlaid with the real environment of the user and the image of the medium below the surface is projected in front of one eye or double eyes of a person who wears the head-mounted display. The head-mounted display comprises a positioning sensor for determining the position and the orientation of the eye in the real environment, such as an inertia positioning sensor. When the user moves around the medium, the image of the medium is updated to display the medium, just like the medium can be seen through the surface. In one embodiment of the invention, the image of the medium below the surface is displayed in the stereoscopic vision, so that the user visualizes the medium in three dimensions.
Description
The application is that application number is 200780049424.5, the applying date the dividing an application for the Chinese invention patent application of " being used for the head-mounted display apparatus that profile forms system " that be on 01 31st, 2007, denomination of invention.
Technical field
The present invention relates to be positioned at the field of the non-intrusion type test of the medium below the surface.Particularly, the present invention relates to the demonstration of the sign of the following medium in surface.
Background technology
For example in the geophysical survey field, sought and developed the non-intrusion type technology to substitute as replenishing perhaps of the conventional in-situ testing technique that comprises probing, destructive because these technology do not have.For example in granular soil under infeasible certain situation, such non-intrusion type technology is the underground sole mode of exploration in probing.In addition, they generally more cost is effective.
The non-intrusion type technology also is used to explore the medium that is positioned at below the surface in various other fields; For example be used for assessing the constructional aspect of the steel bar joint, concrete wall etc. of road, bridge, buildings; Perhaps be used for detecting characteristic under the surface, such as space, hiding substructure and load-bearing capacity in mining or military applications.
Usually, on computer monitor, show by the two-dimentional or three-D profile of the part of characterized medium or by the analysis data of characterized medium.Data presented possibly be not easy to non-expert user understanding and explain the actual sign use of data presented for it.
Therefore, although in this field, carried out many effort, still need a kind of system that allows the profile formation of the following medium in surface and be convenient to show characterization data.
Summary of the invention
During the constructional aspect of steel bar joints in assessment road, bridge, buildings, concrete wall etc., perhaps in mining or military applications, detect surperficial under during characteristic, with three dimensional form with the following medium in surface visual will be easily.With the stack of the surface of real world that following the medium in surface is visual, just as the user can see through surperficial see equally, thereby the user can be visual with the position of characteristic under the surface in true environment, this with in addition more convenient.According to an aspect of the present invention, the user wears the head mounted display similar with the virtual reality eyepiece, so that preferably in stereoscopic vision, be presented at the image of the following medium in surface of reference location in the true environment (reference).Image and user's true environment stack, thus the user can walking perhaps move and be in three-dimensional that the following medium in surface is visual in surperficial, just can see through surperficial see the same as him.
Thereby the present invention provides a kind of head mounted display, in order to see through surperficial that medium is visual through demonstration by the image that profile forms the sign of the following medium in surface that (profiling) system provides and reference location in user's true environment.With the stack of user's true environment, at the image of the individual's who wears head mounted display a following medium of eyes or eyes front projection surface.Head mounted display comprises and is used for confirming its position and directed alignment sensor in true environment, such as the inertial positioning sensor.When the user moved around the medium, more the image of new medium just seen it as seeing through the surface with display medium.In one embodiment of the invention, the image of the following medium of display surface in stereoscopic vision, the user is visual with medium in three-dimensional thus.
For example, such head mounted display can be advantageously used by the operator of heavy equipment such as backhoe in the excavation project.Use head mounted display, the operator is regarded as trnaslucent materials with the surface, and can see the surface with underground pipelines or barrier, thereby adjusts his operation.Another example is in the substructure inspection, to use head mounted display.Head mounted display provides surface visual with the different areas of lower density.The examiner can see through the surface inspection substructure then.In addition, in DRILLING APPLICATION, can be through with underground and visual quantity and the placement of optimizing blasting charge of drill string.
One aspect of the present invention provides a kind of being used for to be used for the visual head-mounted display apparatus of the sign of medium under the surface by the user.This display device comprises input, alignment sensor, processing unit and first display system.This input is used for being received in reference frame and characterizes the surface model of medium down with three dimensional representation.This model uses profile formation system to provide.This alignment sensor is used for position and the orientation of first eye of sensing user in reference frame.This processing unit is used to utilize primary importance with directed model to be had an X-rayed the ground projection in being positioned at first first surface before the eyes, characterizes surface first image of medium down to provide.This first display system be used on first surface with first eye before first image overlay of true environment show first image that characterizes medium under the surface.
Another aspect of the present invention provides a kind of being used for to be used for the visual system of the sign of medium under the surface by the user.This system comprises: profile forms system, is used to provide the surface sign of medium down; Three-dimensional model processor is used for the sign of medium under the treatment surface, characterizes the surface model of medium down to be provided in the reference frame with dimensional Graphics; And head-mounted display apparatus.This head-mounted display apparatus has: input is used to receive this model; Alignment sensor is used for position and the orientation of first eye of sensing user in reference frame; Processing unit is used to utilize the position with directed model to be had an X-rayed the ground projection in being positioned at first first surface before the eyes, characterizes surface first image of medium down to provide; And first display system, be used on first surface with first eye before the image overlay of true environment show first image that characterizes medium under the surface.
Another aspect of the present invention provides a kind of user of being used for sign visualization method with medium under the surface.This method comprises: the surface sign of medium down is provided; The sign of medium characterizes the surface model of medium down to be provided in the reference frame with dimensional Graphics under the treatment surface; Primary importance and the orientation of first eye in reference frame of sensing user; Qualification is positioned at the first surface before first eye; The ground projection of model perspective on being positioned at first first surface before the eyes, is characterized surface first image of medium down to provide; The image of the preceding true environment of first eye is provided; And on first surface with first eye before the image overlay of true environment show to characterize first image of medium under the surface.
Another aspect of the present invention provides a kind of being used for to be used for the visual head-mounted display apparatus of the sign of medium under the surface by the user.This display device comprises input, alignment sensor, processing unit and first display system.This input is received in the reference frame and characterizes the surface model of medium down with three dimensional representation.Position and the orientation of first eye in reference frame of this alignment sensor sensing user.This processing unit utilizes primary importance with directed model to be had an X-rayed the ground projection on being positioned at first first surface before the eyes, characterizes surface first image of medium down to provide.This first display system on first surface with first eye before first image overlay of true environment show to characterize first image of medium under the surface.
Another aspect of the present invention provides a kind of method that is used in overall reference frame head-mounted display apparatus being carried out reference location.This method comprises: three impact points that are arranged in the overall reference frame and limit objective plane are provided; First eye to head-mounted display apparatus show first graticule and show second graticule to second eye; First and second graticules are aimed at each other; Graticule is aimed at first impact point, and read primary importance and the orientation of head-mounted display apparatus in the equipment reference frame; Graticule is aimed at second impact point, and read the second place and the orientation of head-mounted display apparatus in the equipment reference frame; Graticule is aimed at the 3rd impact point, and read three position and the orientation of head-mounted display apparatus in the equipment reference frame; Use first, second and the 3rd position and orientation to calculate the translation matrix between overall reference frame and equipment reference frame; And the translation matrix of in storer, preserving calculating.
Another aspect of the present invention provides a kind of being used for to be used for the visual head-mounted display apparatus of the sign of medium under the surface by the user.This display device comprises input, storer, alignment sensor, processing unit and a pair of display system.This input is received in the reference frame from the models treated device and characterizes the surface model of medium down with dimensional Graphics.This storer is preserved model and was broken off so that after preserving model, should import from said models treated device.Position and the orientation of this alignment sensor sensing head-mounted display apparatus in reference frame.Processing unit characterizes the surface a pair of 3 D visual image of medium down according to model and position with directed providing.This stereoscopic display system displays shows a pair of 3 D visual image that characterizes medium under the surface with a pair of image overlay of true environment before user's eyes.
Description of drawings
More feature and advantage of the present invention combine basis with following accompanying drawing hereinafter specifically describes and becomes clear, in the accompanying drawing:
Fig. 1 be according to the present invention an example embodiment will be at the front view that is used for seeing through the head mounted display that the visual display device of medium is used the surface, wherein head mounted display has each perspective display screen at the moment;
Fig. 2 be according to the present invention another example embodiment will be at the skeleton view that is used for seeing through the head mounted display that the visual display device of medium is used the surface, wherein head mounted display has each video camera at the moment;
Fig. 3 illustrates three-dimensional model is projected to single lip-deep synoptic diagram;
Fig. 4 illustrates three-dimensional model is projected to the synoptic diagram on two surfaces (surface be used for corresponding each);
Fig. 5 is the block diagram that illustrates the display device of an example embodiment according to the present invention;
Fig. 6 illustrates in reference frame the synoptic diagram that head mounted display is carried out reference location; And
Fig. 7 illustrates the process flow diagram that is used in reference frame head mounted display being carried out the method for reference location.
To note adopting in the accompanying drawings similar reference number sign similar features in the whole text.
Embodiment
Referring now to accompanying drawing, Fig. 1 shows being used for seeing through the example of surface with the visual head mounted display 100 of medium.Before head mounted display 100 is suitable for being worn on user's eyes, and have two Clear View Screen 110a, 110b, these Clear View Screen transmitted lights, thereby the user can see through Clear View Screen 110a, 110b directly see his/true environment before her eyes.Image at each Clear View Screen 110a, the following medium of the last projection surface of 110b.The image that on right eye and left eye, provides is corresponding to the diagrammatic representation of characterization model in stereoscopic vision of medium, thereby the user is presented in being characterized in of medium in the three-dimensional.In user's image real-time update when moving around the medium that characterizes, thus the user with the sign of medium visual just as he can see through that the surface sees equally.Clear View Screen 110a, 110b can use perspective organic light emitting diode device (referring to the LE-750a series from Liteye Systems company).
Fig. 2 shows being used for seeing through surface another example with the visual head mounted display 200 of medium.The same with the head mounted display 100 of Fig. 1; Before the head mounted display of Fig. 2 is suitable for being worn on user's eyes; But have video camera 210a, 210b; These video cameras are arranged at each at the moment, so that the image of the true environment before the collection user is just as he can see that it is the same when he does not wear head mounted display 200.Use two display systems before user's eyes, to show the image of catching in real time by video camera 210a, 210b.For example, each display system can be used liquid crystal diode device or organic light emitting diode device.The image of real-time update true environment is just the same as the world that he can see when he does not wear head mounted display 200 thereby the user can see the world in stereoscopic vision.Yet, the image that characterizes the following medium in surface in stereoscopic vision with the image overlay of true environment.The result of the head mounted display of Fig. 2 is similar to the result of the head mounted display of Fig. 1 substantially.The head mounted display 200 of Fig. 2 can use video camera 210a, the 210b responsive to infrared radiation, and these infrared radiation are transformed into uses the display system images displayed.Such head mounted display 200 is used in the night vision especially or in low luminosity environment, uses.
Also imagine other head mounted displays.Single-eye head-mounted display only uses a display system to be used for the image of medium under eyes display surface only.Simple eye configuration advantageously lets second eye not change its vision, but only in two dimension, representes medium.
Fig. 3 illustrate the surface down medium three-dimensional (3D) characterization model 312 under this situation for the plane single surperficial 314 on so that the perspective projection that characterizes the image of medium under the surface to be provided.With reference frame 310 serves as to characterize the surface 3D model 312 of medium down with reference to providing.Illustrated situation is corresponding to following head mounted display, wherein only before one of eyes of user, the image (simple eye configuration) of characterized medium is provided or wherein in single vision, to eyes identical image is provided.For example, in single vision, can on head mounted display, provide single camera so that the image of true environment to be provided.To show identical image to eyes.
Note,, then can on curved surface, carry out projection if the screen that image is projected on it is crooked.
The profile formation system of from No. the 7th, 073,405, the United States Patent (USP) of authorizing on July 11st, 2006, describing obtains to characterize the surface tomoscan (tomography) of medium down.This profile formation system uses and is arranged at lip-deep sensor and by means of the excitation that is generated by impulse generator, and coming acceleration to the shearing wave that brings out in the medium under the surface in the test to detect provides the surface sign of medium down.Sensor can be set with the whole surface in the cover butter, perhaps can during characterization, reorientate them to cover bigger surface or better sign resolution is provided.User computing interface is handled the acceleration signal that receives from sensor so that the tomoscan of characterized medium to be provided.Tomoscan comprises physics and mechanical property or other analysis data of medium.
For 3D characterization model 312 is provided, tomoscan is offered 3D models treated device, this processor use three dimensional analysis and carry out tomoscan based on geological algorithm and put (juxtaposition) with interior slotting.The 3D characterization model 312 that provides is the diagrammatic representations in the three-dimensional that are characterized in of medium.In one embodiment, 3D models treated device uses especially and uses and the software of design to geophysical techniques, such as the 3D-GIS module that is provided and on GOCAD software, moved by Mira Geoscience company.The 3D characterization model 312 that provides comprises such as characteristics such as shear rate, density, Poisson ratio, mechanical impedance, modulus of shearing, Young moduluss.More multiprocessing can provide such as various data such as the liquefaction factor, the rock degree of depth, basic unit's degree of depth.
With reference frame 310 serves as with reference to the 3D characterization model 312 that is provided is provided.As hereinafter will be discussed, the user move or rotate his/her head when checking the zones of different of medium, in real time sensing and be updated in head mounted display 100 or 200 and reference frame between relative position and orientation.This accomplishes through the alignment sensor that use is arranged in head mounted display.When the user moves around the medium, upgrade images displayed before user's the eyes and just see that as seeing through the surface it equally with the diagrammatic representation of characteristic that medium is provided.Thereby, in reference frame, limit the surface 314 (at head mounted display) before the eyes being arranged in the user.It will be shown to the position of screen in true environment on it corresponding to image.As shown in Figure 3, processing unit is had an X-rayed ground projection in projection surface 314 in, so that the image of characterized medium to be provided with directed with the 3D characterization model according to the eye position of sensing then.Before this image is shown in user's eyes.Images displayed is the diagrammatic representation of the correlation properties of medium, and the characteristic of expression is positioned at and carries out emulation on the image, just sees that to let the user see through the surface diagrammatic representation of characteristic is the same as the surface is transparent fully.The image overlay of the true environment before the image of characterized medium and user's the eyes shows, the image of true environment corresponding to when the user does not wear head mounted display he with the image of seeing.The image of true environment provides through using Clear View Screen (see figure 1) (image transmission simply sees through screen) or being arranged at video camera (see figure 2) before the eyes (using image processing algorithm to carry out numerical value from the image of the image of video camera and characterized medium superposes) through use.The projection scheme of Fig. 3 is used for the only image of medium under one of eyes display surface in having the head mounted display of single display system.The single vision head-mounted display apparatus that it also is used in and has two display systems (display system be used for corresponding each).
Fig. 4 illustrates 312 to two surperficial 314a of 3D model, 314b (surface be used for corresponding each) and goes up so that the visual perspective projection of medium to be provided in stereoscopic vision.Be that with illustrated unique difference of Fig. 3 Fig. 4 illustrates following situation, wherein head mounted display is provided for the different images of the characterized medium of each to the user, thereby 3D is provided perception.According to the above description of Fig. 3 images displayed before right eye and the left eye is provided.Yet, limit two projection surfaces according to the sense position of head mounted display in reference frame before right eye and the left eye with being oriented in, promptly right surperficial 314a and left surface 314b, and carry out the different projections of 3D characterization model with orientation according to the relevant position of each.The figured 3D skeleton view of the following medium in surface is provided thus.
Fig. 5 illustrates the various functional blocks of display device 500, and this display device comprises: head mounted display 200, will wear so that the sign of medium under the surface is visual by the user; And control module 512,, he carries when moving with respect to the surface and deal with data will be to user's images displayed so that generate by the user.Control module 512 receives the 3D characterization model as preamble is said from 3D models treated device 562.3D models treated device 562 forms system 560 (like the United States Patent (USP) the 7th of authorizing on July 11st, 2006 through handling by profile; It is the same that the profile of describing in 073, No. 405 forms system) tomoscan of the following medium in sign surface that provided provides 3D characterization model.
Head mounted display 200 and control module 512 uses anyly has wire protocol such as universal serial bus protocol or live wire agreement or any radio link protocol such as radio frequency or infrared link to communicate by letter.In illustrated embodiment, head mounted display 200 be a wired connection with control module 512, but in an alternate embodiment, and two unit have wireless communication interface to intercom mutually and each unit has its own power supply.
Head mounted display 200 has display system 522a, the 522b that is used for each, with in stereoscopic vision that the following medium in surface is visual.Display system 522a, 522b are respectively by Video Controller 528a, 528b control.Vision signal offers Video Controller 528a, 528b by control module 512.
Numeral positioning signal and digital video image offer processing unit 540.Processing unit also receives the 3D characterization model and storer 546, stores it from communication interface 542.Thereby, form after sign and 3D models treated device 562 that system 560 accomplishes following the medium in surface convert the gained sign to the 3D characterization model at profile, the 3D model is transferred to and is stored in the display device 500 use for head mounted display.When accomplishing transmission, 3D models treated device 562 can break off, and the user moves freely with respect to medium in the display device 500 carrying.Processing unit also receives the order that will during the reference location process, use from user interface 544, is used for the demonstration of control head head mounted displays etc.The user imports 544 and comprises that button and roller perhaps are used for other devices of input command.In addition, control module 512 also has power supply 552 and is used for the watchdog timer 550 that control module 512 recovers from fault state.
In addition, can use the user import 544 select to be suitable for application-specific the diagrammatic representation parameter.Can deposit a plurality of diagrammatic representation profiles, and the user can load the expression profile of the application that is suitable for him simply.The parameter example that can control be the surface down surperficial figured opacity/transparency, the palette of medium and true environment, the degree of depth that will use figured medium, the medium that will from diagrammatic representation, remove the degree of depth, about the demonstration of the concrete data of physical construction, about the existence/non-existent demonstration in medium of the demonstration of the inside and outside information data of medium, given characteristic.For example, can be with the only corresponding areas of dielectric of diagrammatic representation with concrete ore.Use the density of ore and the existence that shear wave velocity identifies it.Also can select with diagrammatic representation and subsurface water or the corresponding zone of other characteristics.
In illustrated embodiment; Head mounted display 200 uses video camera 520a, 520b that the image of true environment is provided; But in an alternate embodiment, use, and need not video camera 520a, 520b such as the such head mounted display 100 of head mounted display shown in Fig. 1.Thereby also remove A/D converter 526a, 526b.Single display system 522a also can be used in the single-eye head-mounted display.
Replace, can use other inertial guidance systems as replacing inertial positioning sensor 524 based on gyrostatic system, GPS or technical combinations.
With reference to Fig. 6 and Fig. 7, describe now a kind of be used at the 3D model reference frame (Xref, Yref, Zref) in to head mounted display carry out reference location and thereby to each the position (Xo, Yo, Zo) and directed (θ x, θ y, θ z) carry out the method for reference location.This method hypothesis is used stereoscopic head-mounted display.This reference location orientation begins in 710, provide lip-deep three impact points of being arranged at medium ((X1, Y1, Z1); (X2, Y2, Z2); (X3, Y3, Z3)).Three impact points limit objective planes, and between three impact points apart from d
1,2, d
2,3, d
3,1Known.Thereby the 3D model comprises three positions of impact point in its reference frame.Impact point normally forms the position that three profiles that system is used for characterized medium form sensor by profile.Owing to limit the 3D model with respect to the position of sensor, thus can according to these positions infer reference frames (Xref, Yref, Zref).Thereby, forming sensor although can remove other profiles, at least three reference sensors should be retained in original position and be used for using in the reference location process after the profile forming process.
According to step 712, on two display systems of head mounted display, promptly before eyes, show graticule, i.e. cross curve.In 714, the user uses the user to import from eyes and aims at cross curve, thereby cross curve is regarded as single cross curve by the user.In 716, the user with reticle alignment to first impact point (X1, Y1, Z1).Usually, should have different colours or have as the sensor of impact point and be used for their distinctive elements of User Recognition.In 718, the user presses user button or uses any other input media (user imports 544) to be aimed to this target of control module input, and then control module reads the position and the orientation (not shown) of the head mounted display that is provided by position transducer.System with respect to head mounted display provides position and the orientation (as during the initialization procedure of head mounted display, limiting) that reads.The position and the orientation that keep reading are used for further calculating.
Then in step 720, the user with reticle alignment to second impact point (X2, Y2, Z2).In 722, the user is aimed to this target of control module input, thereby control module reads the position and the orientation (not shown) of the head mounted display that is provided by position transducer.Also keep these positions of reading and orientation to be used for further calculating.
In step 724, the user with reticle alignment to the three impact points (X3, Y3, Z3).In 726, the user is aimed to this target of control module input, thereby control module reads the position and the orientation (not shown) of the head mounted display that is provided by position transducer.Also keep these positions of reading and orientation to be used for further calculating.
In 728, control module use the position read and orientation calculate reference frame (Xref, Yref, Zref) and the translation matrix between the system of head mounted display.Thereby with respect to reference frame (Zref) (Xo, Yo Zo) carry out reference location to the position of head mounted display for Xref, Yref.
Attention is in the reference location process, and control module can use display system to show the instruction of issuing the user.
Still leave about the directed indeterminate property of head mounted display, and need carry out reference location orientation.In 730, according to the translation matrix of calculating, in head mounted display, in stereoscopic vision, show with by three impact points ((X1, Y1, Z1); (X2, Y2, Z2); The objective plane corresponding virtual plane that (X3, Y3, Z3)) limits.In 732, the user aims at it through using user's input that virtual plane is superposeed with objective plane, and presses user button to confirm aligning.For asking best result, should accomplish this step with best possible accuracy.In 734, control module reads the position and the orientation (not shown) of the head mounted display that is provided by position transducer.In 736, control module use known translation matrix and position and the orientation of head mounted display calculate reference frame (Xref, Yref, Zref) and the rotation matrix between the system of head mounted display so that appropriately be registered to objective plane.Thereby with respect to reference frame (Xref, Yref Zref) carry out reference location to the orientation (θ x, θ y, θ z) of head mounted display.Also verify translation matrix.In 738, translation and the rotation matrix preserved through calculating are used for by head mounted display medium under the surface is visual.Thereby when head mounted display moved in the space, ((Xob, Yob was Zob) with orientation (θ xb, θ yb, θ yb) for the position in Zref) for Xref, Yref in reference frame can to calculate them in real time.
Notice that similar reference location method can be used for mono vision head-mounted display is carried out reference location.Replace, can carry out reference location through using image-recognizing method to the stereoscopic head-mounted display 200 of using video camera.Can on two images that provide by video camera, discern identical three impact points ((X1, Y1, Z1); (X2, Y2, Z2); (X3, Y3, Z3)), and can use the known relative position of video camera and the position of impact point on two images to calculate position and the orientation of head mounted display in reference frame.
Replace,, then can use the impact point in the immediate environment that is arranged at medium and replace sensor if especially will excavate or deface otherwise.
In addition, under getting back to the surface that has characterized, possibly need the repeated reference localization method during medium, and possibly require to remove target point sensors.Possibly in the environment on surface, settle impact point again.Thereby, three fresh target points are set on any other structure, on wall.In reference frame, the fresh target point is carried out reference location.This uses the head mounted display of reference location to accomplish.The user with the similar mode of above-mentioned reference location method with reticle alignment to each fresh target and aim at the fresh target plane.The position of fresh target point is stored in the later reference location that is used for head mounted display in the model then, and can be physically from the old impact point of surface removal.
In the example of describing, obtain tomoscan through using profile to form the following medium in characterized systematically surface.To understand, available if 3D characterizes, then this sign can be used to provide the 3D diagrammatic representation model of medium by 3D models treated device.In addition, can represent tomoscan rather than complete 3D model to user's images displayed, the user around this tomoscan or in the space, move.3D models treated device only converts the suitable 3D diagrammatic representation of tomoscan then to characterized medium and by the tomoscan that profile forms system and provides.
Although in block diagram, be illustrated as via the different pieces of information signal and connect to come the discrete parts in groups that intercoms mutually; But it will be appreciated by those skilled in the art that; Can preferred embodiment be provided through the combination of hardware and software parts; Wherein some parts are implemented in given function through hardware or software systems or operation, and many data routings shown in implementing through the data communication in computer utility or the operating system.Therefore structure shown in providing is in order effectively to instruct this preferred embodiment.
The invention described above embodiment only is intended to for example.Therefore scope of the present invention only is intended to the scope restriction by accompanying claims.
Claims (2)
1. one kind is used for the method that head-mounted display apparatus positioned in overall reference frame, and said method comprises:
Three impact points that are arranged in the said overall reference frame and limit objective plane are provided;
First eye to said head-mounted display apparatus show first graticule, and show second graticule to second eye;
Said first and second graticules are aimed at each other;
Said graticule is aimed at first impact point, and read primary importance and the orientation of said head-mounted display apparatus in the equipment reference frame;
Said graticule is aimed at second impact point, and read the second place and the orientation of said head-mounted display apparatus in the equipment reference frame;
Said graticule is aimed at the 3rd impact point, and read three position and the orientation of said head-mounted display apparatus in the equipment reference frame;
Use said first, second and the 3rd position and directed to calculate the translation matrix between said overall reference frame and said equipment reference frame; And
In storer, preserve the translation matrix of calculating.
2. the method for claim 1 also comprises:
Show and said objective plane corresponding virtual plane according to said translation matrix;
Said virtual plane is aimed at said objective plane, and read four orientation of said head-mounted display apparatus in the equipment reference frame;
Use said the 4th orientation and said translation matrix to calculate the translation matrix between said overall reference frame and said equipment reference frame; And
In storer, preserve the rotation matrix that calculates.
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| CN104280124A (en) * | 2013-07-09 | 2015-01-14 | 杭州美盛红外光电技术有限公司 | Helmet device |
| CN105224070A (en) * | 2014-06-26 | 2016-01-06 | 阿迪达斯股份公司 | Sports head-up display system and method |
| CN114035674A (en) * | 2015-05-18 | 2022-02-11 | 梦工厂动画公司 | Method and system for calibrating virtual reality systems |
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| CN104280124A (en) * | 2013-07-09 | 2015-01-14 | 杭州美盛红外光电技术有限公司 | Helmet device |
| CN105224070A (en) * | 2014-06-26 | 2016-01-06 | 阿迪达斯股份公司 | Sports head-up display system and method |
| US10715759B2 (en) | 2014-06-26 | 2020-07-14 | Adidas Ag | Athletic activity heads up display systems and methods |
| CN114035674A (en) * | 2015-05-18 | 2022-02-11 | 梦工厂动画公司 | Method and system for calibrating virtual reality systems |
| CN114035674B (en) * | 2015-05-18 | 2023-09-15 | 梦工厂动画公司 | Method and system for calibrating virtual reality system |
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