CN113544766A - 在第一和第二增强现实观看器之间配准本地内容 - Google Patents
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Abstract
公开了一种观看本地内容的图像数据的方法。增强现实视图是通过存储第一设备坐标系(DCF)、移动第一配准标记以选择用户可通过显示器观看的至少一个现实世界对象上的第一特征点(FP1)和第二特征点(FP2)来创建的。统一坐标系(UCS)对准模块存储在选择FP1和FP2时配准标记的位置,在选择FP1和FP2时基于第一个配准标记的位置来确定用户坐标系(UCF),转换DCF到UCF,以及基于从第一DCF到第一UCF的转换,通过显示器向用户显示第一数据源上的用投影仪接收到的本地内容的图像数据。
Description
相关申请的交叉引用
本申请要求于2019年3月12日提交的美国临时专利申请第62/817,318号和2019年4月19日提交的美国临时专利申请第62/836,417号的优先权,每个申请的全部内容通过引用并入本文。
技术领域
本发明涉及具有第一和第二增强现实观看器以及配准(registration)本地内容以供观看器(viewer)观看的观看系统。
背景技术
现代计算和显示技术促进了包括“增强现实”观看器的用户交互系统的开发。这种观看器通常具有带有头戴式框架的头部单元,用户可以将其固定到他们的头部,并且通常包括两个波导,一个波导在用户的每只眼睛前面。波导是透明的,以使得来自现实世界对象的环境光可以传输(transmit)通过波导,用户可以看到现实世界对象。每个波导还用于将来自投影仪的投射光传输到用户的相应眼睛。投射光在眼睛的视网膜上形成图像。眼睛的视网膜因此接收环境光和投射光。用户同时看到现实世界对象和由投影光创建的一个或多个虚拟对象。
以这种方式,用户可以看到本地内容在现实世界中的渲染。房间内的两个用户将各自显示自己的本地内容。有时可能需要两个用户看到相同位置的相同本地内容。例如,两个用户在合作项目、玩游戏、观看体育赛事等时可能希望看到相同位置的相同本地内容。
发明内容
本发明提供了一种观看系统,包括第一增强现实观看器,包括:第一显示器,允许第一用户看到现实世界对象,第一数据源,用于保存本地内容的图像数据,第一投影仪,在所述第一用户观看所述现实世界对象时,通过所述第一显示器向所述第一用户显示所述本地内容的图像数据,第一处理器,连接到所述第一处理器的第一计算机可读介质,在所述第一计算机可读介质上并且由所述处理器可执行的第一组视觉数据和算法,其包括:第一设备坐标系DCF,第一配准标记,由所述第一用户可操作以在所述现实世界对象中的至少一个现实世界对象上选择第一特征点FP1和第二特征点FP2,第一统一坐标系UCS对准模块,具有:第一特征点存储模块,存储在选择所述FP1和所述FP2时所述第一配准标记的位置,第一用户坐标系计算器,基于在选择所述FP1和所述FP2时所述第一配准标记的所述位置来确定第一用户坐标系UCF,第一转换器,用于将所述第一DCF转换为所述第一UCF,以及第一渲染引擎,基于从所述第一DCF到所述第一UCF的转换来显示所述第一数据源上的所述本地内容的图像数据。
本发明还提供了一种观看本地内容的图像数据的方法,包括:创建第一增强现实视图,包括:在第一计算机可读介质上存储第一设备坐标系DCF,由所述第一用户移动第一配准标记以在由所述用户通过第一显示器可观看的至少一个所述现实对象上选择第一特征点FP1和第二特征点FP2,通过以下来执行第一统一坐标系UCS对准模块:存储在选择所述FP1和所述FP2时所述第一配准标记的位置,基于在选择所述FP1和所述FP2时所述第一配准标记的所述位置,确定第一用户坐标系UCF,将所述第一DCF转换为所述第一UCF,以及基于从所述第一DCF到所述第一UCF的转换,在所述第一用户观看所述现实世界对象时,通过所述第一显示器向所述第一用户显示第一数据源上的用第一投影仪接收到的本地内容的图像数据。
附图说明
本发明通过示例参考附图进一步描述,其中:
图1是根据本发明的实施例的由第一和第二用户使用的观看系统以及仅对用户可见的桌子和渲染的透视图;
图2是示意图,其以横截面平面图示出了增强现实观看器的部件和一个用户的眼睛、以框图形式示出了增强现实观看器的其他部件、以及桌子内部视图;
图3是类似于图2的视图,重点是基于运动的调整系统;
图4是类似于图3的视图,重点是用于在用户之间配准本地内容的系统;
图5是示出了驻留在相应增强现实观看器的视觉数据和算法内的桌子和各种坐标系的透视图,并且进一步示出了重力方向;
图6是类似于图5的视图,示出了用户如何选择第一和第二特征点;
图7是类似于图6的视图,示出了如何转换坐标系;以及
图8是根据本发明的一个实施例的可以在本发明系统中找到应用的计算机形式的机器的框图。
具体实施方式
附图的图1示出了根据本发明的一个或多个实施例的与观看系统14进行交互的第一用户10和第二用户12。观看系统14包括用于每个用户10和12的相应增强现实观看器16、网络18和服务器20。第一和第二用户位于具有桌子22形式的现实对象的环境中。用户10和12使用增强现实观看器16可观看各种渲染,包括本地内容24的渲染和配准标记26的渲染。
每个增强现实观看器16包括头部单元30、腰包32、线缆连接34、以及六自由度(6dof)控制器36。相应的用户10或12将头部单元30固定到他们的头部以及将远离头部单元30的腰包32固定在他们的腰部(或其他合适的位置,例如背包)。线缆连接34将头部单元30连接到腰包32。头部单元30包括用于向用户显示一个或多个虚拟对象同时允许用户看到诸如桌子22的现实对象的技术。腰包32主要包括增强现实观看器16的处理和通信能力。在另一个实施例中,处理和通信能力可以完全驻留在头部单元30中,因此不需要腰包32。
腰包32通过无线连接被连接到网络18。服务器20被连接到网络18并保存表示本地内容的数据。腰包32通过网络18从服务器20下载本地内容。腰包32通过线缆连接34向头部单元30提供数据。头部单元30通常包括:包括光源的显示器以及波导,光源可以是激光或LED光(light)或任何其他合适的光,波导引导光以使得光被相应用户10或12的每只眼睛的视网膜接收。头部单元30的显示器为用户10或12的左眼和右眼产生略微不同的图像,以便用户10或12的大脑将光感知为本地内容24的三维图像。本地内容24的比例及其位置和距用户10或12的距离由表示本地内容24的数据和用于向相应用户10或12显示本地内容24的各种坐标系来确定。
在相对于桌子22的相同位置向用户10和12显示本地内容24。在给定的示例中,本地内容24是从第一用户10的视点和第二用户12的视点面向第一用户10的角色的头部。
6dof控制器36包括位置发射器,并且头部单元30包括位置接收器。位置发射器发射位置信号,位置接收器接收位置信号。位置信号包括表示位置发射器(并且因此是6dof控制器36)相对于位置接收器(并且因此是头部单元30)的位置的数据。
在使用中,用户10或12将头部单元30安装到他们的头部并且将腰包32安装到他们的腰部。腰包32通过网络18从服务器20下载图像数据。用户10或12可以通过头部单元30的显示器看到桌子22。形成头部单元30的一部分的投影仪从腰包32接收图像数据并基于图像数据生成光。光行进通过形成头部单元30的显示器的一部分的一个或多个波导。然后光离开波导并传播到用户10或12的眼睛的视网膜上。投影仪以如下模式(pattern)生成光:被复制到用户10或12的眼睛的视网膜上。落在用户10或12的眼睛的视网膜上的光具有选定的景深,使得用户10或12感知在波导后面的预选深度处的图像。此外,双眼接收稍微不同的图像,以使得用户10或12的大脑感知距头部单元30所选距离处的一个或多个三维图像。在本示例中,用户10和12两者感知本地内容24作为对桌子22的增强。
每个用户10或12还可以在三个维度上感知配准标记26之一。配准标记26的位置总是在相对于由相应用户10或12持有的6dof控制器36的设定方向上。因此当相应6dof控制器36被左右移动和前后移动时,配准标记26从左向右移动和前后移动。配准标记26将其自身附接到现实对象的表面。当用户因此移动6dof控制器36时,配准标记26可以例如跨桌子22的表面移动。然后用户10或12可以选择桌子22上的特定点,例如桌子22的一个或多个角。
本地内容24和配准标记26从绘图的角度来看是不可见的,并且由于用户10和12使用了增强现实观看器16,因此它们仅对用户10和12可见。本地内容24和配准标记26是最初数据结构,其驻留在腰包32中的视觉数据和算法内。然后在头部单元30中的投影仪基于数据结构产生光时,数据结构自身表现(manifest)为光。尽管本地内容24和配准标记26在用户10和12前面的三维空间中不存在(例如是虚拟对象),但是它们在图1中以三维空间表示。在整个描述中使用计算机数据在三维空间中的可视化来说明促进被用户10和12感知的渲染的数据结构如何在腰包32中的视觉算法的数据结构内相互关联。
图2更详细地示出了增强现实观看器16之一,其包括头部单元30、6dof控制器36、以及视觉数据和算法38。在一些实施例中,视觉数据和算法38主要驻留在图1中的腰包32。在其他实施例中,视觉数据和算法38可以完全驻留在头部单元内或者可以在头部单元和腰包之间分开。
图2还包括数据源40。在本示例中,数据源40包括从图1中的服务器20接收并且然后存储在腰包32的存储设备上的图像数据。图像数据例如可以是可用于渲染本地内容24的三维图像数据。图像数据可以是时间序列数据,其允许创建以预定或非预定序列以二维或三维进行移动的视频,并且可以位于现实世界对象(例如图1中的桌子22)上。
视觉数据和算法38包括渲染引擎42、立体分析器44、基于运动的调整(Pixelstick)系统46、以及统一(uniform)坐标系(UCS)对准模块48。
渲染引擎42被连接到数据源40、基于运动的调整系统46、以及UCS对准模块48。渲染引擎42能够接收来自各种系统的输入,在本示例中为基于运动的调整系统46和UCS对准模块48。
如图3所示,基于运动的调整系统46包括同时定位和映射(SLAM)系统52、头部单元到世界坐标系(frame)转换器(transformer)54、以及显示调整算法56。渲染引擎42被连接到显示调整算法56。显示调整算法56接收来自头部单元到世界坐标系转换器54的输入。头部单元到世界坐标系转换器54被连接到SLAM系统52。SLAM系统52能够接收图像数据,分析图像数据以确定图像数据的图像内的对象,并记录图像数据的位置。头部单元到世界坐标系转换器54能够将头部单元坐标系转换为世界坐标系。
立体分析器44被连接到渲染引擎42。立体分析器44能够根据由渲染引擎42提供的数据流来确定左图像数据集和右图像数据集。
头部单元30包括头部单元主体60和显示系统62。头部单元主体60具有戴在用户头部上的形状。显示系统62固定在头部单元主体60上。
显示系统62包括左投影仪66A和右投影仪66B、左波导70A和右波导70B、以及检测设备72。左投影仪66A和右投影仪66B被连接到电源。每个投影仪66A或66B具有用于提供给相应投影仪66A或66B的图像数据的相应输入。相应投影仪66A或66B在通电时产生二维图案的光并从其发出光。左波导70A和右波导70B被定位成分别从左投影仪66A和右投影仪66B接收光。左波导70A和右波导70B是透明波导。
检测设备72包括头部单元惯性运动单元(IMU)80和一个或多个头部单元相机82。头部单元IMU 80包括加速度计84(或多于一个加速度计)、陀螺仪86(或多个一个陀螺仪)、以及一个重力传感器88。IMU的部件通常形成在半导体芯片中。加速度计和陀螺仪能够检测头部单元IMU 80和头部单元主体60的运动,包括沿着三个正交轴的运动和围绕正交轴的旋转。重力传感器88能够检测重力方向。
头部单元相机82从头部单元主体60周围的环境连续捕获图像。图像可以相互比较以检测头部单元主体60和佩戴头部单元主体60的用户的头部的运动。
SLAM系统52被连接到头部单元相机82。头部单元到世界坐标系转换器54依赖于来自SLAM系统52和头部单元IMU 80的数据,以将头部单元30的坐标系转换为世界坐标系,即包含现实对象(诸如图1中的桌子22)的坐标系。
在使用中,用户将头部单元主体60安装到他们的头部。例如,头部单元主体60的部件可以包括缠绕在用户的后脑勺周围的带子(未示出)。左波导70A和右波导70B然后位于用户的左眼120A和右眼120B的前面。
渲染引擎42从数据源40接收图像数据。渲染引擎42将图像数据输入到立体分析器44。图像数据是图1中的本地内容24的三维图像数据。立体分析器44分析图像数据以基于图像数据确定左图像数据集和右图像数据集。左图像数据集和右图像数据集是表示彼此略微不同的二维图像的数据集,目的在于给予用户10三维渲染的感知。
立体分析器44将左图像数据集和右图像数据集输入到左投影仪66A和右投影仪66B中。左投影仪66A和右投影仪66B然后产生左光图案和右光图案。显示系统62的部件以平面图示出,但应当理解,当以正视图示出时,左光图案和右光图案是二维图案。每个光图案包括多个像素。出于说明的目的,来自两个像素的光线124A和126A被示出离开左投影仪66A并进入左波导70A。光线124A和126A从左波导70A的侧面反射。示出了光线124A和126A在左波导70A内通过内反射从左到右传播,但应当理解,光线124A和126A也使用耐火(refractory)和反射系统在进入纸面的方向上传播。
光线124A和126A通过光瞳(pupil)128A离开左光波导70A,然后通过左眼120A的瞳孔130A进入左眼120A。光线124A和126A然后落在左眼120A的视网膜132A上。以此方式,左光图案落在左眼120A的视网膜132A上。用户被给予这样的感觉,即形成在视网膜132A上的像素是用户感觉在左波导70A的与左眼120A相对的一侧有一定距离的像素134A和136A。深度感知是通过操纵光的焦距来创建的。
以类似的方式,立体分析器44将右图像数据集输入右投影仪66B。右投影仪66B传输右光图案,其由光线124B和126B形式的像素表示。光线124B和126B在右波导70B内反射并通过光瞳128B离开。光线124B和126B然后通过右眼120B的瞳孔130B进入并落在右眼120B的视网膜132B上。光线124B和126B的像素被感知为右波导70B后面的像素134B和136B。
在视网膜132A和132B上产生的图案被分别地感知为左图像和右图像。由于立体分析器44的功能,左图像和右图像彼此略有不同。左图像和右图像在用户的脑海中被感知为三维渲染。
如上所述,左波导70A和右波导70B是透明的。来自左波导70A和右波导70B的与眼睛120A和120B相对的一侧的现实对象的光可以投射通过左波导70A和右波导70B并落在视网膜132A和132B上。
头部单元IMU 80检测用户的头部的每次移动。例如,如果用户10逆时针移动他们的头部并同时将他们的身体连同他们的头部一起向右移动,则这种移动将被头部单元IMU80中的加速度计84和陀螺仪86检测到。头部单元IMU 80将来自加速度计84和陀螺仪86的测量值提供给显示调整算法56。显示调整算法56计算放置值并将放置值提供给渲染引擎42。渲染引擎42修改从数据源40接收的图像数据以补偿用户头部的移动。渲染引擎42将修改后的图像数据提供给立体分析器44以显示给用户10。
当用户移动他们的头部时,头部单元相机82连续地捕获图像。SLAM系统52分析图像并标识图像内的对象的图像。SLAM系统52分析对象的移动以确定头部单元主体60的姿态位置。SLAM系统52向显示调整算法56提供姿态位置。显示调整算法56使用姿态位置来进一步细化显示调整算法56提供给渲染引擎42的放置值。渲染引擎42因此基于头部单元IMU 80中的运动传感器和头部单元相机82拍摄的图像的组合来修改从数据源40接收的图像数据。作为一个实际示例,如果用户将他们的头部向右旋转,则本地内容24的位置在用户的视野内向左旋转,从而给用户这样的印象:本地内容24的位置相对于桌子22和其他现实世界对象保持静止。
参考图4,UCS对准模块48包括设备坐标系(DCF)150、控制器到头部单元转换器152、用户坐标系(UCF)建立系统154、UCF 156、以及DCF到UCF转换器158。
DCF 150通过硬件、软件和固件的组合被连接到重力传感器88。重力传感器88测量相对于头部单元主体60的重力方向。DCF 150是具有三个正交轴的坐标系,其中一个轴与重力方向对准。
UCF建立系统154包括图1所示的配准标记26、特征点位置计算器162、特征点存储模块164、以及用户坐标系计算器166。特征点位置计算器162通过例程被连接并且调用控制器到头部单元转换器152,并且接收来自配准标记26的输入。配准标记26用于选择第一特征点(FP1)和第二特征点(FP2)。特征点存储模块164被连接到特征点位置计算器162并存储第一特征点FP1和第二特征点FP2的位置。用户坐标系计算器166从存储器接收特征点FP1和FP2的位置,并基于第一特征点FP1和第二特征点FP2的位置计算UCF 156。
6dof控制器36包括控制器主体170、位置发射器172和控制器IMU 174。控制器主体170具有便于用户抓握的形状。位置发射器172和控制器IMU 174被安装在控制器主体170内。控制器主体170内的电池(未示出)用于为位置发射器172和控制器IMU 174供电。
头部单元30包括位置接收器176。位置接收器176在固定位置被安装到头部单元主体60。
在使用中,用户将控制器主体170握在他们的一只手中。用户可以在三个正交方向上移动控制器主体170,并且围绕三个正交轴旋转控制器主体170。位置发射器172连续地发射位置波并且位置接收器176接收位置波。位置波包括指示位置发射器172相对于位置接收器176的位置的数据。因为位置发射器172在6dof控制器36内是静止的并且位置接收器176在头部单元30内是静止的,所以位置波包括表示6dof控制器36与头部单元30之间关系的数据。控制器到头部单元转换器152从位置接收器176接收数据并计算6dof控制器36相对于头部单元30的位置。控制器IMU 174包括一个或多个加速度计和一个或多个陀螺仪。来自控制器IMU 174的数据从6dof控制器36无线传输,并由控制器到头部单元转换器152经由硬件、固件和软件的组合接收。控制器到头部单元转换器152将来自位置接收器176和控制器IMU174的数据组合在“融合”例程中。通过融合来自位置发射器172和控制器IMU 174的数据,与单独使用位置发射器172相比,抖动减少。
配准标记26被提供给渲染引擎42并且以与来自数据源40的图像数据类似的方式向用户可视化。如上所述,用户可以通过移动6dof控制器36来移动配准标记26。用户使用配准标记26来选择第一特征点FP1和第二特征点FP2。当用户选择第一特征点FP1和第二特征点FP2时,特征点位置计算器162计算相应的特征点FP1或FP2在世界坐标系内的位置。特征点存储模块164存储第一特征点FP1和第二特征点FP2的位置。UCF计算器166然后基于第一特征点FP1和第二特征点FP2的位置来计算UCF 156。UCF计算器166然后将UCF 156存储在存储器中。
DCF到UCF转换器158将DCF 150转换到UCF 156,导致DCF转换到UCF 178。
图1中的用户10和12中的每一个用户具有不同的DCF 150和不同的UCF 156,并且因此具有转换为UCF 178的不同DCF。用户10和12对桌子22上的他们选择第一特征点FP1和第二特征点FP2的位置达成一致(例如口头上同意)。第一特征点FP1和第二特征点FP2的位置从每个用户10和12的视角看来是不同的,并且它们的数学位置在每个增强现实观看器16的特征点位置计算器162内也被计算为不同。然而,因为用户10和12在现实世界中选择相同的特征点FP1和FP2,即在桌子22上,从用户10和12双方的角度来看,本地内容24可以在相对于桌子22的相同位置被渲染。
图5示出了在任一用户建立统一坐标系之前的相应坐标系。每个增强现实观看器都具有相应的DCF(DCF1和DCF2)。其中一个轴(Y轴)与重力(g)方向对准,另外两个轴(X轴和Z轴)相对于头部单元30是固定的。用户都没有建立UCF。仅出于说明的目的,图中示出了任意UCF(UCF1和UCF2)并且仅将其包括在图中以示出第一用户10和第二用户12使用的增强现实观看器16之间的坐标系不统一(图1)。
图6示出了为每个增强现实观看器建立UCF(UCF1和UCF2)。每个用户10和12从他们的角度选择桌子22上的第一特征点FP1和第二特征点FP2。然后相应用户的相应增强现实观看器计算相应UCF(UCF1和UCF2)。两个UCF(UCF1和UCF2)都位于和定向在桌子22上的相同位置。
图7示出了由相应增强现实观看器的相应DCF到UCF转换器158(图4)进行的转换。每个增强现实观看器分别将其相应DCF(DCF1或DCF2)转换为其相应UCF(UCF1或UCF2)。基于从相应DCF(DCF1或DCF2)到相应UCF(UCF1或UCF2)的相应转换,将本地内容24(图1)显示给相应用户。
观看系统14可以容易地扩展以供由三个、四个或更多个用户使用的三个、四个或更多个观看增强现实观看器使用。每个增强现实观看器都有自己的DCF(DCF1、DCF2、DCF3...Dafne)并使用相应的一对特征点(FP1和FP2)计算相应的UCF(UCF1、UCF2、UCF3...UCFn)。然后,每个增强现实观看器将其相应DCF(例如,DCF4)转换为相应UCF(例如,UCF4),如上所述。
图8示出了计算机系统900的示例性形式的机器的图解表示,其中可以执行一组指令,用于使机器根据一些实施例执行这里讨论的任何一个或多个方法。在替代实施例中,机器作为独立设备操作或可以连接(例如,联网)到其他机器。此外,虽然仅示出了单个机器,但术语“机器”也应被视为包括单独或联合执行一组(或多组)指令以执行本文中讨论的任何一种或多种方法的机器的任何集合.
示例性计算机系统900包括处理器902(例如,中央处理单元(CPU)、图形处理单元(GPU)或两者)、主存储器904(例如,只读存储器(ROM)、闪存、动态随机存取存储器(DRAM),例如同步DRAM(SDRAM)或Rambus DRAM(RDRAM)等)、以及静态存储器906(例如闪存、静态随机存取存储器(SRAM)等),其通过总线908相互通信。
计算机系统900还可以包括磁盘驱动单元916和网络接口设备920。
磁盘驱动单元916包括机器可读介质922,其上存储了体现本文所述的方法或功能中的任何一个或多个的一组或多组指令924(例如,软件)。该软件还可以在由计算机系统900执行期间完全或至少部分地驻留在主存储器904和/或处理器902内,主存储器904和处理器902也构成机器可读介质。
还可以经由网络接口设备920在网络18上发送或接收软件。
计算机系统900包括用于驱动投影仪以产生光的驱动器芯片950。驱动器芯片950包括它自己的数据存储960和它自己的处理器962。
虽然机器可读介质922在示例性实施例中被示为单个介质,但是术语“机器可读介质”应当被认为包括存储一组或多组指令的单个介质或多个介质(例如,集中式或分布式数据库、和/或相关联的缓存和服务器)。术语“机器可读介质”还应理解为包括能够存储、编码或携带一组由机器执行的指令并且使机器执行本发明任何一种或多种方法的任何介质。因此,术语“机器可读介质”应理解为包括但不限于固态存储器、光和磁介质、以及载波信号。
虽然在附图中已经描述和示出了某些示例性实施例,但是应当理解,这些实施例仅是说明性的而不是对本发明的限制,并且本发明不限于所示和描述的具体构造和布置,因为本领域的普通技术人员可以想到修改。
Claims (20)
1.一种观看系统,包括:
第一增强现实观看器,包括:
第一显示器,其允许第一用户看到现实世界对象;
第一数据源,用于保存本地内容的图像数据;
第一投影仪,其在所述第一用户观看所述现实世界对象时,通过所述第一显示器向所述第一用户显示所述本地内容的图像数据;
第一处理器;
连接到所述第一处理器的第一计算机可读介质;以及
在所述第一计算机可读介质上并且由所述处理器可执行的第一组视觉数据和算法,其中,所述第一组视觉数据和算法包括:
第一设备坐标系DCF;
第一配准标记,其由所述第一用户可操作以在所述现实世界对象中的至少一个现实世界对象上选择第一特征点FP1和第二特征点FP2;以及
第一统一坐标系UCS对准模块,包括:
第一特征点存储模块,其存储在选择所述FP1和所述FP2时所述第一配准标记的位置;
第一用户坐标系计算器,其基于在选择所述FP1和所述FP2时所述第一配准标记的所述位置来确定第一用户坐标系UCF;
第一转换器,用于将所述第一DCF转换为所述第一UCF;以及
第一渲染引擎,其基于从所述第一DCF到所述第一UCF的转换来显示所述第一数据源上的所述本地内容的图像数据。
2.根据权利要求1所述的观看系统,还包括:
第二增强现实观看器,包括:
第二显示器,其允许第二用户看到现实世界对象;
第二数据源,用于保存本地内容的图像数据;
第二投影仪,其在所述第二用户观看所述现实世界对象时,通过所述第二显示器向所述第二用户显示所述本地内容的图像数据;
第二处理器;
连接到所述第二处理器的第二计算机可读介质;以及
在所述第二计算机可读介质上并且由所述处理器可执行的第二组视觉数据和算法,其包括:
第二设备坐标系DCF;
第二配准标记,其由所述第二用户可操作以在所述现实世界对象中的所述至少一个现实世界对象上选择所述FP1和所述FP2;以及
第二统一坐标系UCS对准模块,包括:
第二特征点存储模块,其存储在选择所述FP1和所述FP2时所述第二配准标记的位置;
第二用户坐标系计算器,其基于在选择所述FP1和所述FP2时所述第二配准标记的所述位置来确定第二用户坐标系UCF;
第二转换器,用于将所述第二DCF转换为所述第二UCF;以及
第二渲染引擎,其基于从所述第二DCF到所述第二UCF的转换来显示所述第二数据源上的所述本地内容的图像数据。
3.根据权利要求2所述的观看系统,其中,所述第一增强现实观看器包括:
第一头戴式框架,其可佩戴在所述第一用户的头部上;以及
第一六自由度6dof控制器,其由所述第一用户相对于所述第一头戴式框架可移动以选择所述FP1和所述FP2,
其中,所述第一组视觉数据和算法包括:
第一特征点位置计算器,其通过确定在选择所述FP1和所述FP2时所述第一6dof控制器相对于所述第一头戴式框架的位置,确定在选择所述FP1和所述FP2时所述第一配准标记的所述位置;以及
第一特征存储模块,其存储所述6dof控制器在所述第一DCF中的所述位置。
4.根据权利要求3所述的观看系统,其中,所述第二增强现实观看器包括:
第二头戴式框架,其可佩戴在所述第二用户的头部上;以及
第二六自由度6dof控制器,其由所述第二用户相对于所述第二头戴式框架可移动以选择所述FP1和所述FP2,
其中,所述第二组视觉数据和算法包括:
第二特征点位置计算器,其通过确定在选择所述FP1和所述FP2时所述6dof控制器相对于所述第二头戴式框架的位置,确定在选择所述FP1和所述FP2时所述第二配准标记的所述位置;以及
第二特征存储模块,其存储所述第二6dof控制器在所述第二DCF中的所述位置。
5.根据权利要求1所述的观看系统,其中,所述第一观看设备还包括:
第一DCF确定例程,其由所述第一处理器可执行以计算随着所述第一头戴式框架的移动而改变的所述第一DCF;以及
第一DCF存储指令,其由所述第一处理器可执行以将所述第一DCF存储在所述第一计算机可读介质上。
6.根据权利要求5所述的观看系统,其中,所述第一观看设备还包括:
第一现实对象检测设备,其检测至少一个现实对象的定位;
第一世界对象标识例程,其由所述第一处理器可执行以标识至少一个点在所述现实对象的表面上的定位;
第一世界坐标系确定例程,其由所述第一处理器可执行以基于所述至少一个点来计算第一世界坐标系;以及
第一世界坐标系存储指令,其由所述第一处理器可执行以将所述世界坐标系存储在所述计算机可读介质上,其中,所述DCF确定例程相对于所述世界坐标系确定所述DCF。
7.根据权利要求6所述的观看系统,其中,所述第一现实对象检测设备是相机。
8.根据权利要求6所述的观看系统,其中,所述第一现实对象检测设备检测多个现实对象的定位。
9.根据权利要求6所述的观看系统,其中,所述第一世界对象标识例程标识多个点在所述现实对象的表面上的定位。
10.根据权利要求9所述的观看系统,其中,所述第一世界坐标系确定例程基于所述多个点来计算所述第一世界坐标系。
11.根据权利要求5所述的观看系统,其中,所述第一观看设备还包括:
被固定到所述第一头戴式框架的第一惯性测量单元IMU,所述第一IMU包括相对于所述第一头戴式框架检测第一重力方向的第一重力传感器,所述DCF确定例程基于所述第一重力方向来计算所述DCF坐标系。
12.根据权利要求11所述的观看系统,其中,所述第一IMU包括以下中的至少一个:第一加速度计和第一陀螺仪。
13.一种观看本地内容的图像数据的方法,包括:
创建第一增强现实视图,包括:
在第一计算机可读介质上存储第一设备坐标系DCF;
由第一用户移动第一配准标记以在由所述第一用户通过第一显示器可观看的至少一个现实对象上选择第一特征点FP1和第二特征点FP2;
通过以下来执行第一统一坐标系UCS对准模块:
存储在选择所述FP1和所述FP2时所述第一配准标记的位置;
基于在选择所述FP1和所述FP2时所述第一配准标记的所述位置,确定第一用户坐标系UCF;
将所述第一DCF转换为所述第一UCF;以及
基于从所述第一DCF到所述第一UCF的转换,在所述第一用户观看现实世界对象时,通过所述第一显示器向所述第一用户显示第一数据源上的用第一投影仪接收到的本地内容的图像数据。
14.根据权利要求13所述的方法,还包括:
创建第二增强现实视图,包括:
在第二计算机可读介质上存储第二设备坐标系DCF;
由第二用户移动第二配准标记以在由所述用户通过第二显示器可观看的至少一个所述现实对象上选择第一特征点FP1和第二特征点FP2;
通过以下来执行第二统一坐标系UCS对准模块:
存储在选择所述FP1和所述FP2时所述第二配准标记的位置;
基于在选择所述FP1和所述FP2时所述第二配准标记的所述位置,确定第二用户坐标系UCF;
将所述第二DCF转换为所述第二UCF;以及
基于从所述第二DCF到所述第二UCF的转换,在所述第二用户观看所述现实世界对象时,通过所述第二显示器向所述第二用户显示第二数据源上的用第二投影仪接收到的本地内容的图像数据。
15.根据权利要求16所述的方法,还包括:
在所述第一用户的头部佩戴第一头戴式框架;以及
由所述第一用户相对于所述第一头戴式框架移动第一六自由度6dof控制器以选择所述FP1和所述FP2;
执行第一特征点位置计算器,以通过确定在选择所述FP1和所述FP2时所述第一6dof控制器相对于所述第一头戴式框架的位置,确定在选择所述FP1和所述FP2时所述第一配准标记的所述位置;以及
执行第一特征存储模块以将所述6dof控制器的所述位置存储在所述第一DCF中。
16.根据权利要求15所述的方法,还包括:
在所述第二用户的头部佩戴第二头戴式框架;以及
由所述第二用户相对于所述第二头戴式框架移动第二六自由度6dof控制器以选择所述FP1和所述FP2;
执行第二特征点位置计算器,以通过确定在选择所述FP1和所述FP2时所述第二6dof控制器相对于所述第二头戴式框架的位置,确定在选择所述FP1和所述FP2时所述第二配准标记的所述位置;以及
执行第二特征存储模块以将所述6dof控制器的所述位置存储在所述第二DCF中。
17.根据权利要求13所述的方法,还包括:
用第一处理器执行第一DCF确定例程以计算随着所述第一头戴式框架的移动而改变的所述第一DCF;以及
用所述第一处理器执行由所述第一处理器可执行的第一DCF存储指令以将所述第一DCF存储在所述第一计算机可读介质上。
18.根据权利要求17所述的方法,还包括:
用第一现实对象检测设备检测至少一个现实对象的定位;
用由所述第一处理器可执行的第一世界对象标识例程标识至少一个点在所述现实对象的表面上的定位;
用由所述第一处理器可执行的第一世界对象标识例程,基于所述至少一个点来计算第一世界坐标系;以及
用由所述第一处理器可执行的第一世界坐标系存储指令将所述世界坐标系存储在所述计算机可读介质上,其中,所述DCF确定例程相对于所述世界坐标系确定所述DCF。
19.根据权利要求18所述的方法,其中,所述第一现实对象检测设备是相机。
20.根据权利要求18所述的方法,其中,所述第一现实对象检测设备检测多个现实对象的定位。
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EP3939030A4 (en) | 2022-11-30 |
US11762623B2 (en) | 2023-09-19 |
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