CN109767499A - Multi-user's immersion exchange method, system and storage medium based on MR equipment - Google Patents
Multi-user's immersion exchange method, system and storage medium based on MR equipment Download PDFInfo
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Abstract
The present invention relates to multi-user's immersion exchange method, system and storage medium based on MR equipment, exchange method includes: building global map model；Obtain first posture information of each MR equipment in corresponding local map model；Fiducial mark fixed point is chosen in global map model；Obtain the second posture information that each local map model is pinpointed relative to fiducial mark；Each MR equipment is synchronized in global map model according to the first posture information and the second posture information, obtains global map.The embodiment of the present invention passes through building global map model, obtain each MR equipment in corresponding local map model the first posture information and each local map model relative in global map model fiducial mark pinpoint second appearance information, according to the first posture information and the second posture information MR equipment be synchronized in global map model generate global map, it realizes the head in same map to show the interaction of data and share, guarantees that each MR equipment can more completely show the details in map.
Description
Technical field
The present invention relates to mediate reality technology field, more particularly to multi-user's immersion exchange method based on MR equipment,
System and storage medium.
Background technique
Real (Mediated Reality) is mediated, is mentioned by " father of Intelligent hardware " University of Toronto professor Steve Mann
Mediation reality out, full name Mediated Reality (abbreviation MR).VR is pure virtual digit picture, including AR
Mixed Reality is virtual digit picture+naked eye reality, and MR is digitlization reality+virtual digit picture.
MR aobvious features determine that it can only be scanned the front environment of camera front i.e. user
And positioning, all obtained location informations are the local coordinate information by head on the basis of aobvious, under more National People's Congress's scenes, it may appear that
Several situations make occur the situation that object information is not complete in scene in interactive process below:
1, object is blocked, that is, the people being blocked can not see object；
2, it can't see, due to the MR aobvious information that can only obtain front, other users are because of angle or the original of distance
Because can't see object information；
3, it in the object of limitation scene, can not directly observe；
4, common object can not be shown.
Summary of the invention
Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention is provided based on the more of MR equipment
User's immersion exchange method, system and storage medium.
In a first aspect, the embodiment of the invention provides a kind of multi-user's immersion exchange method based on MR equipment, described
Exchange method includes:
Construct global map model；
The local map model for obtaining each MR equipment and the MR equipment are in corresponding local map model
First posture information；
Fiducial mark fixed point is chosen in the global map model；
Obtain the second posture information that each local map model is pinpointed relative to the fiducial mark；
Each MR equipment is synchronized to the global map according to first posture information and the second posture information
In model, global map is obtained.
Based on the above-mentioned technical proposal, the embodiment of the present invention can also make following improvement.
With reference to first aspect, described to obtain each local map model in the first embodiment of first aspect
The second posture information relative to fiducial mark fixed point, comprising:
The 3 D stereo coordinate system that building is pinpointed with the fiducial mark as origin；
Obtain the coordinate origin of each local map model；
By the reference axis of the line and the 3 D stereo coordinate system of each coordinate origin and fiducial mark fixed point
Angle and each coordinate origin and the fiducial mark fixed point spacing, as each cartographic model relative to the benchmark
Second posture information of calibration point.
With reference to first aspect, in second of embodiment of first aspect, the building global map model includes:
The local map model for obtaining all MR equipment merges, and forms the global map model；
It is described that fiducial mark fixed point is chosen in the global map model, comprising:
It is pinpointed any MR equipment in the global map model as fiducial mark.
Second of embodiment with reference to first aspect, it is described to obtain each institute in the third embodiment of first aspect
State the second posture information that local map model is pinpointed relative to the fiducial mark, comprising:
Establish the 3 D stereo coordinate system pinpointed with the fiducial mark as origin；
Coordinate parameters of the MR equipment in the 3 D stereo coordinate system are obtained, as second posture information.
With reference to first aspect, in the 4th kind of embodiment of first aspect, the building global map model includes:
The local map model for obtaining all MR equipment merges, and forms the global map model；
It is described that fiducial mark fixed point is chosen in the global map model, comprising:
It is pinpointed any virtual fixed object in the global map model as fiducial mark.
With reference to first aspect, in the 5th kind of embodiment of first aspect, the exchange method further include:
The global map is separately sent to show in each MR equipment.
Any one reality with reference to first aspect or in first, second, third, fourth or the 5th kind of embodiment of first aspect
Apply example, in the 6th kind of embodiment of first aspect, it is described will be each according to first posture information and the second posture information
The MR equipment is synchronized in the global map model, obtains global map, comprising:
Determine the MR equipment in the global map model according to first posture information and the second posture information
Position deviation；
Determine the MR equipment in the global map model according to first posture information and the second posture information
Attitude misalignment；
The MR equipment is synchronized in the global map model according to the position deviation and the attitude misalignment, is obtained
To global map.
Second aspect, multi-user's immersion interactive system based on MR equipment that the embodiment of the invention provides a kind of are described
Multi-user's immersion interactive system includes processor, memory；The processor for execute stored in the memory it is more
User's immersion interactive program, to realize multi-user's immersion exchange method described in first aspect any embodiment.
The third aspect, the embodiment of the invention provides a kind of computer can storage medium, the computer can storage medium
It is stored with one or more program, one or more of programs can be executed by one or more processor, to realize
Multi-user's immersion exchange method described in first aspect any embodiment.
Above-mentioned technical proposal of the invention has the advantages that the embodiment of the present invention is complete by building compared with prior art
Local graph model obtains first posture information of each MR equipment in corresponding local map model and each locally artwork
Type relative in global map model fiducial mark pinpoint second appearance information, according to the first posture information and the second posture information
MR equipment is synchronized in global map model and generates global map, realize head in same map show data interaction and
It is shared, guarantee that each MR equipment can more completely show the details in map.
Detailed description of the invention
Multi-user's immersion exchange method process signal based on MR equipment that Fig. 1 is that the embodiment of the invention provides a kind of
Figure；
Fig. 2 is that another embodiment of the present invention provides a kind of, and multi-user's immersion exchange method process based on MR equipment is shown
It is intended to；
Fig. 3 is that further embodiment of this invention provides a kind of multi-user's immersion exchange method process based on MR equipment and shows
It is intended to；
Fig. 4 is that further embodiment of this invention provides a kind of multi-user's immersion interactive system structure based on MR equipment and shows
It is intended to.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of multi-user's immersion exchange method based on MR equipment provided in an embodiment of the present invention, interaction
Method includes:
S11, building global map model.
In the present embodiment, VR is pure virtual digit picture, and AR virtual digit picture is real plus naked eye, and MR is number
Change reality and adds virtual digit picture.Conceptually, MR and AR is more closely, be half reality half virtual image,
But tradition AR Technology application lens optical principle reflects reality imagery, and visual angle is big not as good as the visual angle VR, and clarity also will receive influence.
Due to still having part reality scene in MR equipment, partial virtual image in MR equipment needs are re-established, for example, can be with
The global map model constructed in server system, global map model is only a cartographic model, but globally artwork
The scene being also not filled by each scene in type, the picture that each user can be seen by MR equipment are only the front of user
Environment can also combine building global map model in the present embodiment by the map in each MR equipment.
In the present embodiment, building global map model includes:
The local map model for obtaining all MR equipment merges, and forms global map model；Obtain each MR equipment
Local map model, merge composition global map model, which is only able to achieve the merging of cartographic model, can not
Determine the position of each MR equipment.
S12, first of the local map model and MR equipment of each MR equipment in corresponding local map model is obtained
Posture information.
In the present embodiment, each user picture shown in MR equipment is the scanning of the environment immediately ahead of MR equipment
The image obtained with positioning, while posture information of the MR equipment in use in local map model is obtained, for example, if
Local map model shown by MR equipment is the 3 D stereo map established using MR equipment as origin, then MR equipment is locally
Origin position or local map model in graph model are established by origin of a certain common object in local map model
It obtains, first posture information, that is, MR equipment position relative to common object of the MR equipment in corresponding local map model.
S13, fiducial mark fixed point is chosen in global map model.
In the present embodiment, the MR that the fiducial mark fixed point chosen in global map can be in global map model is set
It is standby, it pinpoints, is also possible to any virtual in global map model using any MR equipment in global map model as fiducial mark
Fixed object is pinpointed as fiducial mark.
S14, the second posture information that each local map model is pinpointed relative to fiducial mark is obtained.
In the present embodiment, each local map model is map image shown in each MR equipment, benchmark calibration
Point is any object in global map model, so local map model is equivalent to the posture information of fiducial mark fixed point as the
Two posture informations.
For example, as shown in Fig. 2, the method for obtaining the second posture information pinpointed relative to fiducial mark includes:
S21, building are using fiducial mark fixed point as the 3 D stereo coordinate system of origin.
In the present embodiment, 3 D stereo coordinate system, the seat of 3 D stereo coordinate system are established by origin of fiducial mark fixed point
Parameter can be any direction, but for each local map model, each axis direction of the 3 D stereo coordinate system should
It is fixed.
S22, the coordinate origin for obtaining each local map model.
In above-mentioned steps, first posture information of the MR equipment in corresponding local map model is obtained, so often
A local map model has the coordinate origin of oneself, obtains the coordinate origin of local map model to determine locally artwork
Relative position of the type in global map model.
S23, by each coordinate origin and fiducial mark fixed point line and 3 D stereo coordinate system reference axis angle and
The spacing of each coordinate origin and fiducial mark fixed point, the second pose letter pinpointed as each cartographic model relative to fiducial mark
Breath.
In the present embodiment, with each coordinate origin and fiducial mark fixed point line 3 D stereo coordinate system reference axis
Angle, determine each coordinate origin in the orientation that fiducial mark pinpoints, with the spacing of each coordinate origin and fiducial mark fixed point, really
Thus fixed each coordinate origin obtains the second pose that a cartographic model is pinpointed relative to fiducial mark in the position that fiducial mark pinpoints
Information.
In another embodiment, the method for obtaining the second posture information pinpointed relative to fiducial mark can also include:
It establishes using fiducial mark fixed point as the 3 D stereo coordinate system of origin；
Coordinate parameters of the MR equipment in 3 D stereo coordinate system are obtained, as the second posture information.
S15, each MR equipment is synchronized in global map model according to the first posture information and the second posture information, is obtained
To global map.
In the present embodiment, by MR equipment relative to the first posture information in local map model, by locally
Second posture information of the graph model relative to global map model, MR equipment is synchronized in global map model, i.e., by the MR
In the local map mold sync value global map model of equipment, the rendering of to map is completed, global map is obtained.
In the present embodiment, exchange method further include: global map is separately sent to show in each MR equipment,
It sends each MR equipment for global map to show, locally due to each MR equipment rendered in global map
Graph model, each MR equipment are observed that the image that other MR equipment are rendered, and guarantee the information of the object occurred in scene
Completely, showing for complete map is realized.
In the present embodiment, the first posture information, the second posture information and posture information be exactly respective positions information and
Rotation attitude information.
As shown in figure 3, a kind of multi-user's immersion exchange method based on MR equipment provided in an embodiment of the present invention, interaction
Method includes:
S31, building global map model.
In the present embodiment, VR is pure virtual digit picture, and AR virtual digit picture is real plus naked eye, and MR is number
Change reality and adds virtual digit picture.Conceptually, MR and AR is more closely, be half reality half virtual image,
But tradition AR Technology application lens optical principle reflects reality imagery, and visual angle is big not as good as the visual angle VR, and clarity also will receive influence.
Due to still having part reality scene in MR equipment, partial virtual image in MR equipment needs are re-established, for example, can be with
The global map model constructed in server system, global map model is only a cartographic model, but globally artwork
The scene being also not filled by each scene in type, the picture that each user can be seen by MR equipment are only the front of user
Environment can also combine building global map model in the present embodiment by the map in each MR equipment.
In the present embodiment, building global map model includes:
The local map model for obtaining all MR equipment merges, and forms global map model；Obtain each MR equipment
Local map model, merge composition global map model, which is only able to achieve the merging of cartographic model, can not
Determine the position of each MR equipment.
S32, first of the local map model and MR equipment of each MR equipment in corresponding local map model is obtained
Posture information.
In the present embodiment, each user picture shown in MR equipment is the scanning of the environment immediately ahead of MR equipment
The image obtained with positioning, while posture information of the MR equipment in use in local map model is obtained, for example, if
Local map model shown by MR equipment is the 3 D stereo map established using MR equipment as origin, then MR equipment is locally
Origin position or local map model in graph model are established by origin of a certain common object in local map model
It obtains, first posture information, that is, MR equipment position relative to common object of the MR equipment in corresponding local map model.
S33, fiducial mark fixed point is chosen in global map model.
In the present embodiment, the MR that the fiducial mark fixed point chosen in global map can be in global map model is set
It is standby, it pinpoints, is also possible to any virtual in global map model using any MR equipment in global map model as fiducial mark
Fixed object is pinpointed as fiducial mark.
S34, the second posture information that each local map model is pinpointed relative to fiducial mark is obtained.
In the present embodiment, each local map model is map image shown in each MR equipment, benchmark calibration
Point is any object in global map model, so local map model is equivalent to the posture information of fiducial mark fixed point as the
Two posture informations.
S35, determine that position of the MR equipment in global map model is inclined according to the first posture information and the second posture information
Difference.
In the present embodiment, the first posture information and local map according to MR equipment in corresponding local map model
The second posture information that model is pinpointed relative to fiducial mark in global map model, obtains MR equipment in global map model
Position, and thereby determine that MR equipment should position and simulation position position deviation.
S36, determine that posture of the MR equipment in global map model is inclined according to the first posture information and the second posture information
Difference.
In the present embodiment, it is based on above-mentioned position deviation, according to the posture information of MR equipment, confirms MR equipment globally
Attitude misalignment in graph model.
S37, MR equipment is synchronized in global map model according to position deviation and attitude misalignment, obtains global map.
The MR equipment in original global map model is modified by position deviation and attitude misalignment, and is achieved in
All MR equipment are synchronized to global map model, obtain global map.
In the present embodiment, exchange method further include: global map is separately sent to show in each MR equipment,
It sends each MR equipment for global map to show, locally due to each MR equipment rendered in global map
Graph model, each MR equipment are observed that the image that other MR equipment are rendered, and guarantee the information of the object occurred in scene
Completely, showing for complete map is realized.
As shown in figure 4, the embodiment of the invention provides a kind of multi-user's immersion interactive system based on MR equipment, is mostly used
Family immersion interactive system includes processor, memory；Processor is used to execute the multi-user's immersion stored in memory and hands over
Mutual program, to realize multi-user's immersion exchange method of any of the above-described embodiment.
To in above-described embodiment system or device provide for recording the software of the function that above-described embodiment may be implemented
The storage medium of the program code of program, and read and execute by the computer (or CPU or MPU) of system or device and be stored in
Program code in storage medium.
In this case, the function of above-described embodiment is executed from the program code itself that storage medium is read, and stored
The storage medium of program code constitutes the embodiment of the present invention.
As for providing the storage medium of program code, for example, floppy disk, hard disk, CD, magneto-optic disk, CD-ROM, CD-R,
Tape, Nonvolatile memory card, ROM, and the like can use.
The function of above-described embodiment can not only realize by executing the program code read by computer, Er Qieke
To pass through at some or all of reality of the OS (operating system) run on computers according to the instruction execution of program code
Reason operation is to realize.
In addition, being write in the program code read from storage medium the embodiment of the invention also includes such a case
Enter to be inserted into after the function expansion card of computer, or depositing of providing in the functional expansion unit being connected with computer is provided
After reservoir, CPU for including in function expansion card or functional expansion unit or the like is executed according to the order of program code
Part processing or all processing, to realize the function of above-described embodiment.
The embodiment of the invention provides a kind of computer can storage medium, computer can storage medium be stored with one or
Multiple programs, one or more program can be executed by one or more processor, to realize the more of any of the above-described embodiment
User's immersion exchange method.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of multi-user's immersion exchange method based on MR equipment, which is characterized in that the exchange method includes:
Construct global map model；
Obtain first of the local map model and the MR equipment of each MR equipment in corresponding local map model
Posture information；
Fiducial mark fixed point is chosen in the global map model；
Obtain the second posture information that each local map model is pinpointed relative to the fiducial mark；
Each MR equipment is synchronized to the global map model according to first posture information and the second posture information
In, obtain global map.
2. multi-user's immersion exchange method according to claim 1, which is characterized in that described to obtain each part
The second posture information that cartographic model is pinpointed relative to the fiducial mark, comprising:
The 3 D stereo coordinate system that building is pinpointed with the fiducial mark as origin；
Obtain the coordinate origin of each local map model；
By the folder of the reference axis of the line and the 3 D stereo coordinate system of each coordinate origin and fiducial mark fixed point
The spacing of angle and each coordinate origin and fiducial mark fixed point, as each cartographic model relative to the benchmark calibration
Second posture information of point.
3. multi-user's immersion exchange method according to claim 1, which is characterized in that the building global map model
Include:
The local map model for obtaining all MR equipment merges, and forms the global map model；
It is described that fiducial mark fixed point is chosen in the global map model, comprising:
It is pinpointed any MR equipment in the global map model as fiducial mark.
4. multi-user's immersion exchange method according to claim 3, which is characterized in that described to obtain each part
The second posture information that cartographic model is pinpointed relative to the fiducial mark, comprising:
Establish the 3 D stereo coordinate system pinpointed with the fiducial mark as origin；
Coordinate parameters of the MR equipment in the 3 D stereo coordinate system are obtained, as second posture information.
5. multi-user's immersion exchange method according to claim 1, which is characterized in that the building global map model
Include:
The local map model for obtaining all MR equipment merges, and forms the global map model；
It is described that fiducial mark fixed point is chosen in the global map model, comprising:
It is pinpointed any virtual fixed object in the global map model as fiducial mark.
6. multi-user's immersion exchange method according to claim 1, which is characterized in that the exchange method further include:
The global map is separately sent to show in each MR equipment.
7. any multi-user's immersion exchange method according to claim 1~6, which is characterized in that described according to institute
It states the first posture information and the second posture information each MR equipment is synchronized in the global map model, obtains the overall situation
Map, comprising:
Position of the MR equipment in the global map model is determined according to first posture information and the second posture information
Set deviation；
Appearance of the MR equipment in the global map model is determined according to first posture information and the second posture information
State deviation；
The MR equipment is synchronized in the global map model according to the position deviation and the attitude misalignment, is obtained complete
Local figure.
8. a kind of multi-user's immersion interactive system based on MR equipment, which is characterized in that multi-user's immersion interaction system
System includes processor, memory；The processor is used to execute the multi-user's immersion interactive program stored in the memory,
To realize multi-user's immersion exchange method according to any one of claims 1 to 7.
9. a kind of computer can storage medium, which is characterized in that the computer can storage medium be stored with one or more
Program, one or more of programs can be executed by one or more processor, any in claim 1~7 to realize
Multi-user's immersion exchange method described in.
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