CN108153417A - Frame compensation method and the head-mounted display apparatus using this method - Google Patents
Frame compensation method and the head-mounted display apparatus using this method Download PDFInfo
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- CN108153417A CN108153417A CN201711415864.XA CN201711415864A CN108153417A CN 108153417 A CN108153417 A CN 108153417A CN 201711415864 A CN201711415864 A CN 201711415864A CN 108153417 A CN108153417 A CN 108153417A
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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
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
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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
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/1407—General aspects irrespective of display type, e.g. determination of decimal point position, display with fixed or driving decimal point, suppression of non-significant zeros
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention discloses a kind of frame compensation method, while also disclose a kind of head-mounted display apparatus using this method.In the frame compensation method, by obtaining the relative position relation between positioning device and eyes of user position, the display picture in head-mounted display apparatus is compensated.Utilize the present invention, when can be to avoid head position tracking be carried out using positioning device, the head space position and the difference of angle that the gyroscope that head space position and angle and the head-mounted display apparatus that positioning device obtains carry obtains, the picture shown by head-mounted display apparatus is caused the problem of serious distortion occur, further promotes the sense of reality and feeling of immersion of user.
Description
Technical field
The present invention relates to a kind of frame compensation methods, also relate to a kind of head-mounted display apparatus using this method,
Belong to technical field of virtual reality.
Background technology
In virtual reality (Virtual Real i ty) technology, binocular stereo vision has played very big effect.User
The different images that eyes are seen generate respectively, and usual one eye eyeball can only see odd-numbered frame image, and another eyes can only
See even frame image, the difference (namely parallax) between odd, even frame image can make user generate strong three-dimensional sense.
Head-mounted display apparatus is one of important link for realizing virtual reality technology.Typical head-mounted display apparatus leads to
The image on one group of optical system (mainly precision optical lenses) amplification ultra micro display screen is crossed, image is projeced into retina
On, show large-screen image in viewer's eye.At present, existing head-mounted display apparatus can only watch video mostly, no
It can carry out action tracking.For example, in the Chinese patent application application No. is 201610908575.2, disclose a kind of virtual existing
The display methods of real picture, includes the following steps：When user is located in the sensation simulation equipment for providing virtual reality innervation experiencing
When, the real-time head orientation information for acquiring user；When the head of user does not rotate, then positive angle is played to user
Virtual reality picture；When the head of user rotates, then after adjusting virtual reality picture according to head orientation information；Xiang Yong
Family plays the virtual reality picture after rotating corresponding visual angle.After the display methods acquires the head orientation information of user in real time, adjust
Whole virtual reality picture plays the virtual reality picture after adjustment to user；So as to fulfill in the dynamic real picture of simulation, carry
Rise the feeling of immersion of user.
In above-mentioned patent application, user can obtain user's by the gyroscope being mounted in head-mounted display apparatus
Head rotation angle, so as to carry out the adjustment of virtual reality picture, but gyroscope can only obtain head rotation angle, head
Translational movement cannot obtain, this prevents the user of head-mounted display apparatus from carrying out action tracking, so as to reduce user experience.
Moreover, such case is usually applicable only to be sitting in situation as you were.In interactive entertainment, user needs to get around,
Not only need the rotational angle on tracking head, it is also necessary to track translational movement of the user in three dimensions.In order to realize that wear-type is shown
The human-computer interaction function of showing device, the headwork capture to user are indispensable, this, which just needs to show in wear-type, fills
Center corresponding positioning device.
Invention content
Primary technical problem to be solved by this invention is to provide a kind of frame compensation method, for being shown to wear-type
The picture shown in device is into the compensation in terms of row distance.
Another technical problem to be solved by this invention is that providing a kind of wear-type using the frame compensation method shows
Showing device.
To realize above-mentioned goal of the invention, the present invention uses following technical proposals：
It is according to embodiments of the present invention in a first aspect, a kind of frame compensation method is provided, used in the head with positioning device
It wears in formula display device, this method is right by obtaining the relative position relation between positioning device and eyes of user position
Display picture in head-mounted display apparatus compensates.
Wherein more preferably, the frame compensation method specifically comprises the following steps：
(1) the space length amount between positioning device and eyes of user position is determined；
(2) the starting point of the picture after compensation is determined according to space length amount；
(3) head-mounted display apparatus is according to the starting point of the picture after compensation, the picture in display virtual real application.
Wherein more preferably, the step (1) in, the positioning body center of positioning device and user's eyes center are determined in X-axis
The horizontal distance amount (c) of point line；The positioning body center of positioning device and hanging down for user's eyes central point line are determined in Y-axis
Straight distance measurements (a)；On Z axis, the positioning body center of positioning device and the horizontal distance amount of user's eyes central point line are determined
(b)；According to the vertical range amount (a), the horizontal distance amount (b) and the horizontal distance amount (c), determine positioning device with
Space length amount between eyes of user position.
Wherein more preferably, in X-axis, positioning device is mounted on to the centre position of head-mounted display apparatus, and makes to determine
The centre position and X-axis of position equipment and head-mounted display apparatus are conllinear, so as to which the horizontal distance amount (c) be made to be zero.
It wherein more preferably, will be in the optical lens of the positioning body center of positioning device and head-mounted display apparatus in Y-axis
The vertical range of heart point line is as the vertical range amount (a).
Wherein more preferably, on Z axis, by the positioning body center of positioning device and the head-shield upper edge of head-mounted display apparatus
Horizontal distance as the horizontal distance amount (b).
Wherein more preferably, the step (2) in, the starting point is according to the space length amount, the positioning device fixed
The quaternary number of related posture that the inertial sensor of position and positioning device in the coordinate system of position base station sets obtains calculates
It obtains.
Wherein more preferably, a quaternary number in relation to posture is obtained by the inertial sensor, which is multiplied by institute
The three-dimensional coordinate for stating space length amount measures O2O3The direction of vector；The O2O3Vector is the positioning device in positioning base
Stand setting coordinate system in position and the picture after compensation starting point line composition vector.
Wherein more preferably, the step (2) in, O that the inertial sensor is determined2O3The direction of vector is converted into relatively
In the direction of the coordinate system of locating base station setting.
Wherein more preferably, using space length amount as the intrinsic parameter of the head-mounted display apparatus of each model and specification,
Directly the display picture is compensated accordingly.
Second aspect according to embodiments of the present invention provides a kind of head-mounted display apparatus, including positioning device, processor
And memory, wherein the positioning device is mounted on the shell of head-mounted display apparatus, the processor is read in memory
Computer program, for performing above-mentioned frame compensation method.
Compared with prior art, the present invention is using simple cleverly technological means, accurate measurement and positioning equipment and user
Relative position relation between eyes position compensates the display picture in head-mounted display apparatus accordingly.Profit
With frame compensation method provided by the present invention, when can be to avoid head position tracking be carried out using positioning device, positioning device
The head space position and angle that the head space position and angle of acquisition are obtained with the gyroscope that head-mounted display apparatus carries
Difference, the picture shown by head-mounted display apparatus is caused the problem of serious distortion occur, further promoted user it is true
Sense and feeling of immersion.
Description of the drawings
Fig. 1 is a kind of head-mounted display apparatus schematic diagram with positioning device；
Fig. 2 is the motion state schematic diagram for the user for wearing the head-mounted display apparatus with positioning device；
Fig. 3 is in horizontal direction, shows the distortion schematic diagram of picture；
Fig. 4 is on vertical direction, shows the distortion schematic diagram of picture；
Fig. 5 is the flow chart of frame compensation method provided by the present invention；
Fig. 6 is the spatial relationship schematic diagram for determining the picture starting point after compensating.
Specific embodiment
Detailed specific description is carried out to the technology contents of the present invention in the following with reference to the drawings and specific embodiments.
Fig. 1 shows a kind of head-mounted display apparatus with positioning device.In the head-mounted display apparatus, using calmly
The position on position equipment tracking head, according to the difference of head position, is adjusted the picture on head-mounted display apparatus.Into one
Step ground, cooperation can track the handle of hand position, and user can be virtual by being shown in movement and head-mounted display apparatus
Scene carries out human-computer interaction.As shown in Fig. 2, the user of the head-mounted display apparatus with positioning device is worn, in motion process
In in addition to can rotate, the pitching angle theta (pitch) rotated around X-axis is embodied in, around the yaw of Y-axis rotation
Angle ψ (yaw) around the roll angle Φ (rol l) of Z rotations, can also track its translational movement in space.About in space
In the detailed description how to obtain of translational movement, the earlier patent application of the applicant can be further regarded to
CN201610917518.0 is not just repeated herein.
In virtual reality applications, need to change the display picture in head-mounted display apparatus at any time according to the movement of user
Face.It is described as follows：Using the gyroscope being configured in head-mounted display apparatus, one can be obtained with reference axis original in Fig. 2
Point O1Quaternary number as rotation center (about the quaternary number of position and posture in description three dimensions, can refer to《Vision
SLAM 14 is said：From theory into action》, Electronic Industry Press publishes in March, 2017, ISBN：978-7-121-31104-8).
Pass through this quaternary number, you can obtain offset of the eyes relative to the X, Y, Z axis of solid axes.The visual field of user should be
The sector region extended centered on eyes, if user rotates in place a circle, the picture that user sees should be with O1
For the center of circle, with O1The field range extended outward to the distance of eyes for a circle of radius.But for being mounted with to position
For the head-mounted display apparatus of equipment, the offset relative to the X, Y, Z axis of solid axes is relative to positioning device
For rather than relative to eyes, visual field is the central point O from positioning device2The sector region extended.If user
A circle is rotated in place, then the picture that user sees is the field range that a circle as shown in Fig. 3 outer rings extends outward, in this way
The distortion of display picture is will result in, just feels it oneself is " doll with big head " to the experience of user.On the other hand, positioning device
Height be higher than eyes height, similar offset can also occur in the visual field of vertical direction in this way, as shown in Figure 4.
In view of the above-mentioned problems, present invention firstly provides a kind of frame compensation methods towards head-mounted display apparatus.It should
The core concept of method is, according to the relative position relation between positioning device and eyes of user position, to show wear-type
Display picture in showing device is compensated accordingly.As shown in figure 5, the frame compensation method may include steps of：
1. the space length amount between determining positioning device and eyes of user position
According to the design feature of different head-mounted display apparatus, determine that the positioning body center of positioning device is worn with wearing
Space length amount between user's eyes central point of formula display device.In one embodiment of the invention, with reference to figure 2 and figure
3, the positioning body center of positioning device and the horizontal distance amount (c) of user's eyes central point line are determined in X-axis.In practical behaviour
When making, in order to space length amount calculate convenience, can by positioning device default installation head-mounted display apparatus interposition
It puts, and the centre position and X-axis of positioning device and head-mounted display apparatus are conllinear, then the horizontal distance amount in X-axis is 0；In Y
The positioning body center O of positioning device is determined on axis2With user's eyes central point O3The vertical range amount a of line.In practical operation
It, can will be in the optical lens of the positioning body center of positioning device and head-mounted display apparatus in Y-axis in view of individual difference
The vertical range of heart point line is set as a.Processing procedure is more relatively easy in this way, but compensation precision can also be guaranteed.In Z
On axis, the positioning body center O of positioning device is determined2With user's eyes central point O3The horizontal distance amount b of line.In practical operation
When consider individual difference, can be by the positioning body center of positioning device and the head-shield top of head-mounted display apparatus on Z axis
The horizontal distance on edge is set as b.Processing procedure is more relatively easy in this way, but compensation precision can also be guaranteed.
In the above-described embodiments, positioning body is a sphere, and in other deformable embodiments, positioning body can also be just
The different shapes such as cube, cuboid, ellipsoid.
It is appreciated that above-mentioned vertical range amount a, horizontal distance amount b, horizontal distance amount c and space length amount d be to
Amount.It therefore, can be true according to the horizontal distance amount c in X-axis, the horizontal distance amount b on the vertical range amount a and Z axis in Y-axis
Determine the space length amount d between positioning device and eyes of user position.In practice, usual head-mounted display apparatus is going out
After factory, the specific location for installing positioning device is just fixed up, and although user's eyes central point has certain discreteness,
But a fixed point can be regarded as in the range of error acceptable.Therefore, wearing for each model and specification
Formula display device, it is believed that its with fixed space length amount d (being considered as intrinsic parameter), so as to directly using the space away from
Display picture is compensated from amount d.
2. the starting point of picture after compensation is determined according to space length amount d
As shown in fig. 6, if it is known that space length amount d, known locations body center O2, known locations body center O2And user
Eyes central point O3Connecting line vector O2O3Direction, then can be obtained by calculation compensation after picture starting point O3Position.
It is preceding to have addressed, space length amount d can be obtained by step 1.O2Coordinate can positioned according to positioning device
The position of the coordinate system of base station sets obtains.O2O3The direction of vector can pass through the inertial sensor of installation inside positioning device
(IMU) it obtains.In one embodiment of the invention, the inertial sensor of positioning device obtains a quaternary in relation to posture
The quaternary number is multiplied by the three-dimensional coordinate amount (0, a, b) for the space length amount d that step 1 obtains, you can obtain O by number2O3Vector
Direction.
It should be noted that the coordinate system that the display picture needs in head-mounted display apparatus are set according to locating base station
It is shown.Due to according to the determining O of inertial sensor (IMU)2O3The direction of vector is relative to earth coordinates, is needed
It is translated into the direction of the coordinate system set relative to locating base station.About the conversion of this coordinate system and three-dimensional fix
Detailed description, can refer to the applicant earlier patent application CN 201610917518.0 and aforementioned monograph《Vision SLAM
14 say：From theory into action》, just it is not explained in detail herein.
User is before using positioning device to determine spatial position, it is necessary first to orientation calibration is carried out, to determine positioning base
The coordinate system direction stood.In one embodiment of the invention, it is assumed that the user oriented direction of locating base station is Z axis, utilizes the right side
Hand rule, you can the direction of X-axis and Y-axis is obtained, during according to carrying out orientation calibration, inertial sensor (IMU) phase in positioning device
The coordinate system direction of locating base station that direction and orientation calibration for earth coordinates obtain, you can obtain locating base station setting
Coordinate system and inertial sensor (IMU) where earth coordinates between transformational relation.Previous step can thus be obtained
The O arrived2O3The direction of vector is converted into the direction in the coordinate system set in locating base station.According to positioning device relative to positioning
The position coordinates O of base station2、O2O3Length and direction in the coordinate system that vector is set in locating base station, you can drawn after being compensated
The starting point O in face3Position.
3. head-mounted display apparatus is according to the starting point O of picture after compensation3, the picture in display virtual real application.
Head-mounted display apparatus shows that the process of specific picture is ordinary skill in the art means, herein just not specifically
Understand.
On the basis of above-mentioned frame compensation method, shown invention further provides a kind of using the wear-type of this method
Showing device.In one embodiment of the invention, the head-mounted display apparatus include main body and headband, the top of main body cover or
Front is equipped with positioning device.The positioning device includes at least one ultrasonic receiver and at least one optical signal receiver.
By setting positioning device on head-mounted display apparatus, the head movement track of user can be captured.In order to ensure
Better signal reception and locating effect, positioning device can be arranged in the top or front of head-mounted display apparatus
Between position, as depicted in figs. 1 and 2.The optical system installed in the main body of head-mounted display apparatus includes two lens, and positioning is set
Standby position corresponds to the point midway of two lens centre lines.
In above-mentioned head-mounted display apparatus, including processor and memory.Wherein, processor reads the meter in memory
Calculation machine program, for performing the following operations：Determine the space length amount between positioning device and eyes of user position；According to
Space length amount determines the starting point of the picture after compensation；Head-mounted display apparatus is shown according to the starting point of the picture after compensation
Show the picture in virtual reality applications.
In conclusion the embodiment of the present invention is using simple cleverly technological means, accurate measurement and positioning equipment and user's eye
Relative position relation between eyeball position compensates the display picture in head-mounted display apparatus accordingly.It utilizes
Frame compensation method provided by the present invention, can to avoid using positioning device carry out head position tracking when, positioning device obtains
The gyroscope that carries of the head space position and angle and head-mounted display apparatus head space position that obtains and angle
Difference causes the picture shown by head-mounted display apparatus the problem of serious distortion occur, further promotes the sense of reality of user
And feeling of immersion.
By described above, those skilled in the art can be understood that can borrow according to the method for above-described embodiment
Help software that the mode of required general hardware platform is added to realize, naturally it is also possible to which by hardware, but the former is in many cases
More preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software product, which is stored in a storage medium (such as ROM/
RAM, magnetic disc, CD) in, including some instructions use so that a station terminal equipment (can be mobile phone, computer, server or
Person's network equipment etc.) perform method described in each embodiment of the present invention.
Obviously, those skilled in the art should be understood that each module of the present invention or each step can use general processing
Device such as central processing unit (CPU), graphics processor (GPU), field programmable gate array (FPGA), application-specific integrated circuit
(ASIC), Digital Signal Processing (DSP) chip etc. realizes that they can concentrate on single processor or be distributed in
On the network that multiple processors are formed, optionally, they can be realized with the program code that processor can perform, so as to,
It can be stored in memory and be executed by a processor, and in some cases, it can be to be different from herein suitable
They are either fabricated to each integrated circuit modules or will be in them by the shown or described step of sequence execution respectively
Multiple modules or step are fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware
It is combined with software.
It has been carried out in detail to frame compensation method provided by the present invention and using the head-mounted display apparatus of this method above
Thin explanation.For those of ordinary skill in the art, it is done under the premise of without departing substantially from true spirit
Any obvious change will all form to infringement of patent right of the present invention, will undertake corresponding legal liabilities.
Claims (11)
1. a kind of frame compensation method, in the head-mounted display apparatus with positioning device, it is characterised in that：
The relative position relation between positioning device and eyes of user position is obtained, to the display in head-mounted display apparatus
Picture compensates.
2. frame compensation method as described in claim 1, it is characterised in that include the following steps：
(1) the space length amount between positioning device and eyes of user position is determined；
(2) the starting point of the picture after compensation is determined according to space length amount；
(3) head-mounted display apparatus is according to the starting point of the picture after compensation, the picture in display virtual real application.
3. frame compensation method as claimed in claim 2, it is characterised in that：
The step (1) in, determined in X-axis the positioning body center of positioning device and the horizontal of user's eyes central point line away from
From amount (c)；The positioning body center of positioning device and the vertical range amount (a) of user's eyes central point line are determined in Y-axis；
On Z axis, the positioning body center of positioning device and the horizontal distance amount (b) of user's eyes central point line are determined；It is hung down according to described
Straight distance measurements (a), the horizontal distance amount (b) and the horizontal distance amount (c) determine that positioning device and eyes of user institute are in place
Space length amount between putting.
4. frame compensation method as claimed in claim 3, it is characterised in that：
In X-axis, positioning device is mounted on to the centre position of head-mounted display apparatus, and shows positioning device and wear-type
The centre position of showing device and X-axis are conllinear, so as to which the horizontal distance amount (c) be made to be zero.
5. frame compensation method as claimed in claim 3, it is characterised in that：
In Y-axis, by the vertical of the optical lens center point line of the positioning body center of positioning device and head-mounted display apparatus
Distance is used as the vertical range amount (a).
6. frame compensation method as claimed in claim 3, it is characterised in that：
On Z axis, using the horizontal distance of the positioning body center of positioning device and the head-shield upper edge of head-mounted display apparatus as
The horizontal distance amount (b).
7. frame compensation method as claimed in claim 2, it is characterised in that：
The step (2) in, seat that the starting point is set according to the space length amount, the positioning device in locating base station
The quaternary number of related posture that the inertial sensor of position and positioning device in mark system obtains, which calculates, to be obtained.
8. frame compensation method as claimed in claim 7, it is characterised in that：
One quaternary number in relation to posture is obtained by the inertial sensor, which is multiplied by the three of the space length amount
Dimension coordinate measures O2O3The direction of vector；The O2O3In the coordinate system that vector is set for the positioning device in locating base station
Position and compensation after picture starting point line composition vector.
9. frame compensation method as claimed in claim 8, it is characterised in that：
The step (2) in, O that the inertial sensor is determined2O3The direction of vector is converted into be set relative to locating base station
Coordinate system direction.
10. frame compensation method as claimed in claim 2, it is characterised in that：
Using space length amount as the intrinsic parameter of the head-mounted display apparatus of each model and specification, directly to the display picture
Face is compensated accordingly.
11. a kind of head-mounted display apparatus, including positioning device, processor and memory, wherein the positioning device is mounted on
On the shell of head-mounted display apparatus, it is characterised in that the processor reads the computer program in memory, for performing
Frame compensation method in claim 1~10 described in any one.
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| CN111736708A (en) * | 2020-08-25 | 2020-10-02 | 歌尔光学科技有限公司 | Head-mounted device, picture display system and method thereof, detection system and method thereof |
| CN112957733A (en) * | 2021-03-31 | 2021-06-15 | 歌尔股份有限公司 | Game picture display method, positioning base station, host equipment and related equipment |
| US11061469B2 (en) | 2019-11-20 | 2021-07-13 | XRSpace CO., LTD. | Head mounted display system and rotation center correcting method thereof |
| CN113568176A (en) * | 2021-07-31 | 2021-10-29 | 温州职业技术学院 | Multi-functional comfortable type VR all-in-one |
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Application publication date: 20180612 Assignee: Beijing Intellectual Property Management Co.,Ltd. Assignor: NOLO Co.,Ltd. Contract record no.: X2023110000070 Denomination of invention: Screen compensation method and head mounted display device using this method Granted publication date: 20220304 License type: Common License Record date: 20230531 |