KR20190046210A - Space reassembly method and virtual roadmap decision method for virtual reality and space reassembly apparatus performing the same - Google Patents

Abstract

Disclosed are a space reassembly method, a virtual road map decision method, and a space reassembly apparatus performing the same for virtual reality. The space reassembly method for virtual reality comprises the steps of: determining a real road map in which room nodes and passage nodes which can be arranged in a real space where a user is positioned are interconnected; determining a virtual road map from the real road map by using a depth priority search; and visualizing virtual reality that the user experiences based on the virtual road map and a position of the user in the real space.

Description

TECHNICAL FIELD [0001] The present invention relates to a space reorganization method and a virtual roadmap determining method for virtual reality, and a space reorganization apparatus for performing the same. [0002]

The following description relates to a space reconfiguration method and a virtual road map determining method for a virtual reality and a space reconfiguring apparatus for performing the method. More specifically, the road map is composed of a room node and a path node, To a method and apparatus for determining a virtual roadmap from a realistic roadmap based on depth-first search.

Recently, devices for providing images to users by using a virtual reality device have been developed. Virtual reality technology allows users to feel reality through manipulated sensory stimulation and can be used in many areas such as games, education, medical care, journalism.

When a virtual reality apparatus is provided with a position measuring means such as a GPS or a sensor capable of measuring the position of the virtual reality apparatus in the real space, a virtual space reflecting the position or movement of the user can be realized. For example, the user can walk or run along the moving path of the virtual space displayed on the virtual reality apparatus. However, if the constraint of the real space is not considered in the virtual space, there is a danger that the moving user recognizing only the virtual space will hit an obstacle existing in the real space. In order to solve such a problem, when the virtual space is constructed in consideration of the real space, there may arise a problem that the range of the virtual space is excessively limited due to the restriction of the real space (for example, the room size).

The present invention realizes a virtual reality having a size larger than a limited physical space through spatial reconfiguration, so that movement of a user in a limited range of physical space can be matched with movement in a wider range of virtual space, It may be possible to move in a wider and more complex virtual space in a natural way to move the body.

The present invention can easily and quickly construct a virtual space of a desired size and shape by previously generating a structure of a virtual space that can be generated from a given physical space in a graphical manner.

In the present invention, it is possible to minimize dizziness that may occur in a virtual reality experience by limiting the degree of deformation when the movement path in the real space is corresponded to the movement path in the virtual space within a certain range.

According to an embodiment of the present invention, there is provided a method for reconfiguring a space for a virtual reality, the method comprising: determining a real road map in which room nodes and path nodes that can be placed in a real space where a user is located are interconnected; Determining a virtual roadmap from the real road map using a depth-first search; And visualizing a virtual reality experienced by the user based on the position of the user in the real space and the virtual road map.

In the method of reconstructing a space according to an exemplary embodiment, the step of generating the virtual road map may include selecting one of the room nodes included in the real road map, selecting one of the room nodes included in the real road map, The virtual road map can be generated by searching for a route to the node.

The generating of the virtual road map may include generating a pathfinder for each of the node nodes connected to the selected node, selecting one of the generated pathfinders, The virtual road map can be generated by expanding or reducing the virtual road map based on the depth of the topmost node in the stack of the selected path searcher and the depth of the most recently extended node in the depth first search .

In the method of generating a virtual road map in the method of reconstructing a space according to an exemplary embodiment, when the node generated in the process of expanding or reducing the virtual road map is a node, have.

The generating of the virtual road map may include deleting the selected path searcher when the path from the selected node to the other node is not found through the selected path searcher, The virtual road map can be expanded or contracted by selecting any one of the route searchers other than the deleted route searcher.

In the spatial reconfiguration method according to an embodiment, the depth-first search connects at least one passage node among the passage nodes included in the real road map to the selected one node, Lt; / RTI >

In the spatial reconstruction method according to an embodiment, each of the room nodes is extendable to at least one passage node of the passage nodes, and each of the passage nodes includes one of the room nodes or the passage node Lt; RTI ID = 0.0 > a < / RTI >

In the method of reconstructing a space according to an exemplary embodiment, the step of visualizing the virtual reality may include: when the starting node of the virtual road map is predetermined, moving the user to a starting node of the real road map corresponding to the starting node of the virtual road map You can guide.

In the method of reconstructing a space according to an exemplary embodiment, the step of visualizing the virtual reality may visualize a virtual reality having a size larger than the limited physical space.

In the spatial reconstruction method according to an exemplary embodiment, the real space may be a space capable of sensing the position of the user.

A method for determining a virtual road map according to an exemplary embodiment includes: selecting one of a plurality of node nodes included in a real road map; Searching for a path from the selected node to another node based on the depth-first search; And determining a virtual roadmap based on the searched route.

In the method for determining a virtual road map according to an exemplary embodiment, the step of searching for a path includes: generating a path searcher for each of the path nodes connected to the selected node; Selecting one of the generated path searchers; And expanding or reducing the virtual roadmap based on the depth of the topmost node in the stack of the selected path searcher and the depth of the most recently expanded node in the depth first search.

In the method of determining a virtual road map according to an exemplary embodiment, in the step of expanding or reducing the virtual road map, when the node generated in expanding or reducing the virtual road map is a node, And the like.

A spatial reconfiguration apparatus according to an exemplary embodiment includes a processor; And a memory including at least one instruction executable by the processor, wherein when the at least one instruction is executed in the processor, the processor is further programmed such that the room nodes and the passage nodes, Determines a connected road map, determines a virtual road map from the road map using depth-first search, and visualizes a virtual reality experienced by the user based on the location of the user and the virtual road map in the real space.

In the spatial reconfiguration apparatus according to an exemplary embodiment, the processor may select one of the node nodes included in the real road map, and determine a path from the selected node to another node based on the depth- The virtual road map can be generated.

In the spatial reconfiguration apparatus according to an exemplary embodiment, the depth-first search connects at least one passage node among the passage nodes included in the real road map to the selected node, Lt; / RTI >

In the spatial reconfiguration apparatus according to an embodiment, each of the room nodes is extendable to at least one of the passage nodes, and each of the passage nodes is connected to any one of the room nodes or the passage node Lt; RTI ID = 0.0 > a < / RTI >

In a spatial reconfiguration apparatus according to an embodiment, the processor may guide the user to move to a start node of the real road map corresponding to a start node of the virtual road map, when a start node of the virtual road map is predetermined.

A spatial reconfiguration apparatus according to an exemplary embodiment includes a processor; And a memory including at least one instruction executable by the processor, wherein, when the at least one instruction is executed in the processor, the processor selects one of the node nodes included in the real road map Searches for a route from the selected node to another node based on the depth-first search, and determines a virtual roadmap based on the searched route.

In the spatial reconfiguration apparatus according to an exemplary embodiment, the processor generates a path searcher for each of the path nodes connected to the selected node, selects one of the generated path searchers, The virtual road map can be expanded or contracted based on the depth of the node above and the depth of the most recently extended node in the depth-first search.

According to an embodiment, by visualizing a virtual reality having a size larger than a limited physical space through spatial reconfiguration, movement of a user in a limited range of physical space can be matched with movement in a wider range of virtual space, It may be possible to move in a wider and more complex virtual space in a natural way of moving the body.

According to an embodiment, it is possible to minimize dizziness that may occur in a virtual reality experience by limiting the degree of deformation when the movement path in the real space is corresponded to the movement path in the virtual space within a certain range.

According to an embodiment, it is possible to easily and quickly construct a virtual space of a desired size and shape by previously generating a structure of a virtual space that can be generated from a given physical space in a graphical manner.

1 is a view for explaining a virtual reality system according to an embodiment.
2 is a diagram for explaining a real road map and a virtual road map according to an embodiment.
3 to 5 are diagrams for explaining a process of determining a virtual road map according to an embodiment.
6 and 7 are views for explaining a process of reflecting a movement of a user according to an embodiment.
FIG. 8 is a diagram illustrating a spatial reconstruction method according to an embodiment.
9 is a diagram illustrating a method of determining a virtual roadmap according to an embodiment.
10 illustrates a spatial reconstruction apparatus in accordance with one embodiment.

Specific structural or functional descriptions of embodiments are set forth for illustration purposes only and may be embodied with various changes and modifications. Accordingly, the embodiments are not intended to be limited to the particular forms disclosed, and the scope of the present disclosure includes changes, equivalents, or alternatives included in the technical idea.

The terms first or second, etc. may be used to describe various elements, but such terms should be interpreted solely for the purpose of distinguishing one element from another. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected or connected to the other element, although other elements may be present in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms " comprises ", or " having ", and the like, are used to specify one or more of the described features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The specific structural or functional descriptions below are illustrated for purposes of illustration only and are not to be construed as limiting the scope of the embodiments to those described in the text. Those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the scope of the present invention. In addition, the same reference numerals shown in the drawings denote the same members, and the well-known functions and structures are omitted.

1 is a view for explaining a virtual reality system according to an embodiment.

Referring to FIG. 1, a virtual reality (VR) system 100 according to an embodiment includes a spatial reconfiguration device 110 and a VR device 120. The spatial reconfiguration device 110 and the VR device may be connected via a wireless or wired network.

The spatial reconfiguration device 110 according to an embodiment can reconstruct a real space where a user is located to determine a virtual reality, and visualize a virtual reality according to a user's location. Here, the real space is a limited space in which the location of the user can be sensed, and the virtual space can be a virtual space that a user can experience through the VR device 120, which corresponds to a virtual image created by the computing device. For example, the virtual space may include, without limitation, a virtual space that can be visually provided to a user in a game, a simulation, and the like.

The spatial reconfiguration unit 110 can visualize a virtual reality having a size larger than a limited physical space through spatial reconfiguration so that movement of a user in a limited range of physical space can be matched with movement in a wider range of virtual space, It may be possible for a user to move in a wider and more complex virtual space in a natural way of moving his or her body.

The VR device 120 is a device that allows a user wearing the VR device 120 to experience a virtual reality. The VR device 120 can display the visualized image on the display on the spatial reconfiguration device 110. [ The user can experience the virtual reality by watching the VR image displayed on the display of the VR device 120. [ For example, the VR device 120 may include a virtual reality device that can be worn on the user's head, a smart glass, a head up display (HUD), and the like. Also, the VR device 120 may be implemented as a device for supporting a terminal such as a smart phone to be fixed to the user's head.

2 is a diagram for explaining a real road map and a virtual road map according to an embodiment.

.The space according to one embodiment may have a structure in which rectangular shaped rooms and curved passages are connected to each other. In other words, there may be a room with a certain area and an elongated passage in the space component. The shape of the room and the passageway is defined as follows, and both components can correspond to arbitrary positions in the interior according to the two-dimensional parameters (u, v)

.

The room is defined by the width w and the height h , and can be expressed as R = <w, h> . The interior area of the room can be mediated by (u, v) as shown in the following equation (1).

The passage is defined by the center locus curve C and the width w , and can be expressed as P = < C, w & gt ;. The center locus curve C is mediated as a one-dimensional variable and must be expressed as a second-order differentiable function. In this specification, it is assumed that the center locus curve C is expressed by a third-order Hermite curve. In this case, the position p ₀ of the start point, the tangent vector t ₀ , the position p ₁ of the end point, Can be defined as a tangent vector t ₁ .

Given an arbitrary curve C (u) , the interior region of the passageway can be mediated by (u, v) as: &lt; EMI ID =

Here, N (u) is obtained as a normal vector at the C (u), 90 degree rotated after normalizing the tangent vector C '(u).

According to one embodiment, the room and the passageway may be allowed to be transformed in a limited range in the process of mapping from the real space to the virtual space as follows.

If the room, "Given this, if the following conditions are satisfied R room R '= <C', w>, of the room R = <w, h> and virtual road map of the real road map is determined by the allowed variation of the R .

Even zoom:

In the case of passage , given the path P ' <C, w> of the real roadmap and the path P' = <C ', w'> of the virtual roadmap, the curves C and C ' and the passage widths w and w' Possible range of deformation can be defined in various ways. For example, given a curve C = <p ₀ , t ₀ , p ₁ , t ₁ > and C '= <p ₀ ', t ₀ ', p ₁ ', t ₁ '> defined by a cubic hemi- when, C 'starting position and the tangent vectors to the rigid body transformation to match the C C _a''=<p0'' , t 0'', p 1'', t 1''> getting, from which following Similarly, the range of deformation can be defined.

Zoom in / out:

Zoom in / out width:

Rotation transformation:

turnabout:

The road map structure according to one embodiment can be determined as follows. A real road map and a virtual road map may have a graph structure in which a spatial component is a node and a spatial connection relationship between components is expressed as a directed edge. For convenience of description, the oriented edge can also be referred to as an edge in this specification.

The information contained in the node and the edge is as follows.

로 표시될 수 있다.A node includes information R or P of a spatial component, position (x, y) and direction information a of the component, and the information includes

. &Lt; / RTI &gt;

The edge can be defined as the predecessor node N , the successor node N ' , the connection site parameters u and v of the predecessor node and the connection site parameters u' and v 'of the successor node, The information contained in the edge can be expressed as E = <(N, u, v), (N ', u', v ')> .

A basic building block set may be generated according to one embodiment. In order to make the spatial components of the virtual road map to be encountered by the users experiencing virtual reality to be confined to the range planned by the designer of the virtual reality rather than having a completely arbitrary shape, a basic constituted by a limited number of spatial components A building block set can be built in advance. For the generation of a building block set, a designer of a virtual reality can directly set each building block, or all building blocks can be automatically generated according to certain rules and procedures. In this specification, a set of building blocks R _set = {R ₁ , R ₂ , ..., R _m } and a set of building blocks P _set = {P ₁ , P ₂ , ..., P _m } .

A realistic road map may be generated according to an embodiment. Given a realistic space, which is a movable region, a node can be created by randomly arranging spatial components at arbitrary positions within this real space (Proc_Node), and a roadmap can be created by connecting already generated nodes to the desired edge (Proc_Edge). Here, the movable area may refer to an area where a user wearing the VR device can be tracked.

The procedure of generating a node Proc_Node according to an embodiment is as follows.

First, the types of components to be generated can be determined at random. For example, if a random number generated within a limited range is below a predetermined threshold, a room is created, or a passage may be created if the random number exceeds a predetermined threshold.

When generating a room or a passage, the spatial reconstruction apparatus arbitrarily selects one building block from the building block set, randomly deforms the selected building block within the allowable range, and calculates the position x , y) and the direction a to calculate the deformed building block.

For example, when a room is created, the spatial reconstruction unit chooses an arbitrary room R _k = <w _k , h _w > in the room building block set R _set and selects the room R _k = <w _k , h _w> of the random transformation, the transformed room _{R k '= <w k'} , h w '> the variations in the after calculation, the movable area room _{R k' = <w k '} , h w'> Can be arranged.

Alternatively, when a passage is created, the spatial reconstruction device selects an arbitrary passage P _k = < C _k , w _k > in the passage building block set P _set and selects a passage P _k = < C _k , w _k> a randomly modified by transformation into the passage _{P k '= <C k'} , w k '> the calculated after, deformation in the movable area, passage of _{P k' = <C k '} , w k'> an arrangement can do.

The procedure Proc_Edge for connecting the nodes to the directed edge according to one embodiment is as follows.

The spatial reconfiguration device can randomly determine the type of constituent element pair to be connected as one of "room-passage", "passage-room", or "passage-passage". In this case, as in the case of determining the type of the component, the spatial reconfiguring apparatus can determine the type of the constituent element pair to be connected using the random number generation and the threshold value.

를 생성하고, 이를 기존의 두 노드와 연결하는 두 개의 에지

및

을 생성할 수 있다.The spatial reconfiguration device arbitrarily selects the existing nodes N and N ' corresponding to each component in the case of' room-passage ',' passage-room ', and' passage-passage ' The block P _k can be retrieved. If the two nodes can be connected by modifying P _k in the allowed range, the spatial reconstruction device may be able to adapt the modified path P _k '

And two edges connecting the two nodes to each other,

And

Can be generated.

In the case of 'room-passage', the spatial reconfiguration device can select any room node N = <R, x, y, a> and the passage node N '= <P, x', y ', a'> . It is possible to search the passage building blocks reachable to the starting point of the passage, that is, P (0, 0.5), starting from the outside of the room, that is, R (u, 0) or R (0, v) Only if there is a building block, the spatial reconfiguration device can connect the selected node N = <R, x, y, a> to the path node N '= <R', x ', y', a '> .

In the case of a 'passage-room', the spatial reconstruction device can select any passage node N = <P, x, y, a> and a room node N '= <R, x', y ', a'> . It is possible to search the passage building blocks which can be reached from the end point of the passage, that is, P (1, 0.5 ) and reach the outskirts of the room, that is, R (u, 0) or R (0, v) Only when there is a building block, the spatial reconfiguration device can connect the selected path node N = <P, x, y, a> and the room node N '= <R, x', y ', a'> .

In the case of a 'passage-passage', the spatial reconstruction device can select any two passage nodes N = <P, x, y, a> and N '= <P', x ', y', a '> . It is possible to search for a passage building block which can reach from the end point of one passage, that is, P (1, 0.5) to the starting point of another passage, that is, P '(0, 0.5) , The spatial reconfiguration device can connect the selected two passage nodes N = <P, x, y, a> and N '= <P', x ', y', a '> .

The Proc_Node and Proc_Edge procedures described above can be performed at an intersection at a certain rate. Additionally, the spatial reconfiguring device can identify strongly connected components over a period of time and preferentially select the nodes belonging to the largest component in the Proc_Edge procedure.

The spatial reconfiguring device may perform this procedure until at least one of the number of iterations, the number of nodes, the number of edges, the ratio of nodes to edges, and the size of the strong connection component reaches a certain threshold value. Finally, the real roadmap can be completed by leaving only the largest steel connection components.

Referring to FIG. 2, a real space 210 and a virtual space 220 according to an embodiment are shown.

The real space 210 is an area where a position of a user experiencing a virtual reality can be sensed. In the real space 210, there may be an obstacle that obstructs the movement of the user. In FIG. 2, the hatched portion in the real space 210 may indicate an obstacle. The room nodes and the passageway nodes that can be placed in the real space 210 are connected to each other as described above so that a realistic road map can be determined. In FIG. 2, the rectangle 211 in the real space 210 represents a room node, and the line 213 connecting the rectangles represents a passage node.

The spatial reconfiguring device can determine the virtual roadmap from the real road map using depth-first search. In FIG. 2, the virtual space 220 is illustrated as an example of the room nodes and the passage nodes included in this virtual roadmap.

According to one embodiment, the degree of curvature of the passage node included in the real road map may be different from the passage node included in the virtual road map. The spatial reconstruction apparatus can recognize that the user moves along the visualized virtual space even if the degree of curvature of the passage node is increased or decreased within the allowable range. For example, even if a user wearing the VR device moves to a curved path in the real space 210, the user can recognize that the user is passing straight through the virtual reality. That is, even if the movement distance and the degree of bending of the path are distorted within an allowable range, they can not be recognized by the user, so that the spatial reconstruction apparatus can implement a virtual reality not limited to the physical limitations of the real space 210.

3 to 5 are diagrams for explaining a process of determining a virtual road map according to an embodiment.

Referring to Figures 3-5, a method of determining a virtual roadmap performed by a processor of a spatial reconfiguration device in accordance with one embodiment is illustrated.

Once the real road map is determined as described above, a virtual road map can be created by starting from one room node and developing the graph into a tree structure in space. A passage node can be expanded by connecting the next node (i.e., a room node or a passage node) only from one end point, while a room node can be expanded from several points on the periphery of the node to several next nodes simultaneously, A passage node). In addition, since the spatial elements of each node are modified before the real road map is constructed, the spatial elements of each node can be restored to its original form when constructing the virtual road map.

The spatial reconfiguring device can perform a depth-first search until it reaches another node by connecting a series of passage nodes for each node. At this time, a room node can be referred to as a branch node because it serves as a center of a branch extending for several branches. Also, a data structure of a pathfinder can be generated for each path node that can be extended from one branch node, and depth-first search can be performed in an asynchronous manner. The branch node and the path searcher can respectively hold the following information.

<Node B >

- Roadmap node N

- parent branch node B _parent

- Path searcher set {PF ₁ , PF ₂ , ..., PF _m }

<Path searcher PF >

- a stack _{<(N 1, d 1)} , ..., <N k, d k)> (N k is a real road map depth first node for the search, the depth of the node in the _k d is the depth-first search process, Applicable)

- the most recently expanded node N _curr and its depth d _curr

- Start branch node B _s

- End Node B _e (valid only if the search is terminated)

)으로 시작한다.In step 310, a virtual road map may be generated based on the above data structure as follows. The _set of all existing nodes B _set is empty (

).

In steps 320 to 360, a root node may be created. An arbitrary room node N _r of the real road map is selected and the selected room node N _r is replicated so that the root node N _v of the virtual road map can be created. At this time, the position (x, y) and the direction a may be any value. The first node B _r corresponding to the root node is created, and B _set can be updated to B _set = {B _r } .

In step 411, it can be determined whether B _set is an empty _set . If B _set is not an empty _set , step 413 may be performed. Conversely, if B _set is an empty _set , the method of determining the virtual roadmap can be terminated.

At step 413, a branch node may be selected. According to one embodiment, the spatial reconfiguration device may select any of the branch nodes B in the current branch node set B _set = { B ₁ , ..., B _n } .

In step 415, the path searcher of the selected set of nodes B B. PF is _set is subject to the determination whether or not the empty set. These different path searcher set of node B B. PF is _set to be the empty set when the step 417 is performed and, is performed if the selected set of nodes of the path explorer B B. PF _set a non-empty set stage 423 .

In step 417, it may be determined whether the selected node B has been initialized. If the selected node B is not initialized, then step 419 is performed, and conversely if the selected node B is initialized, step 429 may be performed.

When the selected B is initialized, all possible searches are performed in the selected node B , but the node B can not reach the other node. In this case, in step 429, the branch node B is removed from the branch node set B _set , all virtual nodes from the branch node B to the parent branch node B _parent in step 431 are removed, and in step 433 The path searcher PF _parent arriving at the branch node B from the parent branch node B _parent may be removed. Then, step 411 may be performed.

If the selected branch node B has not been initialized, a path navigator may be created at step 419. For example, a path searcher { PF ₁ , ..., PF _m } may be generated for all nodes that are expandable from a node N _v of a virtual roadmap associated with a selected one of the node B 's.

At step 421, for each path finder PF _i , the most recently extended node N _curr and its depth d _curr are initialized to N _v and 0, respectively, and the i th outgoing edge of the node N _r of the real road map corresponding to N _v a node N _i connected to the i-th outgoing edge can be inserted ( N _i , 1) on the stack (push operation).

In step 423, a path navigator may be selected. An arbitrary path searcher PF _i whose search has not been completed in the path searcher set { PF ₁ , ..., PF _m } included in the selected branch node B can be selected.

At step 425, it is determined whether the ending node PF _i .B _e of the selected path searcher is null, so that searchability can be determined. If the ending node PF _i .B _e of the selected path searcher is not null, step 511 is performed, and if the ending node PF _i .B _e of the selected path searcher is null, step 427 is performed .

At step 427, it may be determined whether all path finders PF _i of the path searcher set B. PF _set contained in the selected node have failed the search. If all the path searchers PF _i have not failed to search, step 423 is performed again, and if all the path searchers PF _i fail to search, step 413 can be performed. In this case, the path searcher set empty (ie, if there is no navigation possible paths Explorer), then without choice, kind and Node B kind of removed from the set of nodes B _set, two kinds of node B parent branch node B _parent when the If valid (i.e., of node B is, if not the root node), different from the node B to all of the virtual road map node in the route to the parent of node B _parent is removed, of the node from the parent of node B _parent B The path searcher PF _parent that has reached the search path PF can also be removed.

In step 511, it can be determined whether the stack of the path navigator is empty by determining whether the stack PF _i .S of the selected path searcher is empty. If in the case of the case stack of the selected path searcher PF _i .S a non-empty set step 513 is performed, the stack PF _i .S of the selected path searcher empty, step 535 may be performed.

If the stack PF _i .S of the selected path searcher is an empty set, it means that the search has been performed through the selected path searcher PF _i but the other path has not been reached. In this case, at step 535, the selected path searcher PF _i may be removed from the path searcher set PF _set .

In steps 513 to 527, the virtual road map may be expanded or contracted.

At step 513, the topmost element ( N _k , d _k ) in the stack of the selected path searcher PF _i may be output (pop operation). At this time, other operations may be performed based on the depth d _k of the topmost node in the stack and the depth d _curr of the most recently expanded node in the depth-first search. The size comparison between the depth d _k of the topmost node of the stack and the depth d _curr of the most recently extended node in the depth first search may be performed in steps 515, 521, and 525.

씩 감소될 수 있다. 이를 통해, 가상 로드맵은 축약될 수 있다.If the depth d _k of the topmost node of the stack is less than the depth d _curr of the most recently extended node in the depth first search, then in step 517 and step 519, the depth d _curr of the most recently extended node a (d _k -1) with the same year until, repeatedly the most recent node N _curr extended to and removed from the virtual road map, and then the expansion in the last, replacing the parent node of the node to remove the node N _curr The depth d _curr of the node

Respectively. Through this, the virtual roadmap can be shortened.

If the depth d _k of the _topmost node of the stack is equal to the depth d _curr of the most recently extended node in the depth-first search, the node N _k at the top of the stack is replicated to create the node N _v of the virtual roadmap, The node N _v may be arranged through a rigid transformation to connect the end point of the parent node of the most recently extended node N _curr to the start point of the node N _k . At this time, the most recently expanded node N _curr may be removed from the virtual roadmap and replaced with node N _v . Through this, virtual road maps can be expanded after shrinking.

If the depth d _k of the _topmost node in the stack is equal to the depth d _curr +1 of the most recently extended node in the depth-first search, the top node N _k of the stack is cloned and the node N _v of the virtual roadmap is created And the node N _v may be arranged through a rigid transformation such that the end point of the most recently extended node N _curr is connected to the start point of the topmost node N _k of the stack. At this time, the most recently expanded node N _curr may be replaced by node N _v . Through this, the virtual roadmap can be extended.

In step 529, it can be determined whether the node N _v of the virtual node map generated through steps 523 and 527 is a room node. Step 531 is performed if node N _v of the generated virtual node map is a node, and step 413 may be performed if node N _v of the generated virtual node map is a passage node.

At step 531, a new branch node B corresponding to the node N _v of the generated virtual node map is created and inserted into the element of the branch node set B _set . In addition, the end node B _e of the selected path searcher PF _i is set as a new branch node B , so that the search can no longer proceed in the path searcher PF _i .

If the virtual roadmap is not extended at step 517, step 523 or step 527 or the new node N _v created by extension of the virtual road map is a passage node, at step 533, Stack insertion can be performed.

If the last node N _curr neighbor node N _c is connected through a respective outgoing edge of the node N _r of the real road map corresponding to the extension in the possible arrangement in the virtual road _{map, (N c, d curr +} 1) a stack (Push operation). To neighbor node N _c the number of placement possibility, the neighboring node N _c when N _v replicated is generated the most is arranged such that the recently connected to the exit point of the node N _curr expansion, the crossing with existing nodes of the virtual road map Can be determined. If in the case where the crossing number of times exceeds a threshold number of times the predetermined is disposed likely determines the adjacent node N _c that are removed, and when the number of times the cross below the threshold count has been determined that there is disposed potential neighbor node N _c the stack Can be inserted. All neighbors that can be placed among neighbor nodes of the node N _r can be inserted into the stack. Then, step 413 may be performed.

The method of determining the virtual road map described above may be performed in step 411 by using the branch node set B _set is an empty _set , but may be modified to end before a predetermined virtual road map condition is satisfied. In addition, it is also possible to repeatedly execute the above procedure in sequence, or to execute several procedures in which the root node N _r is initialized differently in parallel.

6 and 7 are views for explaining a process of reflecting a movement of a user according to an embodiment.

An execution time movement response may be performed according to one embodiment. Once the virtual road map generated from the real road map and the actual road map is determined, the user can move the virtual road map by walking within the real space. If the starting node of the virtual road map is predetermined, the spatial reconfiguration device guides the user to move to the starting node of the real road map corresponding to the starting node of the virtual road map, initializes the corresponding relationship, The correspondence relationship can be updated each time the direction information is input.

Referring to Figure 6, there is shown a code for implementing an initialization procedure in accordance with an embodiment.

The spatial reconfiguration device may identify the starting node N _r of the realistic road map corresponding to the starting node N _v of the virtual road map. The spatial reconstruction device may visualize the boundary area of the spatial component (i. E., A room or a path) of the starting node N _r in virtual space. The spatial reconfiguration device may cause the user to issue a start command after reaching the area. The spatial reconstruction unit can inversely calculate the parameters ( u, v ) for the spatial component of the starting node N _r from the real space position ( x, y ) of the user traced by the virtual reality system.

을 얻을 수 있다. Space reconstitution device is the addition (x ', y') = (x + d x, y + d y) in the virtual reality system is the real spatial tracking users (d _x, d _y) position (x, y) ( U ', v' ) for the spatial component of the starting node N _r from this. The spatial reconfiguration device applies ( u, v ) to the starting node N _v to determine the user's virtual space location

Can be obtained.

로부터

을 뺀 후 정규화 하여, 가상 공간 방향

을 얻을 수 있다. 공간 재구성 장치는 가상 공간의 위치

와 방향

에 부합하도록 가상 현실의 시야를 설정한 후 가상 로드맵을 가시화할 수 있다.The spatial reconstruction apparatus obtains ( u ', v' ) obtained by applying ( u ', v' ) to the starting node N _v

from

And then normalizes the virtual space direction

Can be obtained. The spatial reconfiguring device determines the location of the virtual space

And direction

The virtual road map can be visualized after setting the visibility of the virtual reality so as to conform to the virtual road map.

Referring to FIG. 7, there is shown a code for implementing an update procedure in accordance with one embodiment.

The spatial reconfiguration device can inversely calculate the parameters ( u, v ) for the spatial component of the node N _r of the current real road map to which the user belongs, when the new position ( x, y ) of the real space is input. The spatial reconfiguring device can update the position and direction of the virtual space in the same manner as previously performed in the initialization procedure when ( u, v ) satisfies the condition of 0 < u, v <1.

를 식별할 수 있다. 각각의 인접 노드

에 대응되는 가상 로드맵의 노드

가 시작 노드 N _v 의 인접 노드인 경우, 공간 재구성 장치는 새로운 위치 (x, y)로부터 인접 노드

의 공간 구성요소에 대한 매개 변수 (u, v)를 역으로 계산하여 0<u, v<1의 조건이 만족되는지 확인할 수 있다. Space reconstruction apparatus (u, v) is 0 <u, v <Failure to satisfy the condition 1, every adjacent node set of the start node N _r

Can be identified. Each adjacent node

Node of the virtual roadmap corresponding to &quot;

Is a neighboring node of the start node N _v , the spatial reconfiguration device moves from the new location ( x, y )

The parameters ( u, v ) of the spatial component of the space u can be calculated inversely to verify that the condition 0 < u, v <1 is satisfied.

와 그에 대응되는 가상 로드맵 노드

를 사용자의 현재 노드로 갱신하고, 이로부터 가상 공간의 위치와 방향을 갱신할 수 있다.If there is a neighboring node that satisfies the condition,

And corresponding virtual roadmap nodes

To the current node of the user, and update the position and direction of the virtual space therefrom.

Conversely, if there are no adjacent nodes satisfying the condition, the spatial reconfiguration device can visually indicate to the user that it is out of the legitimate space.

FIG. 8 is a diagram illustrating a spatial reconstruction method according to an embodiment.

Referring to Figure 8, a method of reconstructing a space performed by a processor of a spatial reconstruction apparatus in accordance with one embodiment is illustrated.

In step 810, the spatial reconfiguration device determines a realistic roadmap in which the room nodes and the passage nodes, which can be placed in the real space where the user is located, are connected to each other. Herein, each of the room nodes is extendable to at least one of the passage nodes, and each of the passage nodes may be extendable to any one of the room nodes or the passage nodes of the room nodes . In addition, the real space may be a space capable of detecting the position of the user.

In step 820, the spatial reconfiguration device uses the depth-first search to determine a virtual roadmap from the real roadmap. The spatial reconfiguration apparatus selects a room node among a plurality of room nodes included in the real road map and searches for a route from the selected room node to the other room node based on the depth first search to generate a virtual road map .

The spatial reconfiguration device generates a path searcher for each of the path nodes connected to the selected node, selects one path searcher of the generated path searcher, selects the depth searcher of the topmost node in the selected path searcher, A virtual roadmap can be created by extending or shortening the virtual roadmap based on the depth of the recently extended node.

If the generated node is a room node in the process of expanding or reducing the virtual road map, the spatial reconfiguration device can be set so that no further search is performed in the selected path searcher. In addition, when the path connecting from the selected node to the other node through the selected path navigator is not found, the spatial reconfiguration unit deletes the selected path navigator, and if any of the remaining path navigators except for the deleted path navigator, To expand or contract the virtual roadmap.

Here, the depth-first search may be an algorithm for connecting at least one passage node among a plurality of passage nodes included in the real road map to a selected one node so that a path started from the selected one node reaches another one node.

In step 830, the spatial reconfiguration device visualizes the virtual reality experienced by the user based on the location of the user in the physical space and the virtual roadmap. If the starting node of the virtual road map is predetermined, the spatial reconfiguration device may guide the user to move to the starting node of the real road map corresponding to the starting node of the virtual road map. The spatial reconstruction apparatus can visualize a virtual reality having a size larger than a limited physical space.

The steps described above with reference to FIGS. 1 to 7 are applied to each step shown in FIG. 8 as it is, so that a detailed description will be omitted.

9 is a diagram illustrating a method of determining a virtual roadmap according to an embodiment.

Referring to FIG. 9, a method for determining a virtual roadmap performed by a processor of a spatial reconfiguration device in accordance with an embodiment is shown.

In step 910, the spatial reconfiguration device selects one of the plurality of room nodes included in the real road map.

In step 920, the spatial reconfiguration device searches for a path from the selected node to another node based on the depth-first search. The spatial reconfiguration device creates a path searcher for each of the path nodes connected to the selected node, selects one path searcher of the generated path searcher, selects the depth searcher The virtual roadmap can be expanded or reduced based on the depth of the recently expanded node.

In step 930, the spatial reconfiguration device determines a virtual roadmap based on the discovered path.

The steps described above with reference to FIGS. 1 through 7 are applied to each step shown in FIG. 9, so that a detailed description will be omitted.

10 illustrates a spatial reconstruction apparatus in accordance with one embodiment.

Referring to FIG. 10, a spatial reconfiguration apparatus 1000 according to one embodiment includes a memory 1010 and a processor 1020. The memory 1010 includes a processor 1020, The memory 1010 and the processor 1020 can communicate with each other via a bus 1030.

The memory 1010 may include instructions readable by a computer. The processor 1020 can perform the aforementioned operations as the instructions stored in the memory 1010 are executed in the processor 1020. [ Memory 1010 may be volatile memory or non-volatile memory.

The processor 1020 may be a device that executes instructions, or programs, or controls the spatial reconfiguration device 1000. The processor 1020 determines a real road map to which the node nodes and the passage nodes that can be placed in the real space where the user is located are connected to each other, determines a virtual road map from the real road map using the depth first search, Based on the virtual road map, the virtual reality that the user experiences is visualized.

In addition, the processor 1020 selects one of the plurality of room nodes included in the real road map, searches for a route from the selected room node to the other room node based on the depth-first search, And determines a virtual roadmap based on the route.

In addition, the above-described operation can be performed with respect to the spatial reconstruction apparatus 1000. [

The embodiments described above may be implemented in hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

The components described in the embodiments may be implemented by a programmable logic device such as one or more DSP (Digital Signal Processor), a processor, a controller, an application specific integrated circuit (ASIC), and a field programmable gate array Logic Element, other electronic devices, and combinations thereof. &Lt; RTI ID = 0.0 &gt; At least some of the functions or processes described in the embodiments may be implemented by software, and the software may be recorded in a recording medium. The components, functions and processes described in the embodiments may be implemented by a combination of hardware and software.

Although the embodiments have been described with reference to the drawings, various technical modifications and variations may be applied to those skilled in the art. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI &gt; or equivalents, even if it is replaced or replaced.

Claims (20)

A method of reconstructing a space for a virtual reality,
Determining a real road map in which guest nodes and path nodes that can be placed in a real space where a user is located are connected to each other;
Determining a virtual roadmap from the real road map using a depth-first search; And
Visualizing a virtual reality experienced by the user based on the position of the user in the real space and the virtual road map
&Lt; / RTI &gt; The method according to claim 1,
The step of generating the virtual road map
Wherein the virtual road map is generated by selecting one of the node nodes included in the real road map and searching for a route from the selected node to another node based on the depth- Reconstruction method. 3. The method of claim 2,
The step of generating the virtual road map
A path finder for each of the path nodes connected to the selected node is selected and a path searcher selected from among the generated path finders is selected and the depth of the uppermost node in the stack of the selected path searcher Wherein the virtual road map is generated by expanding or reducing the virtual road map based on the depth of the most recently expanded node in the depth-first search. The method of claim 3,
The step of generating the virtual road map
Wherein when the node generated in the process of expanding or reducing the virtual road map is a node, setting is made so that the search is no longer performed in the selected path searcher. The method of claim 3,
The step of generating the virtual road map
If the route from the selected node to the other node is not searched through the selected route searcher, the selected route searcher is deleted, and any one of the route searchers other than the deleted route searcher is deleted, Selecting and expanding or reducing the virtual roadmap. 3. The method of claim 2,
The depth-
Wherein at least one of the path nodes included in the real road map is connected to the selected one of the nodes so that a path started from the selected one of the plurality of path nodes reaches the other one of the node nodes. The method of claim 1,
Each of the room nodes being extendable to at least one of the passage nodes,
Wherein each of the passage nodes is extendable to either one of the room nodes or to one of the passage nodes. The method according to claim 1,
The step of visualizing the virtual reality
And guiding the user to move to a starting node of the real road map corresponding to a starting node of the virtual road map if the starting node of the virtual road map is determined in advance. The method according to claim 1,
The step of visualizing the virtual reality
And visualizing a virtual reality having a size larger than the limited physical space. The method according to claim 1,
Wherein the physical space is a space capable of sensing the position of the user. Selecting one of the room nodes included in the real road map;
Searching for a path from the selected node to another node based on the depth-first search; And
Determining a virtual roadmap based on the searched route
And determining a virtual roadmap. 12. The method of claim 11,
The step of searching for the path
Generating a path searcher for each of the passage nodes connected to the selected room node;
Selecting one of the generated path searchers; And
Expanding or reducing the virtual roadmap based on the depth of the topmost node in the stack of the selected path searcher and the depth of the most recently expanded node in the depth-
And determining a virtual roadmap. 13. The method of claim 12,
The step of expanding or reducing the virtual road map
If the node generated in the process of expanding or reducing the virtual road map is a node, setting the search path to no longer proceed in the selected route explorer
And determining a virtual roadmap. A processor; And
A memory including at least one instruction executable by the processor,
Lt; / RTI &gt;
When the at least one instruction is executed in the processor, the processor determines a physical road map to which the node nodes and the path nodes that can be placed in the real space where the user is located are connected to each other, And visualizing the virtual reality experienced by the user based on the location of the user and the virtual road map in the real space
Spatial reconstruction device. 15. The method of claim 14,
The processor
Wherein the virtual road map is generated by selecting one of the node nodes included in the real road map and searching for a route from the selected node to another node based on the depth- Reconstruction device. 16. The method of claim 15,
The depth-
Wherein at least one of the path nodes included in the real road map is connected to the selected one of the nodes so that a path started from the selected one of the plurality of path nodes reaches the other one. 15. The method of claim 14,
Each of the room nodes being extendable to at least one of the passage nodes,
Wherein each of the passage nodes is extendable to either one of the room nodes or to one of the passage nodes. 15. The method of claim 14,
The processor
And guiding the user to move to a starting node of the real road map corresponding to a starting node of the virtual road map if the starting node of the virtual road map is determined in advance. A processor; And
A memory including at least one instruction executable by the processor,
Lt; / RTI &gt;
If the at least one instruction is executed in the processor, the processor selects one of the room nodes included in the real road map and connects to the other room node from the selected room node based on the depth- Determining a virtual roadmap based on the searched route,
Spatial reconstruction device. 20. The method of claim 19,
The processor
The method of claim 1, further comprising: generating a path searcher for each of the path nodes connected to the selected node, selecting one of the generated path searchers, selecting a depth of the topmost node in the stack of the selected path searcher, Wherein the virtual roadmap is expanded or contracted based on the depth of the most recently expanded node in the search.

Images