CN106959745A - A kind of head pose Forecasting Methodology and device - Google Patents
A kind of head pose Forecasting Methodology and device Download PDFInfo
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- CN106959745A CN106959745A CN201610017786.7A CN201610017786A CN106959745A CN 106959745 A CN106959745 A CN 106959745A CN 201610017786 A CN201610017786 A CN 201610017786A CN 106959745 A CN106959745 A CN 106959745A
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- 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
- G06F3/012—Head tracking input arrangements
Abstract
The embodiment of the invention discloses a kind of head pose Forecasting Methodology, the problem of picture is delayed is caused for solving the attitude angle that prior art is reported.Present invention method includes：Obtain the attitude angle in the predetermined time period nearest from current time and called time on corresponding；According to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting the matched curve of future time instance；The time point for the future time instance predicted will be needed to substitute into the matched curve, the corresponding attitude angle of the future time instance is obtained；The corresponding attitude angle of the future time instance is reported to show the upper layer application of equipment to head.The embodiment of the present invention also provides a kind of head pose prediction meanss.
Description
Technical field
Show apparatus field, more particularly to a kind of head pose Forecasting Methodology and device the present invention relates to head.
Background technology
In field of virtual reality, user needs to wear the aobvious equipment ability experiencing virtual reality of head, wherein comparing
During part and parcel is the part of head-tracking, user's head rotation process, virtual scene picture can be followed
Rotate together, this is accomplished by sensor to perceive head pose (attitude angle).The sensor mainly used has
Turn meter (gyroscope), accelerometer, geomagnetic sensor.According to the original value of these sensors, pass through
Algorithm process, can obtain current attitude angle.
In field of virtual reality, as shown in figure 5, in user's head rotation process, if directly taken
If the attitude angle that current sensor is reported is rendered for picture, the picture rendered until seeing can pass through
Data transfer, algorithm process, screen-refresh, picture such as render at the process, and when rendering completion, head is
Next attitude is moved to, this will result in the delay of picture, cause poor user experience.
The content of the invention
The embodiments of the invention provide a kind of head pose Forecasting Methodology and device, prior art can solve the problem that
The attitude angle reported causes the problem of picture is delayed.
A kind of head pose Forecasting Methodology provided in an embodiment of the present invention, including：
Obtain the attitude angle in the predetermined time period nearest from current time and called time on corresponding；
According to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting future time instance
Matched curve；
The time point for the future time instance predicted will be needed to substitute into the matched curve, the future time instance is obtained
Corresponding attitude angle；
The corresponding attitude angle of the future time instance is reported to show the upper layer application of equipment to head.
Alternatively, using quadratic fit method according to the attitude angle and it is corresponding on call time march
Line is fitted, and obtains predicting the matched curve of future time instance.
Alternatively, obtain the attitude angle in the predetermined time period nearest from current time and corresponding report
Time includes：
Obtain three attitude angles nearest from current time；
Obtain three attitude angles it is corresponding three on call time.
Alternatively, using quadratic fit method according to the attitude angle and it is corresponding on call time march
Line is fitted, and is obtained predicting the matched curve of future time instance, is specifically included：
By three attitude angles and it is described three on call time substitution quadratic fit formula, obtain described two
Three fitting coefficients in secondary fitting formula, the quadratic fit formula is as follows：
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be given the correct time on described three
Between, A, B, C are three fitting coefficients；
Obtain predicting the matched curve of future time instance according to three fitting coefficients.
Alternatively, report and also include after the corresponding attitude angle of the future time instance to upper layer application：
Judge whether the sensor of the aobvious equipment of the head generates sensing data, held again if so, then returning
The row attitude angle obtained in the predetermined time period nearest from current time and it is corresponding on call time
Step.
A kind of head pose prediction meanss provided in an embodiment of the present invention, including：
Attitude angle time-obtaining module, the appearance for obtaining in the predetermined time period nearest from current time
State angle and it is corresponding on call time；
Curve fitting module, for according to the attitude angle and it is corresponding on call time and carry out curve fitting,
Obtain predicting the matched curve of future time instance；
Following attitude angle prediction module, for the time point for the future time instance predicted will to be needed to substitute into described intend
Curve is closed, the corresponding attitude angle of the future time instance is obtained；
Attitude angle reporting module, for reporting the corresponding attitude angle of the future time instance to head to show equipment
Layer application.
Alternatively, curve fitting module includes：
Quadratic fit unit, for the method using quadratic fit to be according to the attitude angle and corresponding reports
Time carries out curve fitting, and obtains predicting the matched curve of future time instance.
Alternatively, the attitude angle time-obtaining module includes：
Three attitude angle acquisition modules, three attitude angles nearest from current time for obtaining；
Three report time-obtaining module, for obtain three attitude angles it is corresponding three on call time.
Alternatively, the quadratic fit unit includes：
Substitute into formula subelement, for by three attitude angles and it is described three on call time substitution it is secondary
Fitting formula, obtains three fitting coefficients in the quadratic fit formula, the quadratic fit formula is such as
Under：
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be given the correct time on described three
Between, A, B, C are three fitting coefficients；
Matched curve subelement, the fitting for obtaining predicting future time instance according to three fitting coefficients
Curve.
Alternatively, the head pose prediction meanss include：
Whether sensor judge module, the sensor for judging the aobvious equipment of the head generates sensing data；
Trigger module, for when the judged result of the sensor judge module is is, triggering the appearance
State angle time-obtaining module.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
In the embodiment of the present invention, first, the attitude in the predetermined time period nearest from current time is obtained
Angle and it is corresponding on call time；Then, according to the attitude angle and it is corresponding on call time march line intend
Close, obtain predicting the matched curve of future time instance；Then, it would be desirable to the time point of the future time instance of prediction
The matched curve is substituted into, the corresponding attitude angle of the future time instance is obtained；Finally, the future is reported
Moment corresponding attitude angle shows the upper layer application of equipment to head.In embodiments of the present invention, by prediction not
Carry out the attitude angle at moment, the attitude angle of future time instance is then reported into upper layer application and used so that upper strata
During using rendering completion, head movement just falls in the attitude angle of prediction, realizes picture and is moved with head
The real-time synchronization of work, improves Consumer's Experience.
Brief description of the drawings
Fig. 1 is a kind of head pose Forecasting Methodology one embodiment flow chart in the embodiment of the present invention；
Fig. 2 is a kind of another embodiment flow chart of head pose Forecasting Methodology in the embodiment of the present invention；
Fig. 3 is a kind of head pose prediction meanss one embodiment structure chart in the embodiment of the present invention；
Fig. 4 is another example structure figure of a kind of head pose prediction meanss in the embodiment of the present invention；
The delay principle schematic for the attitude angle that Fig. 5 reports for prior art；
Fig. 6 overcomes delay for a kind of future time instance attitude angle of head pose Forecasting Methodology prediction in the present invention
Principle schematic.
Embodiment
The embodiments of the invention provide a kind of head pose Forecasting Methodology and device, for solving prior art
The attitude angle reported causes the problem of picture is delayed.
To enable goal of the invention of the invention, feature, advantage more obvious and understandable, below will
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that the embodiments described below are only a part of embodiment of the invention, and not all
Embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creativeness
The all other embodiment obtained under the premise of work, belongs to the scope of protection of the invention.
Referring to Fig. 1, a kind of head pose Forecasting Methodology one embodiment includes in the embodiment of the present invention：
101st, obtain the attitude angle in the predetermined time period nearest from current time and given the correct time on corresponding
Between；
It is possible, firstly, on obtaining attitude angle in the predetermined time period nearest from current time and being corresponding
Call time.
102nd, according to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting future time instance
Matched curve；
Obtain attitude angle in the predetermined time period nearest from current time and it is corresponding on call time it
Afterwards, can according to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting future time instance
Matched curve.
103rd, the time point for the future time instance predicted will be needed to substitute into the matched curve, obtains the future time instance
Corresponding attitude angle；
According to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting future time instance
After matched curve, the time point for the future time instance predicted can will be needed to substitute into the matched curve, obtained
The corresponding attitude angle of the future time instance.
104th, the corresponding attitude angle of the future time instance is reported to show the upper layer application of equipment to head.
The time point for the future time instance predicted will needed to substitute into the matched curve, the future time instance pair is obtained
After the attitude angle answered, the corresponding attitude angle of the future time instance can be reported to show the upper layer application of equipment to head.
In the present embodiment, first, obtain attitude angle in the predetermined time period nearest from current time and
Called time on corresponding；Then, according to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain
To the matched curve of prediction future time instance；Then, it would be desirable to which the time point of the future time instance of prediction substitutes into should
Matched curve, obtains the corresponding attitude angle of the future time instance；Finally, the corresponding appearance of the future time instance is reported
State angle shows the upper layer application of equipment to head.In the present embodiment, by predicting the attitude angle of future time instance,
Then the attitude angle of future time instance is reported into upper layer application to use so that when upper layer application renders completion,
Head movement just falls in the attitude angle of prediction, realizes picture and the real-time synchronization of headwork, carries
Consumer's Experience is risen.
For ease of understanding, a kind of head pose Forecasting Methodology in the embodiment of the present invention is carried out below detailed
Description, referring to Fig. 2, a kind of another embodiment of head pose Forecasting Methodology includes in the embodiment of the present invention：
201st, obtain the attitude angle in the predetermined time period nearest from current time and given the correct time on corresponding
Between；
It is possible, firstly, on obtaining attitude angle in the predetermined time period nearest from current time and being corresponding
Call time.It should be noted that attitude angle can have quaternary number to define.It is above-mentioned nearest from current time
Predetermined time period can be set according to actual conditions, from different heads show equipment performance it is relevant.
It can for example be set in 100ms nearest from current time, can also be set by the number of attitude angle,
For example can be specifically：
A, obtain three attitude angles nearest from current time；
B, obtain three attitude angles it is corresponding three on call time.
For some systems, three attitude angles can reach effect, the optimal balance in efficiency.
202nd, using quadratic fit method according to the attitude angle and it is corresponding on call time march line intend
Close, obtain predicting the matched curve of future time instance；
Obtain attitude angle in the predetermined time period nearest from current time and it is corresponding on call time it
Afterwards, can using quadratic fit method according to the attitude angle and it is corresponding on call time and carry out curve fitting,
Obtain predicting the matched curve of future time instance, be specially：
By the substitution quadratic fit formula that called time in three attitude angles and this three, the quadratic fit is obtained
Three fitting coefficients in formula, the quadratic fit formula is as follows：
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be called time on this three,
A, B, C are three fitting coefficients；
Obtain predicting the matched curve of future time instance according to three fitting coefficients.
203rd, the time point for the future time instance predicted will be needed to substitute into the matched curve, obtains the future time instance
Corresponding attitude angle；
The method using quadratic fit according to the attitude angle and it is corresponding on call time and carry out curve fitting,
After the matched curve for obtaining prediction future time instance, the generation at time point of future time instance predicted can will be needed
Enter the matched curve, obtain the corresponding attitude angle of the future time instance.For example for Fig. 5 system,
T1 can be substituted into the matched curve, obtain attitude angle corresponding with the t1 moment, reported at the t0 moment pre-
After the attitude angle of survey, by the processing of system, just complete to render at the t1 moment and display picture (is referred to
Fig. 6) so that user will not perceive delay.
204th, the corresponding attitude angle of the future time instance is reported to show the upper layer application of equipment to head；
The time point for the future time instance predicted will needed to substitute into the matched curve, the future time instance pair is obtained
After the attitude angle answered, the corresponding attitude angle of the future time instance can be reported to show the upper layer application of equipment to head,
Namely it is above-mentioned report to head and show the system of equipment handled, finally complete to render and wait operation and show.
205th, judge whether the sensor of the aobvious equipment of this generates sensing data, if so, then returning again
Step 201 is performed, if it is not, then terminating this process.
After the upper layer application for reporting the corresponding attitude angle of the future time instance to show equipment to head, it can be determined that
Whether the sensor of the aobvious equipment of this generates sensing data, if so, execution step 201 again is then returned,
If it is not, then terminating this process.If it is understood that the sensor of the aobvious equipment of this is still in generation sensing
Device data, illustrate that head shows equipment and still used, and need to handle sensing data to obtain use
The head pose at family, therefore execution step 201 again is returned, realize head pose prediction side in the present embodiment
Method circulation is performed.Conversely, then it is considered that head, which shows equipment, does not use or need not obtain the head of user
Attitude, now terminates the process of head pose Forecasting Methodology.
A kind of head pose Forecasting Methodology is mainly described above, below will be to a kind of head pose prediction meanss
It is described in detail, referring to Fig. 3, a kind of one implementation of head pose prediction meanss in the embodiment of the present invention
Example includes：
Attitude angle time-obtaining module 301, for obtaining in the predetermined time period nearest from current time
Attitude angle and it is corresponding on call time；
Curve fitting module 302, for according to the attitude angle and it is corresponding on call time and carry out curve fitting,
Obtain predicting the matched curve of future time instance；
Following attitude angle prediction module 303, for the time point for the future time instance predicted will to be needed to substitute into the plan
Curve is closed, the corresponding attitude angle of the future time instance is obtained；
Attitude angle reporting module 304, for reporting the corresponding attitude angle of the future time instance to head to show equipment
Layer application.
In the present embodiment, first, attitude angle time-obtaining module 301 obtains nearest from current time pre-
If attitude angle in time span and it is corresponding on call time；Then, curve fitting module 302 is according to this
Attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting the matched curve of future time instance；Connect
, following attitude angle prediction module 303 will need the time point for the future time instance predicted to substitute into fitting song
Line, obtains the corresponding attitude angle of the future time instance；Finally, attitude angle reporting module 304 reports the future
Moment corresponding attitude angle shows the upper layer application of equipment to head.When in the present embodiment, by predicting following
The attitude angle at quarter, then reports to upper layer application by the attitude angle of future time instance and uses so that upper layer application
When rendering completion, head movement just falls in the attitude angle of prediction, realizes picture and headwork
Real-time synchronization, improves Consumer's Experience.
For ease of understanding, a kind of head pose prediction meanss in the embodiment of the present invention are carried out below detailed
Description, referring to Fig. 4, a kind of another embodiment of head pose prediction meanss includes in the embodiment of the present invention：
Attitude angle time-obtaining module 401, for obtaining in the predetermined time period nearest from current time
Attitude angle and it is corresponding on call time；
Curve fitting module 402, for according to the attitude angle and it is corresponding on call time and carry out curve fitting,
Obtain predicting the matched curve of future time instance；
Following attitude angle prediction module 403, for the time point for the future time instance predicted will to be needed to substitute into the plan
Curve is closed, the corresponding attitude angle of the future time instance is obtained；
Attitude angle reporting module 404, for reporting the corresponding attitude angle of the future time instance to head to show equipment
Layer application.
Curve fitting module 402 can include in the present embodiment：
Quadratic fit unit 4021, for the method using quadratic fit according to the attitude angle and corresponding
Call time and carry out curve fitting, obtain predicting the matched curve of future time instance.
The attitude angle of this in the present embodiment time-obtaining module 401 can include：
Three attitude angle acquisition modules 4011, three attitude angles nearest from current time for obtaining；
Three report time-obtaining module 4012, for obtain three attitude angles it is corresponding three on call time.
The quadratic fit of this in the present embodiment unit 4021 can include：
Formula subelement 0211 is substituted into, for substitution of being called time in three attitude angles and this three is secondary
Fitting formula, obtains three fitting coefficients in the quadratic fit formula, and the quadratic fit formula is as follows：
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be called time on this three,
A, B, C are three fitting coefficients；
Matched curve subelement 0212, the plan for obtaining predicting future time instance according to three fitting coefficients
Close curve.
The head pose of this in the present embodiment prediction meanss can include：
Whether sensor judge module 405, the sensor for judging the aobvious equipment of this generates sensor number
According to；
Trigger module 406, for when the judged result of the sensor judge module 405 is is, triggering should
Attitude angle time-obtaining module.
It is apparent to those skilled in the art that, it is for convenience and simplicity of description, above-mentioned to retouch
The specific work process for the system, apparatus, and unit stated, may be referred to the correspondence in preceding method embodiment
Process, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, device and
Method, can be realized by another way.For example, device embodiment described above is only to show
Meaning property, for example, the division of the unit, only a kind of division of logic function can when actually realizing
To there is other dividing mode, such as multiple units or component can combine or be desirably integrated into another
System, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be the INDIRECT COUPLING of device or unit by some interfaces
Or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, make
It can be for the part that unit is shown or may not be physical location, you can with positioned at a place,
Or can also be distributed on multiple NEs.Can select according to the actual needs part therein or
Person's whole units realize the purpose of this embodiment scheme.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit,
Can also be that unit is individually physically present, can also two or more units be integrated in a list
In member.Above-mentioned integrated unit can both be realized in the form of hardware, it would however also be possible to employ software function list
The form of member is realized.
If the integrated unit is realized using in the form of SFU software functional unit and is used as independent production marketing
Or in use, can be stored in a computer read/write memory medium.Understood based on such, this
Part that the technical scheme of invention substantially contributes to prior art in other words or the technical scheme
It can completely or partially be embodied in the form of software product, the computer software product is stored in one
In storage medium, including some instructions to cause a computer equipment (can be personal computer,
Server, or the network equipment etc.) perform all or part of step of each embodiment methods described of the invention
Suddenly.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD
Etc. it is various can be with the medium of store program codes.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；
Although the present invention is described in detail with reference to the foregoing embodiments, one of ordinary skill in the art should
Work as understanding：It can still modify to the technical scheme described in foregoing embodiments, or to it
Middle some technical characteristics carry out equivalent；And these modifications or replacement, do not make appropriate technical solution
Essence depart from various embodiments of the present invention technical scheme spirit and scope.
Claims (10)
1. a kind of head pose Forecasting Methodology, it is characterised in that including：
Obtain the attitude angle in the predetermined time period nearest from current time and called time on corresponding；
According to the attitude angle and it is corresponding on call time and carry out curve fitting, obtain predicting future time instance
Matched curve；
The time point for the future time instance predicted will be needed to substitute into the matched curve, the future time instance is obtained
Corresponding attitude angle；
The corresponding attitude angle of the future time instance is reported to show the upper layer application of equipment to head.
2. head pose Forecasting Methodology according to claim 1, it is characterised in that intended using secondary
The method of conjunction according to the attitude angle and it is corresponding on call time and carry out curve fitting, when obtaining predicting future
The matched curve at quarter.
3. head pose Forecasting Methodology according to claim 2, it is characterised in that obtain from current
Attitude angle in moment nearest predetermined time period and it is corresponding on call time including：
Obtain three attitude angles nearest from current time；
Obtain three attitude angles it is corresponding three on call time.
4. head pose Forecasting Methodology according to claim 3, it is characterised in that intended using secondary
The method of conjunction according to the attitude angle and it is corresponding on call time and carry out curve fitting, when obtaining predicting future
The matched curve at quarter, is specifically included：
By three attitude angles and it is described three on call time substitution quadratic fit formula, obtain described two
Three fitting coefficients in secondary fitting formula, the quadratic fit formula is as follows：
Q1=A*T1 2+B*T1+C；
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be given the correct time on described three
Between, A, B, C are three fitting coefficients；
Obtain predicting the matched curve of future time instance according to three fitting coefficients.
5. head pose Forecasting Methodology according to any one of claim 1 to 4, it is characterised in that
Report and also include after the corresponding attitude angle of the future time instance to upper layer application：
Judge whether the sensor of the aobvious equipment of the head generates sensing data, held again if so, then returning
The row attitude angle obtained in the predetermined time period nearest from current time and it is corresponding on call time
Step.
6. a kind of head pose prediction meanss, it is characterised in that including：
Attitude angle time-obtaining module, the appearance for obtaining in the predetermined time period nearest from current time
State angle and it is corresponding on call time；
Curve fitting module, for according to the attitude angle and it is corresponding on call time and carry out curve fitting,
Obtain predicting the matched curve of future time instance；
Following attitude angle prediction module, for the time point for the future time instance predicted will to be needed to substitute into described intend
Curve is closed, the corresponding attitude angle of the future time instance is obtained；
Attitude angle reporting module, for reporting the corresponding attitude angle of the future time instance to head to show equipment
Layer application.
7. head pose prediction meanss according to claim 6, it is characterised in that curve matching mould
Block includes：
Quadratic fit unit, for the method using quadratic fit to be according to the attitude angle and corresponding reports
Time carries out curve fitting, and obtains predicting the matched curve of future time instance.
8. head pose prediction meanss according to claim 7, it is characterised in that the attitude angle
Time-obtaining module includes：
Three attitude angle acquisition modules, three attitude angles nearest from current time for obtaining；
Three report time-obtaining module, for obtain three attitude angles it is corresponding three on call time.
9. head pose prediction meanss according to claim 8, it is characterised in that the secondary plan
Closing unit includes：
Substitute into formula subelement, for by three attitude angles and it is described three on call time substitution it is secondary
Fitting formula, obtains three fitting coefficients in the quadratic fit formula, the quadratic fit formula is such as
Under：
Q1=A*T1 2+B*T1+C；
Wherein, Q1、Q2、Q3For three attitude angles, T1、T2、T3To be given the correct time on described three
Between, A, B, C are three fitting coefficients；
Matched curve subelement, the fitting for obtaining predicting future time instance according to three fitting coefficients
Curve.
10. the head pose prediction meanss according to any one of claim 6 to 9, its feature exists
In the head pose prediction meanss include：
Whether sensor judge module, the sensor for judging the aobvious equipment of the head generates sensing data；
Trigger module, for when the judged result of the sensor judge module is is, triggering the appearance
State angle time-obtaining module.
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| CN109302602A (en) * | 2018-10-11 | 2019-02-01 | 广州土圭垚信息科技有限公司 | A kind of adaptive VR radio transmitting method based on viewing point prediction |
| CN109743626A (en) * | 2019-01-02 | 2019-05-10 | 京东方科技集团股份有限公司 | A kind of image display method, image processing method and relevant device |
| CN111307199A (en) * | 2019-12-05 | 2020-06-19 | 北京普源精电科技有限公司 | Electronic measuring instrument with prediction device and prediction method of electronic measuring instrument |
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| CN109302602A (en) * | 2018-10-11 | 2019-02-01 | 广州土圭垚信息科技有限公司 | A kind of adaptive VR radio transmitting method based on viewing point prediction |
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Application publication date: 20170718 |