CN107390953A - Virtual reality handle space localization method - Google Patents
Virtual reality handle space localization method Download PDFInfo
- Publication number
- CN107390953A CN107390953A CN201710539600.9A CN201710539600A CN107390953A CN 107390953 A CN107390953 A CN 107390953A CN 201710539600 A CN201710539600 A CN 201710539600A CN 107390953 A CN107390953 A CN 107390953A
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- position fixing
- handle
- processing unit
- localization method
- virtual reality
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000004807 localization Effects 0.000 title claims abstract description 25
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity 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)
- Image Processing (AREA)
Abstract
The present invention provides a kind of virtual reality handle 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 corresponding, the processing unit records the position data of corresponding shining point；The processing unit obtains the space coordinates of the position fixing handle according to the position data measured.Compared with prior art, the present invention by way of making infrared spotlight flash of light coordinate data comparison successively, there is provided a kind of novel virtual reality handle space localization method.
Description
Technical field
The present invention relates to field of virtual reality, more specifically to a kind of virtual reality handle space localization method.
Background technology
Space orientation is typically positioned and calculated using the pattern of optics or ultrasonic wave, is treated by establishing model to derive
Survey the locus of object.In general virtual reality space alignment system by the way of infrared point and light sensation camera receive come
The locus of object is determined, infrared point is in the front end of nearly eye display device, in positioning, light sensation camera seizure 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, realize that one of method of this process is to determine light source ID corresponding to projection
(Identity, sequence number).Current virtual reality space is usually present when being positioned at determination projection corresponding light source ID and corresponded to not
The shortcomings that accurate and corresponding overlong time, it have impact on the accuracy and efficiency of positioning.
The content of the invention
In order to solve current virtual realistic space localization method positioning accuracy and it is inefficient the defects of, the present invention provide
A kind of positioning accuracy and the higher virtual reality handle space localization method of efficiency.
The technical solution adopted for the present invention to solve the technical problems is：A kind of virtual reality handle space positioning side is provided
Method, comprise 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,
Corresponding, the processing unit records the position data of corresponding shining point；
S4：The processing unit obtains the space coordinates of the position fixing handle according to the position data measured.
Preferably, a variety of space bits are in storing the position fixing handle before positioning starts in the processing unit first
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, space coordinates corresponding to the position data is the space coordinates 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 blocks in specified bit space in addition to the position fixing handle other objects to the infrared point light
Cause to block in source.
Preferably, when the processing unit, to recognize two axis relative to the position fixing handle symmetrical described red
After outer spot light is not all identified to, the processing unit is assert in identification process to be blocked there occurs abnormal.
Preferably, if in the higher position fixing process of location frequency, a certain group of data bit in several groups of adjacent data
Put has bigger difference with the data of other groups, and the processing unit judges that this group of data block caused error information to be abnormal.
Compared with prior art, the present invention by way of making infrared spotlight flash of light coordinate data comparison successively, there is provided
A kind of novel virtual reality handle space localization method.The side lighted successively according to preset order by infrared spotlight
Formula, solves ID identification problems relatively difficult in PnP algorithms, and mode corresponding to data image has this with traditional PnP algorithms
A kind of difference in matter, there is provided new localization method.The image information of memory space position correspondence helps in processing unit
In identifying position rapidly, the efficiency of identification is improved.Image information corresponding to locus can be very square by being calculated
Just, sterically defined adaptability is also improved.The Data Position minimum by finding out variance, can be conveniently by simple meter
Calculation draws the point closest with measurement data, the accuracy rate of the measurement of raising.When infrared spotlight is blocked extremely, again
Erroneous judgement can be reduced by performing positioning, and two kinds of methods for judging to block extremely can facilitate processing unit to judge that exception is blocked, improve
Positioning precision.
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 space localization method virtual reality handle schematic diagram of the present invention；
Fig. 2 is the infrared dot image of infrared camera shooting.
Embodiment
In order to solve current virtual realistic space localization method positioning accuracy and it is inefficient the defects of, the present invention provide
A kind of positioning accuracy and the higher virtual reality handle space localization method of efficiency.
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe in detail
The embodiment of the present invention.
Fig. 1 shows the schematic diagram of virtual reality handle space localization method of the present invention.Virtual reality handle of the present invention is empty
Between localization method include position fixing handle 10, infrared camera 20 and processing unit 30, infrared camera 20 and the electricity of processing unit 30
Property connection.Position fixing handle 10 includes light source panel 11, and multiple infrared points is distributed with the light source panel 11 of position fixing handle 10
Light source 13, multiple infrared spotlights 13 can be lighted or closed as needed.We take infrared spotlight in the present embodiment
13 quantity is 7.
Fig. 2 shows the infrared dot image that infrared camera 20 is shot, when the light source panel 11 of position fixing handle 10 is towards red
During outer camera 20, due to the bandpass characteristics of infrared camera 20, only infrared spotlight 13 can form hot spot throwing on image
Shadow, remainder all form uniform background image.Infrared spotlight 13 on position fixing handle 10 can form light on image
Spot.
Before positioning starts, when we store position fixing handle 10 in the database of processing unit 30 and are in a variety of locus
The positional information of luminous point on corresponding picture, these positional informations can be by being calculated, and such as conventional establishes 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
13 all extinguish, if the infrared spotlight 13 does not extinguish all, extinguish the infrared spotlight 13 in illuminating state.It is fixed
Position handle 10 orders related infrared spotlight 13 to glisten successively according to flash sequence set in advance, and the time uses up between flash of light twice
May be short, to improve the efficiency of positioning.First, the infrared spotlight 13 of first flash of light set on position fixing handle 10 dodges
Light, position relationship of the infrared spotlight 13 that processing unit 30 is lighted according to the hot spot point record on image on image.Light
Infrared spotlight 13 glisten after extinguish, position fixing handle 10 lights the infrared spotlight 13 of second of setting flash of light, processing
Position relationship of the infrared spotlight 13 that unit 30 is lighted according to the hot spot point record on image on image；Position fixing handle 10 is pressed
Related infrared spotlight 13 is ordered to glisten successively according to flash sequence set in advance, it is corresponding, recorded in processing unit 30
The position data of a series of point corresponding with infrared spotlight 13 that is glistening is recorded on image.Processing unit 30 is by the group
Position data compares with the position data stored in database, finds out the minimum position data of variance, and the position data is corresponding
Space coordinates be position fixing handle 10 space coordinates, now i.e. complete primary space position fixing process.Due to flash time pole
It is short, therefore during 7 infrared spotlights 13 all glisten and processed unit 30 records, hand-held position fixing handle 10 occurs
Displacement can be ignored, influence of the atomic small displacement to final positioning result that the period inner handle occurs can be with
Ignore.After the completion of primary space position fixing process, processing unit 30 judges space orientation next time according to its location frequency
The time of beginning simultaneously re-executes position fixing process.
During infrared spotlight 13 is lighted, blocked extremely in the event of infrared spotlight 13, i.e. located space
In when other objects cause to block to infrared spotlight 13 in addition to position fixing handle 10, it is necessary to re-execute position fixing process.Judge different
The method often blocked has two kinds, and the first is directly to be judged by the data of infrared spotlight 13, i.e., relative to positioning hand
Symmetrical two infrared spotlights 13 in axis of handle 10 can not be positioned handle 10 simultaneously and block, when processing unit 30 recognizes
After the two infrared spotlights 13 are not all identified to, processing unit 30 can determine whether to block there occurs abnormal, directly carry out
Position fixing process next time, this position fixing process, which calls off, does not provide any position data.Second method is by right
Than front and rear data, such as in the higher position fixing process of location frequency, in several groups of adjacent data a certain group of Data Position and its
The data that he organizes have bigger difference, and processing unit 30 can determine whether that the data block caused error information to be abnormal, and processing is single
Member 30 directly deletes the data, and carries out position fixing process next time.
Compared with prior art, the present invention is carried by way of the flash of light of infrared spotlight 13 is coordinated data comparison successively
A kind of novel virtual reality handle space localization method is supplied.Lighted successively according to preset order by infrared spotlight 13
Mode, solves ID identification problems relatively difficult in PnP algorithms, and mode corresponding to data image has with traditional PnP algorithms
A kind of difference substantially, there is provided new localization method.The image information of memory space position correspondence in processing unit 30
Help to identify position rapidly, improve the efficiency of identification.Image information corresponding to locus can by being calculated, ten
It is convenient to divide, and also improves sterically defined adaptability.The Data Position minimum by finding out variance, can be conveniently by simple
The point closest with measurement data, the accuracy rate of the measurement of raising is calculated.When infrared spotlight 13 is blocked extremely
When, erroneous judgement can be reduced by re-executing positioning, and two kinds of methods for judging to block extremely can facilitate processing unit 30 to judge exception
Block, improve positioning precision.
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 (8)
1. a kind of virtual reality handle space localization method, it is characterised in that single including position fixing handle, infrared camera and processing
Member, the infrared camera are electrically connected with the processing unit, and localization 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, 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 coordinates of the position fixing handle according to the position data measured.
2. virtual reality handle space localization method according to claim 1, it is characterised in that before positioning starts first
The positional information of luminous point on corresponding picture when the position fixing handle is in a variety of locus is stored in the processing unit.
3. virtual reality handle space localization method according to claim 2, it is characterised in that the position fixing handle is in
During a variety of locus on corresponding picture the positional information of luminous point by being calculated.
4. virtual reality handle space localization method according to claim 3, it is characterised in that the processing unit will be surveyed
The position data stored in the position data and database that obtain compares, and finds out the minimum position data of variance, the position data
Corresponding space coordinates is the space coordinates of the position fixing handle.
5. virtual reality handle space localization method according to claim 4, it is characterised in that if in position fixing process
The infrared spotlight is blocked extremely, re-executes S1.
6. virtual reality handle space localization method according to claim 5, it is characterised in that the exception, which is blocked, to be referred to
Other objects cause to block to the infrared spotlight in addition to the position fixing handle in located space.
7. virtual reality handle space localization method according to claim 6, it is characterised in that when the processing unit is known
After being clipped to two axis relative to the position fixing handle symmetrically the infrared spotlight not all being identified to, the place
Reason unit is assert in identification process to be blocked there occurs abnormal.
8. virtual reality handle space localization method according to claim 6, it is characterised in that if location frequency compared with
In high position fixing process, a certain group of Data Position and the data of other groups have bigger difference in several groups of adjacent data, described
Processing unit judges that this group of data block caused error information to be abnormal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710539600.9A CN107390953A (en) | 2017-07-04 | 2017-07-04 | Virtual reality handle space localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710539600.9A CN107390953A (en) | 2017-07-04 | 2017-07-04 | Virtual reality handle space localization method |
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| CN107390953A true CN107390953A (en) | 2017-11-24 |
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| CN201710539600.9A Pending CN107390953A (en) | 2017-07-04 | 2017-07-04 | Virtual reality handle space localization method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023240696A1 (en) * | 2022-06-14 | 2023-12-21 | 歌尔股份有限公司 | Positioning tracking method and apparatus, terminal device, and computer storage medium |
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Application publication date: 20171124 |