CN108153417B - Picture compensation method and head-mounted display device adopting same - Google Patents
Picture compensation method and head-mounted display device adopting same Download PDFInfo
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- CN108153417B CN108153417B CN201711415864.XA CN201711415864A CN108153417B CN 108153417 B CN108153417 B CN 108153417B CN 201711415864 A CN201711415864 A CN 201711415864A CN 108153417 B CN108153417 B CN 108153417B
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- 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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- 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
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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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Abstract
The invention discloses a picture compensation method and also discloses a head-mounted display device adopting the method. In the picture compensation method, the display picture in the head-mounted display device is compensated by acquiring the relative position relationship between the positioning equipment and the positions of the eyes of the user. By the method and the device, the problem that pictures displayed by the head-mounted display device are seriously distorted due to the fact that the head space position and the head space angle obtained by the positioning equipment are different from those obtained by a gyroscope of the head-mounted display device when the positioning equipment is used for tracking the head position can be solved, and the sense of reality and the sense of immersion of a user are further improved.
Description
Technical Field
The invention relates to a picture compensation method and a head-mounted display device adopting the method, belonging to the technical field of virtual reality.
Background
In the Virtual reality (visual Real i ty) technology, binocular stereoscopic vision plays a great role. The different images seen by the two eyes of the user are generated respectively, usually, one eye can only see the odd frame images, the other eye can only see the even frame images, and the difference (namely parallax) between the odd frame images and the even frame images can enable the user to generate strong stereoscopic impression.
The head-mounted display device is one of important links for realizing a virtual reality technology. A typical head-mounted display device magnifies an image on an ultra-micro display screen through a set of optical systems (mainly, precision optical lenses), projects the image on a retina, and presents a large screen image in the eyes of a viewer. Currently, most of the existing head-mounted display devices can only watch videos and cannot track the motion. For example, chinese patent application No. 201610908575.2 discloses a method for displaying a virtual reality screen, including the steps of: when a user is positioned in dynamic simulation equipment providing virtual reality dynamic experience, head position information of the user is collected in real time; when the head of the user does not rotate, playing a virtual reality picture of a front view angle to the user; when the head of the user rotates, the virtual reality picture is adjusted according to the head direction information; and playing the virtual reality picture after the corresponding visual angle is rotated to the user. The display method comprises the steps of adjusting a virtual reality picture after head direction information of a user is collected in real time, and playing the adjusted virtual reality picture to the user; therefore, the immersion of the user is improved when the dynamic reality picture is simulated.
In the above patent application, the user can obtain the head rotation angle of the user through the gyroscope installed in the head-mounted display device, so as to adjust the virtual reality picture, but the gyroscope can only obtain the head rotation angle, and the translation amount of the head cannot be obtained, so that the user of the head-mounted display device cannot perform motion tracking, and thus the user experience is reduced. Moreover, this situation is generally only applicable to situations where the person is seated in place. In an interactive game, a user needs to move around, and not only needs to track the rotation angle of the head, but also needs to track the translation amount of the user in a three-dimensional space. In order to realize the man-machine interaction function of the head-mounted display device, the head motion capture of the user is indispensable, and a corresponding positioning device needs to be arranged in the head-mounted display device.
Disclosure of Invention
The present invention is directed to a method for compensating a picture in a distance manner for a picture displayed on a head-mounted display device.
Another object of the present invention is to provide a head-mounted display device using the image compensation method.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
according to a first aspect of embodiments of the present invention, there is provided a picture compensation method for use in a head-mounted display apparatus having a positioning device, the method compensating a display picture in the head-mounted display apparatus by obtaining a relative positional relationship between the positioning device and a position of an eye of a user.
Preferably, the picture compensation method specifically includes the following steps:
determining the space distance between the positioning equipment and the position of eyes of a user;
secondly, determining a starting point of the compensated picture according to the space distance amount;
and thirdly, the head-mounted display device displays the picture in the virtual reality application according to the initial point of the compensated picture.
Preferably, in the step of searching, a horizontal distance quantity (c) of a connecting line between the center of a positioning body of the positioning device and the center point of the eyes of the user is determined on an X axis; determining the vertical distance (a) of the connecting line of the center of a positioning body of the positioning equipment and the center points of the two eyes of the user on the Y axis; determining the horizontal distance quantity (b) of a connecting line of the center of a positioning body of the positioning equipment and the center points of the two eyes of the user on the Z axis; and determining the space distance quantity between the positioning equipment and the position of the eyes of the user according to the vertical distance quantity (a), the horizontal distance quantity (b) and the horizontal distance quantity (c).
Preferably, the positioning device is mounted at a middle position of the head-mounted display apparatus on the X-axis, and the middle positions of the positioning device and the head-mounted display apparatus are collinear with the X-axis, so that the horizontal distance amount (c) is zero.
Preferably, a vertical distance between a center of a positioning body of the positioning apparatus and a center point of an optical lens of the head-mounted display device on the Y-axis is used as the vertical distance amount (a).
Wherein preferably, in the Z-axis, a horizontal distance between a center of a positioning body of the positioning apparatus and an upper edge of a head cover of the head-mounted display device is taken as the horizontal distance amount (b).
Preferably, in the second step, the starting point is obtained by calculation according to the space distance, the position of the positioning equipment in the coordinate system set by the positioning base station and the quaternion of the related attitude obtained by the inertial sensor of the positioning equipment.
Preferably, a quaternion related to the attitude is obtained from the inertial sensor, and the quaternion is multiplied by a three-dimensional coordinate quantity of the spatial distance quantity to obtain O2O3The direction of the vector; said O is2O3The vector is formed by connecting the position of the positioning equipment in a coordinate system set by the positioning base station and the starting point of the compensated picture.
Preferably, the step of determining O of the inertial sensor2O3The direction of the vector is translated into a direction relative to a coordinate system set by the positioning base station.
Preferably, the spatial distance is used as an inherent parameter of the head-mounted display device of each model and specification, and the corresponding compensation is directly carried out on the display picture.
According to a second aspect of the embodiments of the present invention, there is provided a head-mounted display apparatus, comprising a positioning device, a processor and a memory, wherein the positioning device is mounted on a housing of the head-mounted display apparatus, and the processor reads a computer program in the memory for executing the above-mentioned picture compensation method.
Compared with the prior art, the invention adopts a simple and ingenious technical means, accurately measures the relative position relation between the positioning equipment and the positions of the eyes of the user, and correspondingly compensates the display picture in the head-mounted display device. By using the picture compensation method provided by the invention, the problem that the picture displayed by the head-mounted display device is seriously distorted due to the difference between the head space position and the head space angle obtained by the positioning equipment and the head space position and the head space angle obtained by the gyroscope of the head-mounted display device when the positioning equipment is used for tracking the head position can be avoided, and the sense of reality and the sense of immersion of a user are further improved.
Drawings
FIG. 1 is a schematic diagram of a head mounted display device with a pointing device;
FIG. 2 is a schematic diagram of a motion state of a user wearing a head mounted display device with a pointing device;
FIG. 3 is a schematic diagram of distortion of a display screen in a horizontal direction;
FIG. 4 is a schematic diagram of distortion of a display screen in a vertical direction;
FIG. 5 is a flowchart illustrating a method for compensating a picture according to the present invention;
fig. 6 is a schematic diagram of the spatial relationship for determining the compensated picture starting point.
Detailed Description
The technical contents of the invention are described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a head mounted display device with a positioning apparatus. In this head-mounted display device, the position of the head is tracked by the positioning device, and the screen on the head-mounted display device is adjusted according to the position of the head. Further, the user can perform human-computer interaction through motion and a virtual scene displayed in the head-mounted display device by matching with a handle capable of tracking the position of the hand. As shown in fig. 2, a user wearing the head-mounted display device with a pointing device can track the amount of translation in space during the movement, in addition to the rotation movement, which is represented by a pitch angle θ (pitch) around the X-axis, a yaw angle ψ (yaw) around the Y-axis, and a roll angle Φ (rol l) around the Z-axis. For a detailed description of how the translation in space is obtained, reference may be further made to the prior patent application CN201610917518.0 of the present applicant, which is not described herein in detail.
In the virtual reality application, it is necessary to change a display screen in the head-mounted display device at any time in accordance with the motion of the user. The concrete description is as follows: using a gyroscope disposed in the head-mounted display device, an origin O of the coordinate axis in FIG. 2 can be obtained1Quaternion as the rotation center (as for quaternion describing the position and posture in the three-dimensional space, see "vision SLAM fourteen: from theory to practice", published by electronics industry press 2017 in 3 months, ISBN:978-7-121-31104-8). From this quaternion, the offset of the eye from the X, Y, Z axis of the spatial coordinate axis is obtained. The field of view of the user should be a sector area extending from the center of the eyes, and if the user rotates one turn in the original place, the picture seen by the user should be O1As a center of circle, with O1A circle with a radius of distance to the eye extends outward beyond the field of view. However, for a head-mounted display device with a pointing device mounted thereon, the amount of shift of the X, Y, Z axis relative to the spatial coordinate axis is relative to the pointing device, not to the eye, and the field of view is from the center point O of the pointing device2An extended sector area. If the user rotates a circle in place, the picture seen by the user is a field of view extending outward from a circle as shown in the outer circle of fig. 3, which causes distortion of the displayed picture and gives the user the experience of feeling that the user is a "big head doll". On the other hand, the height of the positioning device is higher than the height of the eye, so that the field of view in the vertical direction is similarly shifted, as shown in fig. 4.
In view of the above problems, the present invention provides a method for compensating a picture for a head-mounted display device. The method has the core idea that the display picture in the head-mounted display device is correspondingly compensated according to the relative position relation between the positioning equipment and the positions of the eyes of the user. As shown in fig. 5, the picture compensation method may include the steps of:
1. determining an amount of spatial distance between a positioning device and a location of a user's eye
According to the structural characteristics of different head-mounted display devices, the space distance between the center of a positioning body of the positioning equipment and the center points of the eyes of a user wearing the head-mounted display device is determined. In one embodiment of the invention, referring to fig. 2 and 3, the horizontal distance measure (c) of the line connecting the center of the positioning body of the positioning device and the center point of the eyes of the user is determined on the X-axis. In actual operation, for the convenience of calculation of the spatial distance, the positioning device may be installed at the middle position of the head-mounted display device by default, and the middle positions of the positioning device and the head-mounted display device and the X axis are commonLine, the horizontal distance on the X-axis is 0; determining a positioning body center O of a positioning device on a Y-axis2And a center point O of both eyes of the user3The vertical distance of the connecting line, a. In actual operation, the vertical distance between the center of the positioning body of the positioning device and the center point of the optical lens of the head-mounted display device on the Y-axis may be a in consideration of individual differences. The process is relatively simple, but the compensation accuracy can be guaranteed. Determining the center O of a positioning body of the positioning device on the Z axis2And a center point O of both eyes of the user3The horizontal distance amount b of the connecting line. In actual operation, the horizontal distance between the center of the positioning body of the positioning apparatus and the upper edge of the head cover of the head mounted display device in the Z-axis may be set to b in consideration of individual differences. The process is relatively simple, but the compensation accuracy can be guaranteed.
In the above embodiments, the positioning body is a sphere, and in other deformable embodiments, the positioning body may also be in different shapes such as a cube, a cuboid, an ellipsoid, and the like.
It is understood that the vertical distance amount a, the horizontal distance amount b, the horizontal distance amount c, and the spatial distance amount d are vectors. Thus, from the horizontal distance amount c on the X-axis, the vertical distance amount a on the Y-axis, and the horizontal distance amount b on the Z-axis, the spatial distance amount d between the pointing device and the location of the user's eye can be determined. In practice, after the head-mounted display device is shipped, the specific position where the positioning device is installed is fixed, and the center point of the eyes of the user has a certain dispersion, but can be regarded as a fixed point within an acceptable error range. Therefore, it can be considered that the head-mounted display device has a fixed spatial distance amount d (regarded as an intrinsic parameter) for each model and specification, and the display screen is compensated directly with the spatial distance amount d.
2. Determining the starting point of the compensated picture according to the space distance d
As shown in FIG. 6, if the spatial distance d is known, the positioner center O is known2Known retainer center O2And a center point O of both eyes of the user3Of the connecting line vector O2O3The direction of (2) can be calculated to obtain the starting point O of the compensated picture3The position of (a).
As mentioned above, the spatial distance d can be obtained by step 1. O is2The coordinates of (2) can be obtained according to the position of the positioning equipment in a coordinate system set by the positioning base station. O is2O3The direction of the vector can be obtained by inertial sensors (IMU) mounted inside the positioning device. In one embodiment of the invention, the inertial sensor of the pointing device obtains a quaternion related to the attitude, and the quaternion is multiplied by the three-dimensional coordinate quantity (0, a, b) of the spatial distance quantity d obtained in step one to obtain O2O3The direction of the vector.
The display screen of the head-mounted display device needs to be displayed in accordance with the coordinate system set by the positioning base station. Due to O determined from inertial sensors (IMU)2O3The direction of the vector is relative to the geodetic coordinate system and needs to be translated into a direction relative to the coordinate system set by the positioning base station. For a detailed description of such coordinate system transformation and three-dimensional spatial positioning, reference may be made to the applicant's prior patent application CN201610917518.0 and the aforementioned monograph "vision SLAM fourteen: from theory to practice, it is not explained in detail here.
Before the user determines the spatial position by using the positioning device, the user first needs to perform orientation calibration to determine the coordinate system direction of the positioning base station. In an embodiment of the present invention, assuming that a direction of the positioning base station facing the user is a Z axis, directions of an X axis and a Y axis can be obtained by using a right-hand rule, and according to a direction of an inertial sensor (IMU) in the positioning device relative to a geodetic coordinate system when performing the azimuth calibration and a coordinate system direction of the positioning base station obtained by the azimuth calibration, a conversion relationship between the coordinate system set by the positioning base station and the geodetic coordinate system in which the inertial sensor (IMU) is located can be obtained. Thus, the O obtained in the previous step can be used2O3The direction of the vector is translated into a direction in a coordinate system set by the positioning base station. According to the position coordinates O of the positioning equipment relative to the positioning base station2、O2O3Vector is set in positioning base stationThe length and the direction in the coordinate system are determined, and the starting point O of the compensated picture can be obtained3The position of (a).
3. The head-mounted display device is based on the starting point O of the compensated picture3And displaying the picture in the virtual reality application.
The process of displaying a specific picture by the head-mounted display device is a conventional technical means in the field, and will not be described in detail here.
On the basis of the picture compensation method, the invention further provides a head-mounted display device adopting the method. In one embodiment of the present invention, the head-mounted display apparatus includes a main body and a head band, and a positioning device is mounted above or in front of a housing of the main body. The positioning device comprises at least one ultrasonic receiver and at least one optical signal receiver. By arranging the positioning equipment on the head-mounted display device, the head motion track of the user can be captured. In order to ensure better signal receiving effect and positioning effect, the positioning device may be disposed at an intermediate position above or in front of the head-mounted display apparatus, as shown in fig. 1 and 2. The optical system installed in the main body of the head-mounted display device comprises two lenses, and the position of the positioning equipment corresponds to the midpoint position of the central connecting line of the two lenses.
In the head mounted display device, a processor and a memory are included. Wherein the processor reads the computer program in the memory for performing the following operations: determining the space distance between the positioning equipment and the position of the eyes of the user; determining a starting point of the compensated picture according to the space distance quantity; and the head-mounted display device displays the picture in the virtual reality application according to the starting point of the compensated picture.
In summary, the embodiment of the present invention adopts a simple and ingenious technical means to accurately measure the relative position relationship between the positioning device and the position of the user's eyes, and correspondingly compensate the display frame in the head-mounted display device. By using the picture compensation method provided by the invention, the problem that the picture displayed by the head-mounted display device is seriously distorted due to the difference between the head space position and the head space angle obtained by the positioning equipment and the head space position and the head space angle obtained by the gyroscope of the head-mounted display device when the positioning equipment is used for tracking the head position can be avoided, and the sense of reality and the sense of immersion of a user are further improved.
From the above description, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
It will be apparent to those skilled in the art that the blocks or steps of the present invention may be implemented by a general purpose processor such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processing (DSP) chip, etc., which may be centralized on a single processor or distributed across a network of multiple processors, or alternatively, may be implemented by program code executable by a processor such that they may be stored in memory and executed by a processor, and in some cases, the steps shown or described may be executed out of order from that shown or described herein, or may be separately fabricated into individual integrated circuit blocks, or multiple blocks or steps thereof may be fabricated into a single integrated circuit block. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description provides a detailed description of the picture compensation method and the head-mounted display device using the same. Any obvious modifications to the invention, which would occur to those skilled in the art, without departing from the true spirit of the invention, would constitute a violation of the patent rights of the invention and would carry a corresponding legal responsibility.
Claims (9)
1. A picture compensation method for use in a head-mounted display apparatus having a pointing device, comprising the steps of: determining the space distance between the positioning equipment and the position of eyes of a user; secondly, determining a starting point of the compensated picture according to the space distance amount; thirdly, the head-mounted display device displays the picture in the virtual reality application based on the coordinate system set by the positioning base station according to the starting point of the compensated picture,
and calculating the starting point according to the space distance quantity, the position of the positioning equipment in a coordinate system set by the positioning base station and the quaternion related to the attitude obtained by an inertial sensor of the positioning equipment.
2. The picture compensation method as claimed in claim 1, wherein: determining a horizontal distance quantity (c) of a connecting line between the center of a positioning body of positioning equipment and the center point of the eyes of a user on an X axis; determining the vertical distance (a) of the connecting line of the center of a positioning body of the positioning equipment and the center points of the two eyes of the user on the Y axis; determining the horizontal distance quantity (b) of a connecting line of the center of a positioning body of the positioning equipment and the center points of the two eyes of the user on the Z axis; and determining the space distance quantity between the positioning equipment and the position of the eyes of the user according to the vertical distance quantity (a), the horizontal distance quantity (b) and the horizontal distance quantity (c).
3. The picture compensation method as claimed in claim 2, wherein: on the X-axis, the positioning device is mounted at a middle position of the head-mounted display apparatus, and the middle positions of the positioning device and the head-mounted display apparatus are made collinear with the X-axis, so that the horizontal distance amount (c) is zero.
4. The picture compensation method as claimed in claim 2, wherein: and on the Y axis, taking the vertical distance of a connecting line between the center of a positioning body of the positioning equipment and the center point of the optical lens of the head-mounted display device as the vertical distance quantity (a).
5. The picture compensation method as claimed in claim 2, wherein: and (b) regarding a horizontal distance between the center of the positioning body of the positioning device and the upper edge of the head cover of the head-mounted display device on the Z axis as the horizontal distance amount (b).
6. The picture compensation method as claimed in claim 5, wherein: obtaining a quaternion related to the attitude from the inertial sensor, and multiplying the quaternion by a three-dimensional coordinate quantity of the space distance quantity to obtain the direction of an O2O3 vector; the vector of O2O3 is the vector formed by the connection line of the position of the positioning device in the coordinate system set by the positioning base station and the starting point of the compensated picture.
7. The picture compensation method as claimed in claim 6, wherein: the method comprises the following steps of converting the direction of the O2O3 vector determined by the inertial sensor into the direction of a coordinate system set relative to a positioning base station.
8. The picture compensation method as claimed in claim 1, wherein: the space distance is taken as the inherent parameter of the head-mounted display device of each model and specification, and the corresponding compensation is directly carried out on the display picture.
9. A head-mounted display device comprising a positioning device, a processor and a memory, wherein the positioning device is mounted on a housing of the head-mounted display device, characterized in that the processor reads a computer program in the memory for performing the picture compensation method according to any of claims 1 to 8.
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| US11061469B2 (en) | 2019-11-20 | 2021-07-13 | XRSpace CO., LTD. | Head mounted display system and rotation center correcting method thereof |
| CN111736708B (en) * | 2020-08-25 | 2020-11-20 | 歌尔光学科技有限公司 | Head-mounted device, picture display system and method thereof, detection system and method thereof |
| CN112957733B (en) * | 2021-03-31 | 2022-10-11 | 歌尔股份有限公司 | Game picture display method, positioning base station, host equipment and related equipment |
| CN113568176B (en) * | 2021-07-31 | 2023-05-16 | 温州职业技术学院 | Multifunctional comfortable VR (virtual reality) integrated machine |
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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 |