CN114647305B - Barrier prompting method in AR navigation, head-mounted display device and readable medium - Google Patents
Barrier prompting method in AR navigation, head-mounted display device and readable medium Download PDFInfo
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- CN114647305B CN114647305B CN202111472816.0A CN202111472816A CN114647305B CN 114647305 B CN114647305 B CN 114647305B CN 202111472816 A CN202111472816 A CN 202111472816A CN 114647305 B CN114647305 B CN 114647305B
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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
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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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
Embodiments of the present disclosure disclose an obstacle prompting method in AR navigation, a head-mounted display device, and a readable medium. One embodiment of the method comprises the following steps: confirming an obstacle prompting area according to the visual field range of the head-mounted display device; detecting whether an obstacle exists in the obstacle presenting area; and prompting each detected obstacle in response to determining that the obstacle exists in the obstacle prompting area. The embodiment carries out obstacle prompt on a user wearing the head-mounted display device, so that the user can know the obstacle information in time and avoid the obstacle.
Description
Technical Field
Embodiments of the present disclosure relate to the field of computer technology, and in particular, to an obstacle prompting method in AR navigation, a head-mounted display device, and a readable medium.
Background
With the application of AR navigation in museums and exhibition halls, users often display superimposed information such as images and characters in a head-mounted display device when wearing the head-mounted display device. However, the displayed superimposed information such as images and characters can obstruct the user's view; meanwhile, when superimposed information such as images, characters and the like is displayed, the light transmittance of the head-mounted display device is low. In the current AR navigation schemes, the enhanced information (AR information) is generally displayed based on a fixed point, so that the safety problem in AR navigation performed by a user wearing a head-mounted display device is generally not required to be considered. However, with the development of AR navigation technology, the generation of a new AR navigation mode may cause that when a user wears a head-mounted display device to watch related contents, some obstacles are possibly ignored during movement, so that the user cannot find and avoid the obstacles in time to be injured.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose an obstacle prompting method, a head-mounted display device, and a computer-readable medium to solve the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide an obstacle prompting method, applied to a head-mounted display device, the method including: confirming an obstacle prompting area according to the visual field range of the head-mounted display device; detecting whether an obstacle exists in the obstacle presenting area; and prompting each detected obstacle in response to determining that the obstacle exists in the obstacle prompting area.
In a second aspect, some embodiments of the present disclosure provide a head mounted display device comprising: one or more processors; a storage device having one or more programs stored thereon; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect described above.
In a third aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.
The above embodiments of the present disclosure have the following advantageous effects: according to the obstacle prompting method, when the user wears the head-mounted display device to watch related content, the obstacle prompting can be carried out on the user, so that the user is prevented from being injured due to falling and collision to a certain extent. Specifically, the reason why it is difficult for the user to find and avoid the obstacle in time to be injured when wearing the head mounted display device is that: the overlapping information such as images, characters and the like displayed in the head-mounted display device can cause the sight of a user to be blocked; and the head-mounted display device has lower light transmittance when displaying superimposed information such as images, characters and the like. Based on this, the obstacle presenting method of some embodiments of the present disclosure first confirms an obstacle presenting area according to the field of view of the head-mounted display device described above; then, detecting whether an obstacle exists in the obstacle presenting area; finally, each obstacle detected is presented in response to determining that an obstacle exists in the obstacle presenting area. Therefore, when the user wears the head-mounted display device, the obstacle prompting area is determined according to the visual field range of the head-mounted display device, whether an obstacle exists in the obstacle prompting area or not is detected, and then the obstacle is prompted. Therefore, the user can know the obstacle information in time and avoid the obstacle, and the safety of the user wearing the head-mounted display device is ensured to a certain extent.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of one application scenario of an obstacle prompting method of some embodiments of the present disclosure;
FIG. 2 is a flow chart of some embodiments of an obstacle prompting method according to the present disclosure;
FIG. 3 is a flow chart of other embodiments of obstacle prompting methods according to the present disclosure;
FIG. 4 is a schematic illustration of an obstacle prompting in further embodiments of an obstacle prompting method according to the present disclosure;
fig. 5 is a schematic structural diagram of a head mounted display device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of an application scenario of an obstacle prompting method of some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may confirm the obstacle presenting area 103 according to the field of view of the head-mounted display device 102 described above. The computing device 101 may then detect whether an obstacle is present within the obstacle alert area 103. Finally, the computing device 101 may prompt each obstacle 104 detected in response to determining that an obstacle is present in the obstacle prompt area 103.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster of multiple servers or terminal devices, or as a single server or single terminal device, e.g., a head mounted display device. When the computing device is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present invention is not particularly limited herein. The head mounted display device 102 may be AR glasses, AR headgear, AR helmet, MR glasses, MR headgear, MR helmet augmented display, or mixed reality device.
It should be understood that the number of computing devices in fig. 1 is merely illustrative. There may be any number of computing devices, as desired for an implementation.
With continued reference to fig. 2, a flow 200 of some embodiments of obstacle prompting methods according to the present disclosure is shown. The obstacle prompting method is applied to the head-mounted display equipment and comprises the following steps of:
step 201, confirming an obstacle presenting area according to the visual field range of the head-mounted display device.
In some embodiments, the execution subject of the obstacle presenting method (e.g., computing device 101 shown in fig. 1) may confirm the obstacle presenting area according to the field of view of the head-mounted display device described above. Wherein, the head-mounted display device can comprise at least one camera. In one embodiment, the Field Of View may be a range covered by a Field Of View (FOV) Of the camera, and the range covered by the Field Of View Of the camera may be directly determined as the obstacle presenting area. In other embodiments, the field of view may be a field of view corresponding to a display area of the head-mounted display device, and the range covered by the field of view of the display area may be determined as the obstacle presenting area. Since the visual field of the head-mounted display device is generally related to the region that can be observed by the user after wearing the head-mounted display device, confirming the obstacle presenting region in the visual field can reduce unnecessary presentation and reduce the consumption of calculation power required in the presentation process.
In some optional implementations of some embodiments, the executing body may further execute the following steps:
and determining the corresponding real-time position coordinates of the head-mounted display device in the navigation map.
If the user wears the head-mounted display device indoors, real-time position coordinates of the head-mounted display device can be determined using an indoor positioning technique. The indoor positioning techniques described above may include, but are not limited to: wiFi (WIreless Fidelity ) positioning technology, FRID (Radio Frequency Identification ) positioning technology, infrared positioning technology, ultrasonic positioning technology, bluetooth positioning technology, and inertial navigation technology.
If the user wears the head-mounted display device outdoors, real-time position coordinates of the head-mounted display device can be determined using an outdoor positioning technique. The outdoor location technology described above may include, but is not limited to, GPS (Global Positioning System ) location technology, LBS (Location Based Services ) location technology, and the like.
And a second step of determining an area in the navigation map, which is centered on the real-time position coordinates, has a predetermined buffer distance as a radius, and is within the visual field, as an obstacle presenting area.
In practice, the preset buffer distance may be set according to an actual application scenario, which is not limited herein. For example, the preset buffer distance may be 3 meters, or may be 5 meters, or may be 10 meters.
Step 202, detecting whether an obstacle exists in the obstacle presenting area.
In some embodiments, the executing body may detect whether an obstacle exists in the obstacle presenting area. The head-mounted display device may include a FRID tag reading and writing device.
First, the FRID tags may be set on the respective obstacles in advance. Then, the obstacle in the obstacle presenting area may be identified by using the rfid tag read-write device included in the head-mounted display apparatus. If the FRID tag reading/writing device recognizes the FRID tag in the obstacle presenting area, it can be determined that an obstacle is detected.
In some optional implementations of some embodiments, the executing body detecting whether an obstacle exists in the obstacle prompting area may include the following steps:
in the first step, in response to determining that the navigation map includes obstacle marks, determining whether the obstacle marks are correspondingly present in the obstacle presenting area according to position coordinates of each obstacle mark in the navigation map. The obstacle mark in the navigation map may be marked in the navigation map after detecting an obstacle in the real area represented by the navigation map.
And if there is an obstacle mark in the range corresponding to the obstacle presenting area in the navigation map. It may be determined that there is a corresponding obstacle marking in the obstacle presenting area. If there is no obstacle mark in the range corresponding to the obstacle presenting area in the navigation map. It may be determined that there is no obstacle indication corresponding to the obstacle indication area.
And a second step of determining that an obstacle exists in the obstacle presenting area in response to determining that an obstacle mark exists in the obstacle presenting area.
In response to determining that an obstacle is present in the obstacle presenting area, each obstacle detected is presented 203.
In some embodiments, the executing body may prompt each of the detected obstacles in response to determining that the obstacle prompting area exists. Wherein, can control above-mentioned head-mounted display device to carry out voice prompt or vibrations suggestion to the barrier.
In some optional implementations of some embodiments, the executing body may prompt each detected obstacle, and may include the following steps:
and controlling the head-mounted display device to prompt the obstacle in response to determining that the obstacle is not previously prompted within the target time period. The ending time point of the target time period may be a current time point. In practice, the duration of the target time period may be set according to an actual application scenario, which is not limited herein. As an example, the above target period may be 1 minute, 3 minutes, or 5 minutes.
Therefore, repeated prompt of the obstacle in the target time period can be avoided, and the experience of a user wearing the head-mounted display device is improved.
Optionally, the executing body may further end the prompting of the any obstacle in response to determining that the detected any obstacle is moved out of the field of view of the head-mounted display device.
Alternatively, the execution body may end the presentation of any obstacle in response to detection of a confirmation operation of the presentation of any obstacle detected.
The above embodiments of the present disclosure have the following advantageous effects: according to the obstacle prompting method, when the user wears the head-mounted display device to watch related content, the obstacle prompting can be carried out on the user, so that the user is prevented from being injured due to falling and collision to a certain extent. Specifically, the reason why it is difficult for the user to find and avoid the obstacle in time to be injured when wearing the head mounted display device is that: the overlapping information such as images, characters and the like displayed in the head-mounted display device can cause the sight of a user to be blocked; and the head-mounted display device has lower light transmittance when displaying superimposed information such as images, characters and the like. Based on this, the obstacle presenting method of some embodiments of the present disclosure first confirms an obstacle presenting area according to the field of view of the head-mounted display device described above; then, detecting whether an obstacle exists in the obstacle presenting area; finally, each obstacle detected is presented in response to determining that an obstacle exists in the obstacle presenting area. Therefore, when the user wears the head-mounted display device, the obstacle prompting area is determined according to the visual field range of the head-mounted display device, whether an obstacle exists in the obstacle prompting area or not is detected, and then the obstacle is prompted. Therefore, the user can know the obstacle information in time and avoid the obstacle, and the safety of the user wearing the head-mounted display device is ensured to a certain extent.
With further reference to fig. 3, a flow 300 of further embodiments of the obstacle prompting method is shown. The flow 300 of the obstacle prompting method includes the steps of:
step 301, confirming an obstacle presenting area according to the visual field range of the head-mounted display device.
In some embodiments, the specific implementation manner and the technical effects of step 301 may refer to step 201 in those embodiments corresponding to fig. 2, which are not described herein.
In step 302, a real-time image acquired by a head mounted display device is acquired.
In some embodiments, the execution subject of the obstacle prompting method (such as the computing device 101 shown in fig. 1) may acquire the real-time image acquired by the head-mounted display device through a wired connection manner or a wireless connection manner.
Step 303, performing obstacle detection on the real-time image.
In some embodiments, the executing body may perform obstacle detection on the real-time image. Wherein, the obstacle detection can be performed on the real-time image by using a target detection algorithm. The above-described target detection algorithms may include, but are not limited to: R-CNN (Region Convolutional Neural Network, regional convolutional neural network), fast R-CNN (Fast Region Convolutional Neural Network, fast regional convolutional neural network), SSD (Single Shot MultiBox Detector, single shot multi-box detector), template matching method, support vector machine algorithm, and the like. The obstacle can be a step, a pillar, a warning sign and the like.
In some optional implementations of some embodiments, the executing body may perform obstacle detection on the real-time image based on a preset buffer distance. Wherein, the real-time image may be a depth image. The obstacle in the real-time image described above may be detected first. Then, an obstacle having a distance from the head-mounted display device smaller than the preset buffer distance is used as a result of the obstacle detection. The distance between the obstacle and the head-mounted display device may be an average value of depth values of respective pixel points in the region corresponding to the obstacle in the depth image.
In response to detecting an obstacle in the real-time image, it is determined that an obstacle is present in the obstacle presented area 304.
In some embodiments, the executing body may determine that an obstacle exists in the obstacle presenting area in response to detecting the obstacle in the real-time image.
In response to determining that an obstacle is present in the obstacle presenting area, each obstacle detected is presented 305.
In some embodiments, the executing body may prompt each of the detected obstacles in response to determining that the obstacle prompting area exists. Wherein, can control above-mentioned head-mounted display device to carry out voice prompt or vibrations suggestion to the barrier. The head-mounted display device can be controlled to display obstacle prompt marks in a display screen so as to prompt the obstacle.
Optionally, the executing body may further execute the following steps:
first, the position coordinates of each obstacle detected in the navigation map are determined.
And a second step of updating the navigation map by using the real-time image and the position coordinates of each obstacle detected in the navigation map. The real-time image may be marked as an obstacle mark at a position in the navigation map represented by the position coordinates.
In some optional implementations of some embodiments, the executing body may be optional, and the executing body may further perform the following steps:
first, acquiring a real-time image acquired by the head-mounted display device.
And secondly, performing target detection processing on the real-time image. The specific implementation manner and the technical effects of the above target detection process may refer to step 303, and are not described herein.
And thirdly, responding to the detection of the target object from the real-time image, and acquiring the prompt information of each obstacle associated with the detected target object. The target object may be an exhibit, a pre-specified marker, or the like.
And fourthly, prompting the obstacle represented by each obstacle prompting message in the obstacle prompting messages. Wherein obstacle prompt information associated with the target object may be recorded in advance.
As an example, referring to fig. 4, first, a real-time image 402 acquired by the head mounted display device 401 described above may be acquired. Then, the above-described real-time image 402 may be subjected to an object detection process. Then, in response to detection of the target object 403 from the above-described real-time image 402, respective obstacle hint information 404 associated with the detected target object 403 may be acquired. Finally, the obstacle represented by each obstacle prompting message in the obstacle prompting messages 404 can be prompted.
Step 306, in response to detecting a fall of a user wearing the head mounted display device, the fall alarm information and the current location information of the head mounted display device are sent to the console.
In some embodiments, the executing body may transmit fall alarm information and current position information of the head-mounted display device to a console in response to detecting a fall of a user wearing the head-mounted display device. The head-mounted display device may include, but is not limited to, an acceleration sensor, a gravity sensor, or a millimeter wave sensor. It is possible to detect whether the user wearing the head-mounted display device falls using the acceleration sensor, the gravity sensor, or the millimeter wave sensor in the head-mounted display device.
As can be seen in fig. 3, in comparison with the description of some embodiments corresponding to fig. 2, the flow 300 of the obstacle prompting method in some embodiments corresponding to fig. 3 embodies obstacle recognition using a visual detection method, i.e., using real-time images acquired by the head-mounted display device. Thus, the schemes described in these embodiments can be applied to any scene where the head-mounted display device can be worn, thereby expanding the application range of the obstacle prompting method. Furthermore, the safety of the user wearing the head-mounted display device can be ensured in more application scenes.
With further reference to fig. 5, a schematic structural diagram of a head mounted display device 500 suitable for use in implementing some embodiments of the present disclosure is shown. The head mounted display device shown in fig. 5 is only one example and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.
As shown in fig. 5, the head mounted display device 500 may include a processing means (e.g., a central processor, a graphics processor, etc.) 501, a memory 502, an input unit 503, an output unit 504. Wherein the processing means 501, the memory 502, the input unit 503 and the output unit 504 are connected to each other by a bus 505. The processing means 501 in the head mounted display device embody the obstacle presenting function defined in the method of the present disclosure by calling the above-mentioned computer program stored in the memory 502.
While fig. 5 shows an electronic device 500 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 5 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs and stored in memory 502. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 501.
It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: confirming an obstacle prompting area according to the visual field range of the head-mounted display device; detecting whether an obstacle exists in the obstacle presenting area; detecting whether an obstacle exists in the obstacle presenting area.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
Claims (11)
1. An obstacle prompting method in AR navigation is applied to head-mounted display equipment, the AR navigation is applied to museums and exhibition halls, and the method comprises the following steps:
confirming an obstacle prompting area according to the visual field range of the head-mounted display device;
detecting whether an obstacle exists in the obstacle prompting area;
in response to determining that an obstacle exists in the obstacle prompting area, prompting each detected obstacle;
wherein, confirm the obstacle and point out the area according to the visual field scope of the said head-mounted display device, include:
determining real-time position coordinates corresponding to the head-mounted display equipment in a navigation map;
determining an area, which takes the real-time position coordinates as a center, a preset buffer distance as a radius and is within the visual field range, in the navigation map as an obstacle prompting area;
wherein, whether detect the obstacle and present in the obstacle suggestion region, include:
in response to determining that the navigation map comprises obstacle marks, determining whether the obstacle marks correspondingly exist in the obstacle prompting area according to the position coordinates of each obstacle mark in the navigation map, wherein the obstacle marks in the navigation map are marked in the navigation map after obstacle detection is performed in advance in a real area represented by the navigation map;
in response to determining that an obstacle marker is correspondingly present within the obstacle presented region, determining that an obstacle is present within the obstacle presented region.
2. The method of claim 1, wherein the detecting whether an obstacle is present within the obstacle-alert zone comprises:
acquiring a real-time image acquired by the head-mounted display device;
detecting an obstacle on the real-time image;
in response to detecting an obstacle in the real-time image, determining that an obstacle is present in the obstacle presented region.
3. The method of claim 2, wherein the obstacle detection of the real-time image comprises:
and detecting the obstacle on the real-time image based on a preset buffer distance.
4. The method of claim 1, wherein the prompting of each obstacle detected comprises:
in response to determining that the obstacle is not previously prompted within a target time period, the head mounted display device is controlled to prompt the obstacle.
5. The method of claim 1, wherein the method further comprises:
responsive to determining that any detected obstacle is moved out of the field of view of the head mounted display device, the prompting of any obstacle is ended.
6. The method of claim 1, wherein the method further comprises:
in response to detecting a confirmation operation of the cue for any obstacle detected, the cue for any obstacle is ended.
7. The method according to claim 2, wherein the method comprises:
determining the corresponding position coordinates of each detected obstacle in the navigation map;
updating the navigation map by using the real-time image and the corresponding position coordinates of each obstacle detected in the navigation map.
8. The method of claim 1, wherein the method further comprises:
in response to detecting a fall of a user wearing the head mounted display device, fall alarm information and current location information of the head mounted display device are sent to a console.
9. The method of claim 1, wherein the method further comprises:
acquiring a real-time image acquired by the head-mounted display device;
performing target detection processing on the real-time image;
responsive to detecting a target object from the real-time image, obtaining respective obstacle cues associated with the detected target object;
prompting the obstacle represented by each obstacle prompting message in the obstacle prompting messages.
10. A head mounted display device comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-9.
11. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-9.
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| US11164390B2 (en) * | 2019-12-30 | 2021-11-02 | Korea Institute Of Science And Technology | Method and apparatus for displaying virtual reality image |
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