CN109358745A - The position filtering method, apparatus and computer storage medium of interactive handle - Google Patents
The position filtering method, apparatus and computer storage medium of interactive handle Download PDFInfo
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- CN109358745A CN109358745A CN201811011560.1A CN201811011560A CN109358745A CN 109358745 A CN109358745 A CN 109358745A CN 201811011560 A CN201811011560 A CN 201811011560A CN 109358745 A CN109358745 A CN 109358745A
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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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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/0248—Filters characterised by a particular frequency response or filtering method
- H03H17/0255—Filters based on statistics
- H03H17/0257—KALMAN filters
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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 the position filtering method, apparatus and computer storage medium of a kind of interactive handle, method includes: to emit ultrasonic signal to interactive handle, determines first location information of the interactive handle relative to the virtual reality device helmet according to reflected ultrasonic signal；The acceleration information for obtaining Inertial Measurement Unit acquisition on interactive handle calculates the second location information of interactive handle according to acceleration information；First location information and second location information are subjected to data fusion, and the fused location information of data is filtered according to interactive handle current motion state.It is merged by the position for calculating ultrasonic wave and using the position that acceleration transducer calculates, avoids the defect that a kind of position calculation is used alone, improve position precision.It is filtered accordingly according to the motion state of handle, meets the different demands under different motion state to positional jitter and response time.
Description
Technical field
The present invention relates to virtual reality device technical fields, and in particular to the position filtering method, apparatus of interactive handle
And computer storage medium.
Background technique
Usually all include two parts currently, wear-type virtual reality (Virtual Reality) equipment, wear and handle,
Handle is interactive handle, with wear complete interact.With virtual reality technology development and mating industry upgrading progress,
Virtual reality device is widely used in all trades and professions, key technology of the interaction as virtual reality device, for user's
Experience feels particularly significant, so the various interaction techniques around virtual reality device are furtherd investigate by developers.And
In these researchs, eliminates and reduce caused wear in handle moving process and show float, reduce response delay as urgently
Technical problem to be solved.
Summary of the invention
The present invention provides the position filtering method, apparatus and computer storage medium of a kind of interactive handle, to eliminate
Float, reduction response delay are shown with caused wear in handle moving process is reduced.
According to the one aspect of the application, a kind of position filtering method of interactive handle is provided, comprising:
Emit ultrasonic signal to interactive handle, determines that interactive handle is opposite according to reflected ultrasonic signal
In the first location information of the virtual reality device helmet；
The acceleration information for obtaining Inertial Measurement Unit acquisition on interactive handle, calculates according to the acceleration information and hands over
The second location information of mutual formula handle；
The first location information and the second location information are subjected to data fusion, and according to the interactive handle
Current motion state is filtered the fused location information of data.
According to further aspect of the application, a kind of position filtering device of interactive handle is provided, comprising:
Ultrasonic position determination unit, for emitting ultrasonic signal to interactive handle, according to reflected ultrasound
Wave signal determines first location information of the interactive handle relative to the virtual reality device helmet；
IMU position determination unit obtains the acceleration information of Inertial Measurement Unit acquisition on interactive handle, according to described
Acceleration information calculates the second location information of interactive handle；
Filter unit is used for the first location information and second location information progress data fusion, and according to
The current motion state of the interactive mode handle is filtered the fused location information of data.
According to the another aspect of the application, a kind of computer storage medium is provided, computer program is stored thereon with,
It is characterized in that, the computer program realizes method described in the application one aspect when being executed by processor.
The utility model has the advantages that the position filtering method and apparatus of the interactive handle of the embodiment of the present invention, send out to interactive handle
Ultrasonic signal is penetrated, the of interactive handle relative to the virtual reality device helmet is determined according to reflected ultrasonic signal
One location information, and the acceleration information of Inertial Measurement Unit acquisition on interactive handle is obtained, according to acceleration information meter
First location information and second location information are carried out data fusion by the second location information for calculating interactive handle, and according to friendship
The current motion state of mutual formula handle is filtered the fused location information of data.As a result, by by ultrasonoscope
The position of calculation and using acceleration transducer calculate position merged, avoid be used alone ultrasonic wave calculating position cause
Noise it is big, the lower disadvantage of relative frequency also avoids determining that attitude drift existing for position and accumulation are missed using accelerometer
It is poor insufficient, improve the precision that position determines.After carrying out Co-factor propagation, carried out in the present embodiment according to the motion state of handle
Corresponding filtering, meets the different demands under different motion state to positional jitter and response time, balances positional jitter
With this two big demand of response time, the market competitiveness of user experience and virtual reality device is improved.
Detailed description of the invention
Fig. 1 is the flow chart of the position filtering method of the interactive handle of one embodiment of the invention；
Fig. 2 is the schematic illustration of the position filtering method of the interactive handle of one embodiment of the invention；
Fig. 3 is the block diagram of the position filtering device of the interactive handle of one embodiment of the invention.
Specific embodiment
Design concept of the invention is: under the different motion state of object (static, at a slow speed, quickly), people are to position
Shake and response speed have different experience requirements.It is static and at a slow speed when, people be easier find object space shake,
It shakes more sensitive.Quickly when movement, people are insensitive to the shake of position, require instead response speed high.So will basis
Different motion state, to meet requirement of the people to positional jitter and response speed.
Fig. 1 is the flow chart of the position filtering method of the interactive handle of one embodiment of the invention, referring to Fig. 1, this reality
The position filtering method for applying the interactive handle of example includes the following steps:
Step S101 emits ultrasonic signal to interactive handle, is determined and interacted according to reflected ultrasonic signal
First location information of the formula handle relative to the virtual reality device helmet；
Step S102 obtains the acceleration information of Inertial Measurement Unit acquisition on interactive handle, according to the acceleration
Data calculate the second location information of interactive handle；
The first location information and the second location information are carried out data fusion by step S103, and according to described
The current motion state of interactive handle is filtered the fused location information of data.
As shown in Figure 1 it is found that the present embodiment interactive handle (interactive handle be and the helmet of virtual reality device hand over
Position filtering method mutually) merges ultrasonic wave and IMU data, avoids noise caused by ultrasonic wave calculating position is used alone
Greatly, relative frequency is lower, also avoids determining attitude drift and accumulated error existing for position using accelerometer, improves position
Set determining precision.It after carrying out Co-factor propagation, is filtered, is met accordingly according to the motion state of handle in the present embodiment
To the different demands of positional jitter and response time under different motion state, equilbrium position shake and response time, this two was needed greatly
It asks, improves user experience.
It is appreciated that ultrasonic distance measurement scheme, can accomplish low-power consumption, price is low.But ultrasonic hash is big, relative frequency
It is lower.IMU (Inertial Measurement Unit, Inertial Measurement Unit) can utilize accelerometer, gyroscope, magnetic force
It counts and calculates posture, and the frequency of IMU is relatively high, but IMU has the problem of attitude drift, posture has error tired
Product.Displacement inaccuracy is calculated by accelerometer merely, if only coming calculating position by accelerometer, after several seconds,
Location error will be very big.
In this regard, the position filtering method of the interactive handle of the embodiment of the present invention, merged ultrasonic wave calculating position and
The position that IMU is calculated avoids the problem that a kind of noise when means calculating position is used alone is big, precision is low.In addition, different
Motion state under, the focus of user is different, so that the requirement to experience is different.That is, the side of the embodiment of the present invention
Method obtains the gyro data of Inertial Measurement Unit acquisition on interactive handle, determines the interactive hand according to gyro data
The current motion state of handle.The specific mode for determining handle current motion state, for example, calculating the mould of the gyro data
It is long, and the long size with preset threshold of mould of the gyro data, it is less than or equal to the when gyro data mould is long
When one threshold value, determine that the current motion state of interactive handle is static；It is more than or equal to the when gyro data mould is long
When two threshold values, determine that the current motion state of interactive handle is quick motion state；It is greater than the when gyro data mould is long
One threshold value and be less than second threshold when, determine the current motion state of interactive handle be microinching state；Wherein, second
Threshold value is greater than first threshold.
In the embodiment of the present invention, the fused location information of data is carried out according to interactive handle current motion state
Filtering processing, so that positional jitter is small, more stable when realizing static and microinching.And when quickly moving, it responds more timely.
Meets the needs of under different motion state.Below with reference to Fig. 2 to the position filtering method of the interactive handle of the embodiment of the present invention
Specific steps be illustrated, Fig. 2 be the position filtering method of the interactive handle of one embodiment of the invention principle signal
Figure, referring to fig. 2,
(1) ultrasonic wave calculating position.Include ultrasonic receiver in the interactive handle of the embodiment of the present invention, and matches therewith
Ultrasonic transmitter is mounted in the wearing of set, and it is super to the transmitting of interactive handle that the processor worn controls ultrasonic transmitter
Sound wave, and reflected ultrasonic signal is received, the time according to used in the ultrasonic signal of return and known ultrasonic wave
Transmission speed can determine handle and wear the distance between two o'clock, and determine handle relative to the orientation worn.It needs to illustrate
, it is the prior art that ultrasonic wave, which calculates handle position, and therefore, the more details that related ultrasonic position calculates may refer to existing
There is the associated description in technology, no longer illustrates one by one herein.Referring to fig. 2, the location information of the calculated handle of ultrasonic wave is defeated
Enter into Kalman filter.
(2) IMU data.Built-in nine axis IMU in the interactive handle of the present embodiment, including gyroscope (three axis), acceleration
It counts (three axis), magnetometer (three axis).The posture of handle can be accurately measured by gyroscope.It can be secondary by accelerometer
Integral obtains the displacement of handle, it can thus be concluded that posture and relative displacement that handle is current.Acceleration information is calculated referring to fig. 2
Position be input in Kalman filter.
(3) motion state judges.The motion state of handle, fortune here are judged according to the size of the mould of gyro data
Dynamic state include it is static, at a slow speed, quickly totally three kinds.
When mould is long is less than or equal to first threshold, determine that the current motion state of interactive handle is static；When
When mould length is more than or equal to second threshold, determine that the current motion state of interactive handle is quick motion state；Work as mould
When length is greater than first threshold and is less than second threshold, determine that the current motion state of interactive handle is microinching state.
That is, calculating the long Gyrolength=of mould of three-axis gyroscope data Gyrodata=(gyrox, gyroy, gyroz)
sqrt(gyrox2+gyroy2+gyroz2)；
If Gyrolength is less than or equal to first threshold Threshold1, determine that motion state is static.If
The long Gyrolength of mould is more than or equal to second threshold Threshold2, determines that motion state is quick.If mould length is greater than
First threshold Threshold1 and be less than second threshold Threshold2, determine motion state be at a slow speed.It should be noted that this
Embodiment quick and divided with some locomotion speed value at a slow speed.It similar to running and walks, running belongs to quickly
Movement, and walk and belong to microinching.
(4) Kalman filtering.It is merged by ultrasonic position and using the position that accelerometer calculates, data fusion is
The prior art, details are not described herein again.Referring to fig. 2, to the fused location information of data, according to the one of motion state judgement determination
A motion state selects a set of corresponding filtering parameter, meets and wants under different motion state to the difference of shake and response time
It asks.That is, static, the quick or microinching state current according to the interactive handle determined, from Kalman filtering
Corresponding a set of filtering parameter is chosen in device in pre-set three sets of filtering parameters to carry out the fused location information of data
First order filtering processing, wherein under different filtering parameters, system noise and observation noise difference.
It is denoted as it should be noted that three sets of filtering parameters are arranged in Kalman filter in advance in the embodiment of the present invention
A1, A2, A3 and the corresponding relationship that filtering parameter and motion state are set, for example, this set parameter of A1 corresponds to stationary motion state,
This set parameter of A2 corresponds to quick motion state.When the result that motion state judges is stationary state, selection card in the present embodiment
This set parameter of the A1 of Thalmann filter, and this set parameter is filtered position data with A1.In the present embodiment, no
Under same filtering parameter, system noise and observation noise are different.That is, system noise and observation noise can be according to motion states
Difference and change, thus when guaranteeing different motion states, user is satisfied to the shake of position and response speed.
(5) first order exponential filters.Referring to fig. 2, the embodiment of the present invention is after carrying out first order filtering processing, from first order exponential
Corresponding adjustment parameter is chosen in filter in pre-set three adjustment parameters to carry out the fused location information of data
Second level filtering processing, obtains filter result.
Specifically, first order exponential filtering is to first frame, Loc_out=Loc_new
Loc_Last=Loc_new；
For the second frame and its later each frame,
Loc_out=(1- α) * Loc_Last+ α * Loc_new；
Loc_Last=Loc_out；
Here the value for being different the corresponding adjustment parameter α of motion state can be different, to guarantee different movements
When state, user is satisfied to the shake of position and response speed.
So far, by judging the current motion state of handle in the embodiment of the present invention, and not according to current motion state
With different parameters is selected when being filtered, to realize in handle at a slow speed and under stationary motion state, positional jitter
Under, user is detectable.And when handle quickly moves, it timely responds to, meets the needs of user is to the response time.Improve use
The competitiveness of family experience and virtual reality device.
Fig. 3 is the block diagram of the position filtering device of the interactive handle of one embodiment of the invention, referring to Fig. 3, the present invention
The position filtering device 300 of the interactive handle of one embodiment includes:
Ultrasonic position determination unit 301, for emitting ultrasonic signal to interactive handle, according to reflected super
Acoustic signals determine first location information of the interactive handle relative to the virtual reality device helmet；
IMU position determination unit 302 obtains the acceleration information of Inertial Measurement Unit acquisition on interactive handle, according to
The acceleration information calculates the second location information of interactive handle；
Filter unit 303, for the first location information and the second location information to be carried out data fusion, and root
The fused location information of data is filtered according to the interactive handle current motion state.The friendship of the present embodiment
The position filtering filter of mutual formula handle can be applied in virtual implementing helmet.
In one embodiment of the invention, Fig. 3 shown device further include: motion state determination unit is handed over for obtaining
The gyro data of Inertial Measurement Unit acquisition on mutual formula handle determines that the interactive handle is worked as according to the gyro data
Preceding motion state.
In one embodiment of the invention, motion state determination unit is specifically used for calculating the mould of the gyro data
It is long, and the long size with preset threshold of mould of the gyro data, when mould is long is less than or equal to first threshold, really
It is static for making the current motion state of interactive handle；When mould is long is more than or equal to second threshold, interactive mode is determined
The current motion state of handle is quick motion state；When mould is long to be greater than first threshold and be less than second threshold, determine to hand over
The current motion state of mutual formula handle is microinching state；Wherein, second threshold is greater than first threshold.
In one embodiment of the invention, filter unit 303, specifically for according to the interactive handle determined
Current static, quick or microinching state, the selection pair from three sets of filtering parameters pre-set in Kalman filter
The a set of filtering parameter answered carries out first order filtering processing to the fused location information of data, wherein different filtering parameters
Under, system noise and observation noise difference；It is pre-set from first order exponential filter after carrying out first order filtering processing
Corresponding adjustment parameter is chosen in three adjustment parameters, second level filtering processing is carried out to the fused location information of data, obtain
Filter result.
In one embodiment of the invention, filter unit 303 are specifically used for first frame, and first order exponential filter is defeated
Location information Loc_out out is equal to new location information Loc_new, a upper location information for first order exponential filter output
Loc_out is equal to new location information Loc_new；
To the second frame and later each frame,
Wherein, the value that parameter alpha is adjusted under different motion states is different.
It should be noted that function performed by each unit in the position filtering device of the interactive mode handle shown in Fig. 3
The illustration explanation of energy, it is consistent with the illustration explanation in preceding method embodiment, it no longer repeats one by one here.
In conclusion the position filtering method and apparatus of the interactive handle of the embodiment of the present invention, by by ultrasonoscope
The position of calculation and using acceleration transducer calculate position merged, avoid be used alone ultrasonic wave calculating position cause
Noise it is big, the lower defect of relative frequency also avoids determining attitude drift and accumulation existing for position using accelerometer
The deficiency of error improves the precision that position determines.After carrying out Co-factor propagation, according to the motion state of handle in the present embodiment
It is filtered accordingly, meets the different demands under different motion state to positional jitter and response time, balance position
Shake and this two big demand of response time, improve the market competitiveness of user experience and virtual reality device.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize one in page performance test device according to an embodiment of the present invention
The some or all functions of a little or whole components.The present invention is also implemented as executing method as described herein
Some or all device or device programs (for example, computer program and computer program product).Such realization
Program of the invention can store on a computer-readable medium, or may be in the form of one or more signals.This
The signal of sample can be downloaded from an internet website to obtain, and is perhaps provided on the carrier signal or mentions in any other forms
For.
For example, a kind of computer readable storage medium is provided in the embodiment of the present invention, the computer readable storage medium
It is stored with the computer program for executing steps of a method in accordance with the invention, can be read by the processor of electronic equipment, when
When computer program is run by electronic equipment, the electronic equipment is caused to execute each step in method described above, tool
For body, the calculation procedure of the computer-readable recording medium storage can execute method shown in any of the above-described embodiment.
Computer program can be compressed in a suitable form.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (10)
1. a kind of position filtering method of interactive mode handle characterized by comprising
Emit ultrasonic signal to interactive handle, determines interactive handle relative to void according to reflected ultrasonic signal
The first location information of the quasi- real world devices helmet；
The acceleration information for obtaining Inertial Measurement Unit acquisition on interactive handle calculates interactive according to the acceleration information
The second location information of handle；
The first location information and the second location information are subjected to data fusion, and current according to the interactive handle
Motion state the fused location information of data is filtered.
2. the method according to claim 1, wherein being filtered to the fused location information of data
Before, this method further include:
The gyro data for obtaining Inertial Measurement Unit acquisition on interactive handle, determines the friendship according to the gyro data
The current motion state of mutual formula handle.
3. according to the method described in claim 2, it is characterized in that, determining the interactive handle according to the gyro data
Current motion state includes:
The mould for calculating the gyro data is long, and the long size with preset threshold of mould of the gyro data,
When mould is long is less than or equal to first threshold, determine that the current motion state of interactive handle is static；
When mould is long is more than or equal to second threshold, determine that the current motion state of interactive handle is quickly to move shape
State；
When mould is long to be greater than first threshold and be less than second threshold, determine that the current motion state of interactive handle is to transport at a slow speed
Dynamic state；
Wherein, second threshold is greater than first threshold.
4. according to the method described in claim 2, it is characterized in that, the movement current according to the interactive handle determined
State is filtered the fused location information of data
According to the interactive handle determined current static, quick or microinching state, from Kalman filter
Corresponding a set of filtering parameter is chosen in pre-set three sets of filtering parameters, and first is carried out to the fused location information of data
Grade filtering processing, wherein under different filtering parameters, system noise and observation noise difference；
After carrying out first order filtering processing, chooses and correspond to from three adjustment parameters pre-set in first order exponential filter
Adjustment parameter to the fused location information of data carry out second level filtering processing, obtain filter result.
5. according to the method described in claim 4, it is characterized in that, pre-set three adjustings from first order exponential filter
Corresponding adjustment parameter is chosen in parameter includes: to data fused location information progress second level filtering processing
To first frame, the location information Loc_out of first order exponential filter output is equal to new location information Loc_new, single order
A upper location information Loc_out for exponential filter output is equal to new location information Loc_new；
To the second frame and later each frame,
Wherein, the value that parameter alpha is adjusted under different motion states is different.
6. a kind of position filtering device of interactive mode handle characterized by comprising
Ultrasonic position determination unit is believed for emitting ultrasonic signal to interactive handle according to reflected ultrasonic wave
Number determine first location information of the interactive handle relative to the virtual reality device helmet；
IMU position determination unit obtains the acceleration information of Inertial Measurement Unit acquisition on interactive handle, according to the acceleration
Degree is according to the second location information for calculating interactive handle；
Filter unit, for the first location information and the second location information to be carried out data fusion, and according to described
The current motion state of interactive handle is filtered the fused location information of data.
7. device according to claim 6, which is characterized in that further include: motion state determination unit, for obtaining interaction
The gyro data that Inertial Measurement Unit acquires on formula handle determines that the interactive handle is current according to the gyro data
Motion state.
8. device according to claim 7, which is characterized in that the motion state determination unit is specifically used for described in calculating
The mould of gyro data is long, and the long size with preset threshold of mould of the gyro data, when mould length is less than or waits
When first threshold, determine that the current motion state of interactive handle is static；It is more than or equal to second threshold when mould is long
When, determine that the current motion state of interactive handle is quick motion state；It is greater than first threshold and less than second when mould is long
When threshold value, determine that the current motion state of interactive handle is microinching state；Wherein, second threshold is greater than the first threshold
Value.
9. device according to claim 8, which is characterized in that the filter unit, specifically for according to the institute determined
Interactive handle current static, quick or microinching state are stated, pre-set three sets of filtering from Kalman filter
Corresponding a set of filtering parameter is chosen in parameter, first order filtering processing is carried out to the fused location information of data, wherein no
Under same filtering parameter, system noise and observation noise difference；After carrying out first order filtering processing, from first order exponential filter
In choose corresponding adjustment parameter in pre-set three adjustment parameters the second level carried out to the fused location information of data
Filtering processing, obtains filter result.
10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the computer program is processed
Device realizes method of any of claims 1-5 when executing.
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| CN111760270A (en) * | 2020-06-30 | 2020-10-13 | 歌尔科技有限公司 | Rocker drift processing method and device and related components |
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| CN108267715A (en) * | 2017-12-26 | 2018-07-10 | 青岛小鸟看看科技有限公司 | Localization method and device, the virtual reality device and system of external equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262667A (en) * | 2019-07-29 | 2019-09-20 | 上海乐相科技有限公司 | A kind of virtual reality device and localization method |
| CN111760270A (en) * | 2020-06-30 | 2020-10-13 | 歌尔科技有限公司 | Rocker drift processing method and device and related components |
| CN111935396A (en) * | 2020-07-01 | 2020-11-13 | 青岛小鸟看看科技有限公司 | 6DoF data processing method and device of VR (virtual reality) all-in-one machine |
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