CN107185245A - A kind of actual situation synchronous display method and system based on SLAM technologies - Google Patents
A kind of actual situation synchronous display method and system based on SLAM technologies Download PDFInfo
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- CN107185245A CN107185245A CN201710398380.2A CN201710398380A CN107185245A CN 107185245 A CN107185245 A CN 107185245A CN 201710398380 A CN201710398380 A CN 201710398380A CN 107185245 A CN107185245 A CN 107185245A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/80—Special adaptations for executing a specific game genre or game mode
- A63F13/822—Strategy games; Role-playing games
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/50—Controlling the output signals based on the game progress
- A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/60—Generating or modifying game content before or while executing the game program, e.g. authoring tools specially adapted for game development or game-integrated level editor
- A63F13/65—Generating or modifying game content before or while executing the game program, e.g. authoring tools specially adapted for game development or game-integrated level editor automatically by game devices or servers from real world data, e.g. measurement in live racing competition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
Abstract
The invention discloses a kind of actual situation synchronous display method and system based on SLAM technologies, method includes：Pass through corresponding first virtual scene of SLAM technique construction reality scenes；The physical dimension of default virtual scene is adjusted according to the physical dimension information of the first virtual scene；By the camera of the first client in multiple client and it is interior set sensor motion tracking carried out to the user of hand-held first client obtain the first information, correct the first information, obtain revised second information；Corresponding the 3rd information in the first virtual scene of second information is obtained by the positioning function of SLAM technologies；Judge that user is in the first virtual scene or in default virtual scene, according to the corresponding scene of judgment result displays according to the 3rd information；By each client of the 3rd synchronizing information into multiple client.The beneficial effects of the invention are as follows：Motion tracking and three-dimensional virtual scene modeling based on SLAM technologies, strengthen the interaction of player and dummy object in real world.
Description
Technical field
The present invention relates to virtual display technology field, more particularly to a kind of actual situation synchronous display method based on SLAM technologies
And system.
Background technology
At present, although can realize that many people are simultaneously online by data syn-chronization in terms of the interacting of people and virtual game environment
Game, but user plane pair can only be complete virtual gaming world and model, it is impossible to realize that user passes through in reality scene
Motion come reach multiplayer fight experience, it is impossible to using reality scene as scene of game, construct one virtually with reality
The scene of game for the seamless connection that scene is mutually echoed, greatly reduces the sense of reality of Consumer's Experience game.
The content of the invention
The invention provides a kind of actual situation synchronous display method and system based on SLAM technologies, prior art is solved
Technical problem.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of actual situation simultaneous display side based on SLAM technologies
Method, including：
By corresponding first virtual scene of SLAM technique construction reality scenes, first virtual scene includes multiple visitors
The corresponding multiple client dummy model in family end and multiple non-customer ends dummy model；
The physical dimension of default virtual scene is adjusted according to the physical dimension information of first virtual scene, so that described
Default virtual scene is seamlessly connected with the reality scene；
By the camera of the first client in multiple client and the interior sensor that sets to hand-held first client
User carries out motion tracking and obtains the first information, and the first information includes：Coordinate information and movable information, described first is believed
The contextual data for ceasing first virtual scene stored with first client is matched, and corrects the first information,
Obtain revised second information；
Second information is obtained by the positioning function of SLAM technologies corresponding the 3rd in first virtual scene
Information；
Judge that the user is in first virtual scene or in the default virtual field according to the 3rd information
In scape, according to the corresponding scene of judgment result displays；
By each client of the 3rd synchronizing information into the multiple client.
The beneficial effects of the invention are as follows：Three-dimensional virtual scene modeling is carried out by SLAM technologies, player can be accurately positioned out
Positional information in reality scene and by using the three-dimensional virtual scene built based on real world, by three-dimensional virtual scene
It is combined together with the game virtual scene that pre-sets, constructs a trip virtually with the real seamless connection mutually echoed
Play scene, strengthens player with dummy object in the interaction of real world, more enhances Consumer's Experience effect.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Preferably, specifically included according to the method for judgment result displays respective virtual scene：
If the user is in first virtual scene, the reality scene and first virtual scene are shown
In all dummy models in addition to the corresponding dummy model of first client, hide first virtual scene；
If the user is in the default virtual scene, the default virtual scene is shown and described first virtual
All dummy models in scene in addition to the corresponding dummy model of first client, hide first virtual scene.
Preferably, specifically included by the method for corresponding first virtual scene of SLAM technique construction reality scenes：
Reality scene is taken multiple scan and motion tracking, obtain the scenario parameters of the reality scene；
Repetition learning and amendment are carried out to the scenario parameters of the reality scene by SLAM technologies, the real field is built
Corresponding first virtual scene of scape.
Preferably, it is corresponding in first virtual scene by positioning function acquisition second information of SLAM technologies
In after the 3rd information, in addition to：
The motion road of all non-customer ends dummy model in first virtual scene is set according to the 3rd information
Footpath and behavior act.
Preferably, the movable information includes：Displacement information, motion velocity information and direction of motion information；Set in described
Sensor includes：Accelerometer, gyroscope and depth inductor.
A kind of actual situation synchronous display system based on SLAM technologies, including：
Module is built, for by corresponding first virtual scene of SLAM technique construction reality scenes, described first is virtual
Scene includes the corresponding multiple client dummy model of multiple client and multiple non-customer ends dummy model；
Adjusting module, the structure for adjusting default virtual scene according to the physical dimension information of first virtual scene
Size, so that the default virtual scene is seamlessly connected with the reality scene；
Correcting module, for by the camera of the first client in multiple client and the interior sensor that sets to hand-held described
The user of first client carries out motion tracking and obtains the first information, and the first information includes：Coordinate information and movable information,
The contextual data for first virtual scene that the first information and first client are stored is matched, and corrects institute
The first information is stated, revised second information is obtained；
Acquisition module, obtains second information corresponding empty described first for the positioning function by SLAM technologies
Intend the 3rd information in scene；
Display module, for judging that the user is in first virtual scene or in institute according to the 3rd information
State in default virtual scene, according to the corresponding scene of judgment result displays；
Synchronization module, for each client by the 3rd synchronizing information into the multiple client.
Preferably, the display module includes：
First display sub-module, if for the user in first virtual scene, showing the real field
All dummy models in scape and first virtual scene in addition to the corresponding dummy model of first client, hide institute
State the first virtual scene；
Second display sub-module, if for the user in the default virtual scene, showing the default void
Intend all dummy models in addition to the corresponding dummy model of first client in scene and first virtual scene, it is hidden
Hide first virtual scene.
Preferably, the structure module includes：
Submodule is scanned, for being taken multiple scan to reality scene and motion tracking, the field of the reality scene is obtained
Scape parameter；
Submodule is built, for carrying out repetition learning to the scenario parameters of the reality scene by SLAM technologies and repairing
Just, corresponding first virtual scene of the reality scene is built.
Preferably, the system also includes：
Setup module, for setting all non-customer ends in first virtual scene virtual according to the 3rd information
The motion path and behavior act of model.
Preferably, the movable information includes：Displacement information, motion velocity information and direction of motion information；Set in described
Sensor includes：Accelerometer, gyroscope and depth inductor.
Brief description of the drawings
Fig. 1 illustrates for a kind of flow of actual situation synchronous display method based on SLAM technologies provided in an embodiment of the present invention
Figure；
A kind of flow for actual situation synchronous display method based on SLAM technologies that Fig. 2 provides for another embodiment of the present invention is shown
It is intended to；
A kind of structure for actual situation synchronous display system based on SLAM technologies that Fig. 3 provides for another embodiment of the present invention is shown
It is intended to；
A kind of structure for actual situation synchronous display system based on SLAM technologies that Fig. 4 provides for another embodiment of the present invention is shown
It is intended to.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of actual situation synchronous display method based on SLAM technologies, including：
S1, by corresponding first virtual scene of SLAM technique construction reality scenes, the first virtual scene includes multiple visitors
The corresponding multiple client dummy model in family end and multiple non-customer ends dummy model；
S2, the physical dimension according to the default virtual scene of the physical dimension information of the first virtual scene adjustment, so that default
Virtual scene is seamlessly connected with reality scene；
S3, pass through the camera of the first client in multiple client and the interior use for setting sensor to hand-held first client
Family carries out motion tracking and obtains the first information, and the first information includes：Coordinate information and movable information, by the first information and the first visitor
The contextual data of first virtual scene of family end storage is matched, and is corrected the first information, is obtained revised second information；
S4, corresponding the 3rd information in the first virtual scene of the second information of positioning function acquisition by SLAM technologies；
S5, judge that according to the 3rd information user is in the first virtual scene or in default virtual scene, according to judgement
As a result corresponding scene is shown；
S6, each client by the 3rd synchronizing information into multiple client.
It should be understood that augmented reality (Augmented Reality, AR) technology, is a kind of by real world information and virtual
The integrated new technology of world information " seamless ", be script in the certain time spatial dimension of real world be difficult experience
Entity information (visual information, sound, taste and tactile etc.), by science and technology such as computers, is superimposed, by void again after analog simulation
The Information application of plan is perceived to real world by human sensory, so as to reach the sensory experience of exceeding reality.
Immediately positioning and map structuring (simultaneous localization and mapping, SLAM) technology, be
One kind is positioned at three-dimensional map constructing technology immediately.It to the location estimation in moving process and sensing data by carrying out certainly
Body is positioned, and combines the data of depth transducer, and integration modeling goes out the environmental map of three-dimensional.SLAM technologies and augmented reality
Combination some related applications, existing AR technologies can reach the coordinate information of stable fixation and recognition figure.But can not
The coordinate information of people is perceived, and SLAM technologies are by the three-dimensional modeling to real world and the motion tracking to people, can be more accurate
Orient positional information of the people in real world, these information operatings to the three-dimensional generation built based on reality scene
People's sensory experience of more exceeding reality can be given after in boundary.
Reality scene A is combined together with designed game virtual scenario B by network game engine, one is constructed
Individual scene of game virtually with the real seamless connection mutually echoed, and in virtual scene C built in client bottom and virtual scene B
Scene of game data, the size that same server has been also built-in virtual scene C and virtual scene B, the data such as coordinate information
Parameter.With SLAM technologies, carry out motion tracking by the camera and internal sensor of mobile end equipment and obtain depth to believe
Breath, object for appreciation is oriented in amendment after the data parameters got are matched with the characteristic of the virtual scene C built in client
Coordinate information and motion state of the family in reality scene A.
All players of server synchronization and the coordinate information and game state of non-player so that the client of player can be obtained
Positional information and game state of other players in reality scene are got, when other players are in reality scene, is played
The client of family will not show the virtual role of other players, but the true human image of other players is shown by camera,
Player can perceive the motion state of other players by true human image, when other players are when outside reality scene,
Whether again the client of player by judging other players within the visual field of its virtual role, to show the virtual angle of other players
Color and motion state；So as to realize in many people AR game to the virtual role and true human image of player in reality scene and virtual field
The display of scape and hiding seamless switching.
Specifically, specifically included according to the method for judgment result displays respective virtual scene：
If user is in the first virtual scene, the first client pair is removed in display reality scene and the first virtual scene
All dummy models outside the dummy model answered, hide the first virtual scene；
If user is in default virtual scene, the first client is removed in the default virtual scene of display and the first virtual scene
All dummy models outside corresponding dummy model are held, the first virtual scene is hidden.
Client goes out player in reality scene A by the location determination of multiplayer, or outside reality scene A, also
Be in virtual scene B, by player's client the coordinate information and game state real-time synchronization of player into game server,
Server is unified transmission and is synchronized in other clients, other clients can just get in real time other players coordinate information and
Game state, and perform corresponding logic realization AR multiplayers.Such as player A shoots, and player B is with regard to that can hear that player A is opened
The sound of rifle.Client by judge player in reality scene A or outside, to the reality scene A of seamless connection and virtual
The smooth switching of scenario B.When player is in reality scene A, what is mainly shown on game picture would is that mobile terminal is taken the photograph
Reality scene as accessed by head, when player is when outside reality scene A, what is mainly shown on game picture would is that
The virtual world of designed virtual game scene, such as Mars.
Specifically, as shown in Fig. 2 step S1 includes：
S11, reality scene is taken multiple scan and motion tracking, obtain the scenario parameters of reality scene；
S12, repetition learning and amendment carried out to the scenario parameters of reality scene by SLAM technologies, build reality scene pair
The first virtual scene answered.
Specifically, corresponding the 3rd letter in the first virtual scene of the second information is obtained by the positioning function of SLAM technologies
After breath, in addition to：
Motion path and the behavior of all non-customer ends dummy model in first virtual scene are set according to the 3rd information
Action.
Specifically, movable information includes：Displacement information, motion velocity information and direction of motion information；Inside set sensor bag
Include：Accelerometer, gyroscope and depth inductor.
As shown in figure 3, a kind of actual situation synchronous display system based on SLAM technologies, including：
Module 1 is built, for passing through corresponding first virtual scene of SLAM technique construction reality scenes, the first virtual scene
Including the corresponding multiple client dummy model of multiple client and multiple non-customer ends dummy model；
Adjusting module 2, the structure chi for adjusting default virtual scene according to the physical dimension information of the first virtual scene
It is very little, so that default virtual scene is seamlessly connected with reality scene；
Correcting module 3, for by the camera of the first client in multiple client and the interior sensor that sets to hand-held
The user of one client carries out motion tracking and obtains the first information, and the first information includes：Coordinate information and movable information, by first
The contextual data for the first virtual scene that information is stored with the first client is matched, and is corrected the first information, is obtained after amendment
The second information；
Acquisition module 4, obtains the second information corresponding in the first virtual scene for the positioning function by SLAM technologies
In the 3rd information；
Display module 5, for judging that user is in the first virtual scene or in default virtual scene according to the 3rd information
It is interior, according to the corresponding scene of judgment result displays；
Synchronization module 6, for each client by the 3rd synchronizing information into multiple client.
Specifically, as shown in figure 4, display module 5 includes：
First display sub-module 51, if for user in the first virtual scene, display reality scene and the first void
Intend all dummy models in addition to the corresponding dummy model of the first client in scene, hide the first virtual scene；
Second display sub-module 52, if for user in default virtual scene, the default virtual scene of display and the
All dummy models in one virtual scene in addition to the corresponding dummy model of the first client, hide the first virtual scene.
Specifically, as shown in figure 4, building module 1 includes：
Submodule 11 is scanned, for being taken multiple scan to reality scene and motion tracking, the scene of reality scene is obtained
Parameter；
Submodule 12 is built, for carrying out repetition learning and amendment to the scenario parameters of reality scene by SLAM technologies,
Build corresponding first virtual scene of reality scene.
Specifically, as shown in figure 4, system also includes：
Setup module 7, for setting all non-customer ends dummy model in the first virtual scene according to the 3rd information
Motion path and behavior act.
Specifically, movable information includes：Displacement information, motion velocity information and direction of motion information；Inside set sensor bag
Include：Accelerometer, gyroscope and depth inductor.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of actual situation synchronous display method based on SLAM technologies, it is characterised in that including：
By corresponding first virtual scene of SLAM technique construction reality scenes, first virtual scene includes multiple client
Corresponding multiple client dummy model and multiple non-customer ends dummy model；
The physical dimension of default virtual scene is adjusted according to the physical dimension information of first virtual scene, so that described default
Virtual scene is seamlessly connected with the reality scene；
Pass through the camera of the first client in multiple client and the interior user for setting sensor to hand-held first client
Carry out motion tracking and obtain the first information, the first information includes：Coordinate information and movable information, by the first information with
The contextual data of first virtual scene of the first client storage is matched, and is corrected the first information, is obtained
Revised second information；
Corresponding the 3rd information in first virtual scene of second information is obtained by the positioning function of SLAM technologies；
According to the 3rd information judge the user be in first virtual scene or in the default virtual scene,
According to the corresponding scene of judgment result displays；
By each client of the 3rd synchronizing information into the multiple client.
2. a kind of actual situation synchronous display method based on SLAM technologies according to claim 1, it is characterised in that according to sentencing
Disconnected result shows that the method for respective virtual scene is specifically included：
If the user is in first virtual scene, shows in the reality scene and first virtual scene and remove
All dummy models outside the corresponding dummy model of first client, hide first virtual scene；
If the user is in the default virtual scene, the default virtual scene and first virtual scene are shown
In all dummy models in addition to the corresponding dummy model of first client, hide first virtual scene.
3. a kind of actual situation synchronous display method based on SLAM technologies according to claim 2, it is characterised in that pass through
The method of corresponding first virtual scene of SLAM technique construction reality scenes is specifically included：
Reality scene is taken multiple scan and motion tracking, obtain the scenario parameters of the reality scene；
Repetition learning and amendment are carried out to the scenario parameters of the reality scene by SLAM technologies, the reality scene pair is built
The first virtual scene answered.
4. a kind of actual situation synchronous display method based on SLAM technologies according to claim 3, it is characterised in that pass through
Positioning function acquisition second information of SLAM technologies is corresponding after the 3rd information, also to wrap in first virtual scene
Include：
According to the 3rd information set all non-customer ends dummy model in first virtual scene motion path and
Behavior act.
5. a kind of actual situation synchronous display method based on SLAM technologies according to claim any one of 1-4, its feature exists
In the movable information includes：Displacement information, motion velocity information and direction of motion information；Setting sensor in described includes：Plus
Speedometer, gyroscope and depth inductor.
6. a kind of actual situation synchronous display system based on SLAM technologies, it is characterised in that including：
Module is built, for passing through corresponding first virtual scene of SLAM technique construction reality scenes, first virtual scene
Including the corresponding multiple client dummy model of multiple client and multiple non-customer ends dummy model；
Adjusting module, the structure chi for adjusting default virtual scene according to the physical dimension information of first virtual scene
It is very little, so that the default virtual scene is seamlessly connected with the reality scene；
Correcting module, for by the camera of the first client in multiple client and the interior sensor that sets to hand-held described first
The user of client carries out motion tracking and obtains the first information, and the first information includes：Coordinate information and movable information, by institute
The contextual data for stating first virtual scene that the first information is stored with first client is matched, and corrects described the
One information, obtains revised second information；
Acquisition module, obtains second information corresponding in first virtual field for the positioning function by SLAM technologies
3rd information in scape；
Display module, for judging that the user is in first virtual scene or described pre- according to the 3rd information
If in virtual scene, according to the corresponding scene of judgment result displays；
Synchronization module, for each client by the 3rd synchronizing information into the multiple client.
7. a kind of actual situation synchronous display system based on SLAM technologies according to claim 6, it is characterised in that described aobvious
Show that module includes：
First display sub-module, if for the user in first virtual scene, show the reality scene and
All dummy models in first virtual scene in addition to the corresponding dummy model of first client, hide described the
One virtual scene；
Second display sub-module, if for the user in the default virtual scene, showing the default virtual field
All dummy models in scape and first virtual scene in addition to the corresponding dummy model of first client, hide institute
State the first virtual scene.
8. a kind of actual situation synchronous display system based on SLAM technologies according to claim 7, it is characterised in that the structure
Modeling block includes：
Submodule is scanned, for being taken multiple scan to reality scene and motion tracking, the scene ginseng of the reality scene is obtained
Number；
Submodule is built, for carrying out repetition learning and amendment, structure to the scenario parameters of the reality scene by SLAM technologies
Build corresponding first virtual scene of the reality scene.
9. a kind of actual situation synchronous display system based on SLAM technologies according to claim 8, it is characterised in that the system
System also includes：
Setup module, for setting all non-customer ends dummy model in first virtual scene according to the 3rd information
Motion path and behavior act.
10. a kind of actual situation synchronous display system based on SLAM technologies according to claim any one of 6-9, its feature exists
In the movable information includes：Displacement information, motion velocity information and direction of motion information；Setting sensor in described includes：Plus
Speedometer, gyroscope and depth inductor.
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