CN107219963A - Virtual reality handle pattern space localization method and system - Google Patents
Virtual reality handle pattern space localization method and system Download PDFInfo
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- CN107219963A CN107219963A CN201710539118.5A CN201710539118A CN107219963A CN 107219963 A CN107219963 A CN 107219963A CN 201710539118 A CN201710539118 A CN 201710539118A CN 107219963 A CN107219963 A CN 107219963A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004807 localization Effects 0.000 title claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Classifications
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
-
- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Processing Or Creating Images (AREA)
Abstract
The present invention provides a kind of virtual reality handle pattern space localization method, comprises the following steps：Confirm that the infrared spotlight on position fixing handle all extinguishes, if the infrared spotlight does not extinguish all, extinguish the infrared spotlight in illuminating state；The infrared spotlight flash of light of first flash of light set on the position fixing handle, position relationship of the infrared spotlight that processing unit is lighted according to the hot spot point record on image on image；The position fixing handle orders the related infrared spotlight to glisten successively according to flash sequence set in advance, and the processing unit records the position data of corresponding shining point；The processing unit obtains the space coordinate of the position fixing handle according to the position data measured；When the space coordinate for the position fixing handle that the processing unit is obtained according to the position data measured is more than or equal to two, the processing unit contrast gyroscope judges space orientation coordinate.
Description
Technical field
The present invention relates to field of virtual reality, more specifically to a kind of virtual reality handle pattern space positioning side
Method and system.
Background technology
Space orientation is typically positioned and calculated using the pattern of optics or ultrasonic wave, is treated by setting up model to derive
Survey the locus of object.General virtual reality space alignment system by the way of infrared point and light sensation camera are received come
The locus of object is determined, infrared point is in the front end of nearly eye display device, and in positioning, light sensation camera catches infrared point
Position and then the physical coordinates for extrapolating user.If it is known that at least three light sources and the corresponding relation of projection, recall PnP
Algorithm just can obtain the space orientation position of the helmet, and realize the key of this process and be just to determine the corresponding light source ID of projection
(Identity, sequence number).Current virtual reality space is usually present correspondence not when being positioned at determination projection corresponding light source ID
Accurate and correspondence overlong time shortcoming, have impact on the accuracy and efficiency of positioning.
The content of the invention
In order to solve the defect that current virtual realistic space localization method accuracy and efficiency is not high, the present invention provides a kind of
The higher virtual reality handle pattern space localization method of accuracy and efficiency and system.
The technical solution adopted for the present invention to solve the technical problems is：A kind of virtual reality handle pattern space is provided to determine
Position method, comprises the following steps：
S1：Confirm that the infrared spotlight on position fixing handle all extinguishes, if the infrared spotlight does not extinguish all, extinguish
The infrared spotlight in illuminating state；
S2：The infrared spotlight flash of light of first flash of light set on the position fixing handle, processing unit is according to figure
As upper hot spot point records position relationship of the infrared spotlight lighted on image；
S3：The position fixing handle orders the related infrared spotlight to glisten successively according to flash sequence set in advance,
The processing unit records the position data of corresponding shining point；
S4：The processing unit obtains the space coordinate of the position fixing handle according to the position data measured；
S5：The space coordinate of the position fixing handle obtained according to the position data measured when the processing unit is more than etc.
When two, the processing unit contrast gyroscope judges space orientation coordinate.
Preferably, the position fixing handle is being stored before positioning starts in the processing unit first in a variety of space bits
When putting on corresponding picture luminous point positional information.
Preferably, the positional information of luminous point passes through meter on corresponding picture when the position fixing handle is in a variety of locus
Draw.
Preferably, the processing unit compares the position data measured and the position data stored in database, looks for
Go out the minimum position data of variance, the corresponding space coordinate of the position data is the space coordinate of the position fixing handle.
Preferably, if the infrared spotlight described in position fixing process is blocked extremely, S1 is re-executed.
Preferably, the exception, which is blocked, refers in located space that other objects are to the infrared point in addition to the position fixing handle
Light source causes to block.
Preferably, when simultaneously No. zero infrared point and an infrared point are recognized or while recognized in one group of data
Not then, the processing unit, which is assert, there occurs abnormal block in identification process.
A kind of alignment system, including position fixing handle, infrared camera and processing unit, the infrared camera and institute are provided
Processing unit electric connection is stated, the position fixing handle includes positioning panel, be distributed with the positioning panel multiple infrared
Spot light.
Preferably, the infrared spotlight include No. zero infrared point, infrared point, No. two infrared points, No. three infrared points,
No. four infrared points, No. five infrared points, No. six infrared points, No. seven infrared points, No. eight infrared points, No. nine infrared points, wherein, described two
Number infrared point, No. three infrared points, No. four infrared points, No. five infrared points, No. six infrared points, described No. seven
Infrared point, No. eight infrared points, No. nine infrared points are arranged in a curved surface straight line.
Preferably, No. zero infrared point and an infrared point are symmetrical relative to the axis of the position fixing handle,
No. zero infrared point and an infrared point be not in No. two infrared points, No. three infrared points, described No. four infrared
Point, No. five infrared points, No. six infrared points, No. seven infrared points, No. eight infrared points, No. nine infrared points
On the curved surface straight line being arranged in.
Compared with prior art, the present invention make successively infrared spotlight flash of light coordinate data comparison by way of there is provided
A kind of novel virtual reality handle pattern space localization method.Lighted successively according to preset order by infrared spotlight
Mode, solves ID identification problems relatively difficult in PnP algorithms, and the corresponding mode of data image has with traditional PnP algorithms
There is provided a kind of new localization method for difference substantially.Gyroscope auxiliary positioning can improve the accuracy rate of positioning, prevent sky
Between the data error that symmetrically causes.The corresponding image information in memory space position helps to recognize position rapidly in processing unit
Put, improve the efficiency of identification.The corresponding image information in locus can be very convenient by calculating, and also improves
Sterically defined adaptability.The Data Position minimum by finding out variance, can be conveniently by simply calculating and survey
Measure the closest point of data, the accuracy rate of the measurement of raising.When infrared spotlight is blocked extremely, re-executing positioning can
It can facilitate processing unit judgement is abnormal to block there is provided the abnormal method blocked of judgement to reduce erroneous judgement, improve positioning precision.If
10 infrared spotlights are put, wherein 8 infrared spotlights, which are on a curved surface straight line, is conducive to measurement and positioning handle in space
Angle, make angular surveying more accurate.No. zero infrared point and an infrared point are symmetrical arranged, and can assist to judge abnormal block
Situation, it is ensured that the degree of accuracy of measurement.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is virtual reality handle pattern space localization method principle schematic of the present invention；
Fig. 2 is virtual reality handle infrared point schematic layout pattern of the present invention；
Fig. 3 is the infrared dot image that infrared camera is shot.
Embodiment
In order to solve the defect that current virtual realistic space localization method accuracy and efficiency is not high, the present invention provides a kind of
The higher virtual reality handle pattern space localization method of accuracy and efficiency and system.
In order to which technical characteristic, purpose and effect to the present invention are more clearly understood from, now compare accompanying drawing and describe in detail
The embodiment of the present invention.
Refer to Fig. 1-Fig. 2.Virtual reality handle pattern space localization method of the present invention includes position fixing handle 10, infrared
Camera 20 and processing unit 30, infrared camera 20 are electrically connected with processing unit 30.Position fixing handle 10 includes positioning panel
40, be distributed with multiple infrared spotlights 500 in the positioning panel 40 of position fixing handle 10, including No. zero infrared point 50, No. one
Infrared point 51, No. two infrared points 52, No. three infrared points 53, No. four infrared points 54, No. five infrared points 55, No. six infrared points 56, seven
Number infrared point 57, No. eight infrared points 58, No. nine infrared points 59, No. zero infrared point 50, infrared point 51, No. two infrared points 52,
No. three infrared points 53, No. four infrared points 54, No. five infrared points 55, No. six infrared points 56, No. seven infrared points 57, No. eight infrared points
58th, No. nine infrared points 59 are arranged in positioning panel 40, wherein, No. two infrared points 52, No. three infrared points 53, No. four infrared points
54th, No. five infrared points 55, No. six infrared points 56, No. seven infrared points 57, No. eight infrared points 58, No. nine infrared points 59 are arranged in one
Curved surface straight line, No. zero infrared point 50 and an infrared point 51 are symmetrical relative to the axis of position fixing handle 10 and not at other 8
On the curved surface straight line of the formation of infrared spotlight 500.Infrared spotlight 500 on position fixing handle 10 is by infrared camera 20 in figure
As upper formation hot spot, due to the intrinsic property of camera perspective transform, infrared spotlight 500 on the same straight line shape on image
Into hot spot still on the same line.The degree of accuracy of angular surveying can be improved by so setting, and first, be appeared on image
The ID of infrared spotlight 500 can just lock a less angular range, secondly, the infrared spotlight on same straight line
Position relationship between 500 and No. zero infrared point 50 or an infrared point 51 may further determine that the space appearance of position fixing handle 10
State and angle.
Fig. 3 shows the infrared dot image that infrared camera is shot, when the positioning panel 40 of position fixing handle 10 is towards infrared
During camera 20, due to the bandpass characteristics of infrared camera 20, only infrared spotlight 500 can form hot spot throwing on image
Shadow, remainder all forms uniform background image.Infrared spotlight 500 on position fixing handle 10 can form light on image
Spot.
Before positioning starts, when we store position fixing handle 10 in a variety of locus in the database of processing unit 30
The positional information of luminous point on corresponding picture, these positional informations can be by calculating, and such as conventional sets up space three-dimensional
The method that coordinate pair answers calculating location information.These positional informations are also to determine the Back ground Information of the position of position fixing handle 10.Storage
Information it is more, the order of accuarcy of positioning is higher.
When position fixing process starts, position fixing handle 10 is in original state, confirms the infrared spotlight on position fixing handle 10
500 all extinguish, if the infrared spotlight 500 does not extinguish all, extinguish the infrared spotlight in illuminating state
500.Position fixing handle 10 orders related infrared spotlight 500 to glisten successively according to flash sequence set in advance, and it is glistened twice
Between the time it is as short as possible, to improve the efficiency of positioning.First, it is No. zero infrared that first set on position fixing handle 10 is glistened
Point 50 is glistened, and position of the infrared spotlight 500 that processing unit 30 is lighted according to the hot spot point record on image on image is closed
System.Extinguish after No. zero infrared spotlight 50 flash of light lighted, second No. one glistened that position fixing handle 10 lights setting is red
Exterior point 51, position relationship of the infrared point 51 that processing unit 30 is lighted according to the hot spot point record on image on image；
Position fixing handle 10 orders related infrared spotlight 500 to glisten successively according to flash sequence set in advance, corresponding, in processing
The position data of a series of point corresponding with infrared spotlight 500 that is glistening is recorded on the image that unit 30 is recorded.Place
Manage position data of the unit 30 by this group of position data with storing in database to compare, find out the minimum position data of variance,
The corresponding space coordinate of the position data is the space coordinate of position fixing handle 10.Due to spatial symmetry, the algorithm meter is utilized
The angle coordinate calculated may have multiple values, if this occurs, and processing unit 30 will calculate obtained data and positioning
The gyroscope (not shown) data that handle 10 is carried are contrasted, and take the data of the result calculated closest to gyroscope as fixed
The final data of position, the corresponding space coordinate of the position data is the space coordinate of position fixing handle 10, is now completed once
Space orientation process.Because flash time is extremely short, therefore all glistened in all infrared spotlights 500 and processed unit 30 is remembered
During record, the displacement that hand-held position fixing handle 10 occurs can be ignored, and it is atomic small that the period inner handle occurs
Influence of the displacement to final positioning result can be ignored.After the completion of primary space position fixing process, processing unit 30
Judge time for starting of space orientation next time according to its location frequency and re-execute position fixing process.
During infrared spotlight 500 is lighted, blocked, that is, positioned empty extremely in the event of infrared spotlight 500
Between in when other objects cause to block to infrared spotlight 500 in addition to position fixing handle 10, it is necessary to re-execute position fixing process.Judge
Exception is blocked and directly can judged by the data of infrared spotlight 500, i.e., when No. zero infrared point 50 and an infrared point
51 are recognized or while recognize not then simultaneously in one group of data, processing unit 30 can determine whether to there occurs it is abnormal block,
Position fixing process next time is directly carried out, this position fixing process, which calls off, does not provide any position data.
Compared with prior art, the present invention is carried by way of making the flash of light of infrared spotlight 500 successively and coordinating data comparison
A kind of novel virtual reality handle pattern space localization method is supplied.By infrared spotlight 500 successively according to preset order
The mode lighted, solves ID identification problems relatively difficult in PnP algorithms, the corresponding mode of data image and traditional PnP
There is provided a kind of new localization method for the difference that algorithm has substantially.Gyroscope auxiliary positioning can improve the accuracy rate of positioning,
Prevent the data error that space symmetr is caused.The corresponding image information in memory space position contributes to rapidly in processing unit 30
Position is recognized, the efficiency of identification is improved.The corresponding image information in locus can be very convenient by calculating,
Improve sterically defined adaptability.The Data Position minimum by finding out variance, can be conveniently by simply calculating
Go out the point closest with measurement data, the accuracy rate of the measurement of raising.When infrared spotlight 500 is blocked extremely, again
Execution positioning can reduce erroneous judgement can facilitate processing unit 30 to judge that exception is blocked there is provided the abnormal method blocked of judgement, carry
High position precision.10 infrared spotlights 500 are set, are conducive to surveying wherein 8 infrared spotlights are on a curved surface straight line
Position fixing handle 10 is measured in the angle in space, makes angular surveying more accurate.No. zero infrared point 50 and an infrared point 51 are symmetrically set
Put, can assist to judge abnormal circumstance of occlusion, it is ensured that the degree of accuracy of measurement.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of virtual reality handle pattern space localization method, it is characterised in that comprise the following steps：
S1：Confirm that the infrared spotlight on position fixing handle all extinguishes, if the infrared spotlight does not extinguish all, extinguishing is in
The infrared spotlight of illuminating state；
S2：The infrared spotlight flash of light of first flash of light set on the position fixing handle, processing unit is according on image
Position relationship of the infrared spotlight lighted of hot spot point record on image；
S3：The position fixing handle orders the related infrared spotlight to glisten successively according to flash sequence set in advance, described
Processing unit records the position data of corresponding shining point；
S4：The processing unit obtains the space coordinate of the position fixing handle according to the position data measured；
S5：When the space coordinate for the position fixing handle that the processing unit is obtained according to the position data measured is more than or equal to two
When individual, the processing unit contrast gyroscope judges space orientation coordinate.
2. virtual reality handle pattern space localization method according to claim 1, it is characterised in that before positioning starts
The position of luminous point on corresponding picture when the position fixing handle is in a variety of locus is stored in the processing unit first
Information.
3. virtual reality handle pattern space localization method according to claim 2, it is characterised in that the position fixing handle
During in a variety of locus on corresponding picture the positional information of luminous point by calculating.
4. virtual reality handle pattern space localization method according to claim 3, it is characterised in that the processing unit
The position data measured and the position data stored in database are compared, the minimum position data of variance, the position is found out
The corresponding space coordinate of data is the space coordinate of the position fixing handle.
5. virtual reality handle pattern space localization method according to claim 4, it is characterised in that if positioned
Infrared spotlight described in journey is blocked extremely, re-executes S1.
6. virtual reality handle pattern space localization method according to claim 5, it is characterised in that the exception is blocked
Refer to that other objects cause to block to the infrared spotlight in addition to the position fixing handle in located space.
7. virtual reality handle pattern space localization method according to claim 6, it is characterised in that when described No. zero it is red
Exterior point and an infrared point are recognized or while recognized not then, the processing unit identification identification simultaneously in one group of data
During there occurs abnormal block.
8. the alignment system that a kind of virtual reality handle pattern space localization method according to claim 1 is positioned,
It is characterised in that it includes position fixing handle, infrared camera and processing unit, the infrared camera and the processing unit are electrical
Connection, the position fixing handle includes positioning panel, and multiple infrared spotlights are distributed with the positioning panel.
9. alignment system according to claim 8, it is characterised in that the infrared spotlight includes No. zero infrared point, one
Number infrared point, No. two infrared points, No. three infrared points, No. four infrared points, No. five infrared points, No. six infrared points, No. seven infrared points, eight
Number infrared point, No. nine infrared points, wherein, No. two infrared points, No. three infrared points, No. four infrared points, described five
Number infrared point, No. six infrared points, No. seven infrared points, No. eight infrared points, No. nine infrared points are arranged in one
Bar curved surface straight line.
10. alignment system according to claim 9, it is characterised in that No. zero infrared point and an infrared point
Axis relative to the position fixing handle is symmetrical, and No. zero infrared point and an infrared point be not infrared at described No. two
It is point, No. three infrared points, No. four infrared points, No. five infrared points, No. six infrared points, described No. seven infrared
On the curved surface straight line that point, No. eight infrared points, No. nine infrared points are arranged in.
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| CN201710539118.5A CN107219963A (en) | 2017-07-04 | 2017-07-04 | Virtual reality handle pattern space localization method and system |
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| CN201710539118.5A Pending CN107219963A (en) | 2017-07-04 | 2017-07-04 | Virtual reality handle pattern space localization method and system |
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| CN108414195A (en) * | 2018-01-17 | 2018-08-17 | 深圳市绚视科技有限公司 | Detection method, device, system and the storage device of light source emitter to be measured |
| CN111427452A (en) * | 2020-03-27 | 2020-07-17 | 海信视像科技股份有限公司 | Controller tracking method and VR system |
| CN112451962A (en) * | 2020-11-09 | 2021-03-09 | 青岛小鸟看看科技有限公司 | Handle control tracker |
| CN113739803A (en) * | 2021-08-30 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Indoor and underground space positioning method based on infrared datum point |
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