CN108536276A - Virtual hand grasping algorithm in a kind of virtual reality system - Google Patents
Virtual hand grasping algorithm in a kind of virtual reality system Download PDFInfo
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- CN108536276A CN108536276A CN201710125353.8A CN201710125353A CN108536276A CN 108536276 A CN108536276 A CN 108536276A CN 201710125353 A CN201710125353 A CN 201710125353A CN 108536276 A CN108536276 A CN 108536276A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/20—Software design
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Abstract
The invention discloses virtual hand grasping algorithms in a kind of virtual reality system, are related to technical field of virtual reality, are as follows：The data of five finger fingertips in step 1, acquisition virtual hand grasping manipulation；Whether step 2, the size of judgment object are within the scope of the crawl of virtual hand；Step 3, the path line captured by finger fingertip are aided with three rules for grasping, judge whether grasping condition is true；Step 4, successfully capture object after, the coordinate of dummy object model is cured on the coordinate of virtual hand；Step 5, release object.The present invention correctly can not only steadily capture object, and crawl posture is very really and naturally, meet the requirement of virtual reality immersion and real-time.
Description
Technical field
The present invention relates to technical field of virtual reality, virtual hand grasping algorithm in especially a kind of virtual reality system.
Background technology
The development of computer technology so that virtual reality technology has also obtained extensive development, wherein based on virtual hand
Human-computer interaction technology is a very crucial technology in field of virtual reality.The method of initial solution virtual hand interaction is profit
With data glove, the capture to true hand data is completed by recording the angle in joint and the posture of hand, but the equipment meeting
Object hand is limited in a narrow working region, and has gloves on and interacts unusual inconvenience.In addition, data
Gloves are expensive, and it is difficult development and popularization that this, which makes data glove largely,.How to allow void in virtual hand interaction
Quasi- hand carries out the important topic that accurate, quick, natural grasping manipulation is virtual reality technology research.
Invention content
Virtual hand grasping algorithm in a kind of virtual reality system proposed by the present invention can be captured quickly and accurately virtual
Object model, and capture posture nature.
The technical proposal of the invention is realized in this way：
Virtual hand grasping algorithm in a kind of virtual reality system, is as follows：
The data of five finger fingertips in step 1, acquisition virtual hand grasping manipulation are that each finger fingertip of virtual hand generates
Path line, and path line is attached to five finger fingertips respectively；
Step 2, the size of judgment object surround ball whether within the scope of the crawl of virtual hand, by comparing object
Can diameter judge capture in turn with given threshold value, if the diameter that object surrounds ball is not more than given threshold value, which exists
Within the scope of the crawl of virtual hand；
Step 3, the path line captured by finger fingertip are aided with three rules for grasping, judge whether grasping condition is true,
In the case that the fingertip motions track only contacted with object meets crawl path line, and three rules for grasping all meet, just recognize
Object is stablized crawl thus；
Step 4, successfully capture object after, the coordinate of dummy object model is cured on the coordinate of virtual hand, complete
Corresponding movement, rotation process, specified destination is put by object；
Step 5, discharge object.
Preferably, three rules for grasping in the step 3 are as follows：
Rule 1：There are three or the finger tips of three or more fingers contacted with object, wherein must there are one be thumb
(because can often use thumb in actually capturing), at least there are three contact points not in straight line in being had point of contact
On；
Rule 2：In angle between contact surface normal vector, at least one big scheduled critical value of Mr. Yu (is preset as
100°)；
Rule 3：After t moment successfully captures object, in order to keep the stability of grasping manipulation, if (t+1) moment still
So meet rule 1 and rule 2, or (t+1) moment in the range of tolerable variance of t moment, then keeping grasping movement.
Virtual hand grasping algorithm in a kind of virtual reality system that the present invention passes through offer, advantage are：Not only
Object correctly can be steadily captured, and crawl posture is very really and naturally, meet virtual reality immersion and real-time
Requirement.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow chart of virtual hand grasping algorithm of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present embodiment provides virtual hand grasping algorithm in a kind of virtual reality system, which only considers that the common of hand is grabbed
Those small probability grasping manipulations are not considered in extract operation, are not paid attention to if clamping such crawl of object between finger.Cause
It is that single hand carries out for the grasping manipulation in system, the smaller object of size can only be captured, such as we can using one hand
To capture soldier's pang ball, but a basketball cannot be captured.
As shown in Figure 1, specific algorithm is as follows：
The data of five finger fingertips in step 1, acquisition virtual hand grasping manipulation are that each finger fingertip of virtual hand generates
Path line, and path line is attached to five finger fingertips respectively；
Step 2, the size of judgment object surround ball whether within the scope of the crawl of virtual hand, by comparing object
Can diameter judge capture in turn with given threshold value, if the diameter that object surrounds ball is not more than given threshold value, which exists
Within the scope of the crawl of virtual hand；
Step 3, the path line captured by finger fingertip are aided with three rules for grasping, judge whether grasping condition is true,
In the case that the fingertip motions track only contacted with object meets crawl path line, and three rules for grasping all meet, just recognize
Object is stablized crawl thus；
Step 4, successfully capture object after, the coordinate of dummy object model is cured on the coordinate of virtual hand, complete
Corresponding movement, rotation process, specified destination is put by object；
Step 5, discharge object.
Wherein, three rules for grasping are：
Rule 1：There are three or the finger tips of three or more fingers contacted with object, wherein must there are one be thumb
(because can often use thumb in actually capturing), at least there are three contact points not in straight line in being had point of contact
On；
Rule 2：In angle between contact surface normal vector, at least one big scheduled critical value of Mr. Yu (is preset as
100°)；
Rule 3：After t moment successfully captures object, in order to keep the stability of grasping manipulation, if (t+1) moment still
So meet rule 1 and rule 2, or (t+1) moment in the range of tolerable variance of t moment, then keeping grasping movement.
When meeting above-mentioned grasping condition between virtual hand and object model, it is judged that object has been captured, by object
The basis coordinates system of model is solidificated on the coordinate system of virtual hand, and object model is made to be moved with the movement of virtual hand；It ought grab later
When taking condition ungratified, solution removes the relations of dependence of the two.In virtual scene using this algorithm can make virtual hand it is correct,
Naturally object model is captured.The algorithm has following features：
(1) be that each finger fingertip of virtual hand generates crawl path line first, by judge virtual hand movement locus whether
In crawl path line, object cannot be captured to which the action of the virtual hand not in crawl path line to be considered as, thus may be used
It is excluded with quick the case where being unsatisfactory for condition；
(2) in order to allow grasping movement to meet the custom of true hand crawl and keep stable grasp, this algorithm is provided with crawl
The judgement link of rule, at least will be there are three contact point, this is because only between regulation virtual hand and object model in rule 1
When two contact points, object can rotate about the axis, unstable so as to cause capturing；Further, since virtual hand avoids not when moving
It to be in contact with the object model in scene, if only rules for grasping 1, just will produce the case where accidentally grabbing, rule 2
Being arranged can be to avoid largely accidentally grabbing the generation of phenomenon；
(3) virtual hand crawl posture is adjusted in rule 2, object could really be captured securely by only meeting rule 2
Body Model, but due to human hand in crawl inevitably there is a situation where shaking, if after t moment captures object, when (t+1)
It carves hand slightly to shake, movement has not met grasping condition, but user's original idea is not intended to unclamp object, and rule 3 is exactly
A range of tolerable variance is all arranged to each time point in the generation of the above situation in order to prevent, and the minor motion within the scope of being somebody's turn to do is simultaneously
Crawl cannot be changed, and this is acted, thus can more steadily capture object.
In this application, by external equipment Kinect, the movable information of true hand is inputted in computer, actual human hand
It controls virtual hand and completes crawl, the operation of release object in virtual scene, and obtain correspondence image information, seemingly user
As really manipulating dummy object model.But dummy object in real world and is not present, its all attributes, including：
Material, texture, shape etc. are all that computer assigns, this just makes virtual hand have prodigious flexibility in operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (2)
1. virtual hand grasping algorithm in a kind of virtual reality system, which is characterized in that be as follows：
The data of five finger fingertips in step 1, acquisition virtual hand grasping manipulation are that each finger fingertip of virtual hand generates track
Line, and path line is attached to five finger fingertips respectively；
Step 2, the size of judgment object surround the diameter of ball by comparing object whether within the scope of the crawl of virtual hand
Judge to capture in turn with given threshold value, if the diameter that object surrounds ball is not more than given threshold value, the object is virtual
Within the scope of the crawl of hand；
Step 3, the path line captured by finger fingertip are aided with three rules for grasping, judge whether grasping condition is true, only
In the case that the fingertip motions track contacted with object meets crawl path line, and three rules for grasping all meet, this is just thought
Object is stablized crawl；
Step 4, after successfully capturing object, the coordinate of dummy object model is cured on the coordinate of virtual hand, is completed corresponding
Movement, rotation process, object is put into specified destination；
Step 5, discharge object.
2. virtual hand grasping algorithm in a kind of virtual reality system according to claim 1, which is characterized in that the step
Three rules for grasping in 3 are as follows：
Rule 1：There are three or the finger tips of three or more fingers contacted with object, wherein must there are one be thumb (because of
Thumb can be often used in actually capturing), at least there are three contact points in being had point of contact not point-blank；
Rule 2：In angle between contact surface normal vector, at least one big scheduled critical value of Mr. Yu (being preset as 100 °)；
Rule 3：After t moment successfully captures object, in order to keep the stability of grasping manipulation, if still full at (t+1) moment
Foot rule 1 and rule 2, or (t+1) moment in the range of tolerable variance of t moment, then keeping grasping movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710125353.8A CN108536276A (en) | 2017-03-04 | 2017-03-04 | Virtual hand grasping algorithm in a kind of virtual reality system |
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| CN201710125353.8A CN108536276A (en) | 2017-03-04 | 2017-03-04 | Virtual hand grasping algorithm in a kind of virtual reality system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110991237A (en) * | 2019-10-30 | 2020-04-10 | 华东师范大学 | Grasping taxonomy-based virtual hand natural grasping action generation method |
| CN112121410A (en) * | 2020-10-22 | 2020-12-25 | 深圳市瑞立视多媒体科技有限公司 | Method for loading equipment into cabinet based on VR game |
-
2017
- 2017-03-04 CN CN201710125353.8A patent/CN108536276A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110991237A (en) * | 2019-10-30 | 2020-04-10 | 华东师范大学 | Grasping taxonomy-based virtual hand natural grasping action generation method |
| CN110991237B (en) * | 2019-10-30 | 2023-07-28 | 华东师范大学 | Virtual hand natural gripping action generation method based on gripping taxonomy |
| CN112121410A (en) * | 2020-10-22 | 2020-12-25 | 深圳市瑞立视多媒体科技有限公司 | Method for loading equipment into cabinet based on VR game |
| CN112121410B (en) * | 2020-10-22 | 2024-04-12 | 深圳市瑞立视多媒体科技有限公司 | VR game-based cabinet-entering method |
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Application publication date: 20180914 |