WO2017107537A1 - Dispositif de réalité virtuelle et procédé d'évitement d'obstacle - Google Patents

Dispositif de réalité virtuelle et procédé d'évitement d'obstacle Download PDF

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Publication number
WO2017107537A1
WO2017107537A1 PCT/CN2016/096987 CN2016096987W WO2017107537A1 WO 2017107537 A1 WO2017107537 A1 WO 2017107537A1 CN 2016096987 W CN2016096987 W CN 2016096987W WO 2017107537 A1 WO2017107537 A1 WO 2017107537A1
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Prior art keywords
image
obstacle
virtual reality
reality device
primitive
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PCT/CN2016/096987
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English (en)
Chinese (zh)
Inventor
张超
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乐视控股（北京）有限公司
乐视致新电子科技（天津）有限公司
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Publication of WO2017107537A1 publication Critical patent/WO2017107537A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition

Definitions

  • the present application relates to the field of communications, and in particular, to a virtual reality device and an obstacle avoidance method.
  • a head mounted display is a device for displaying images and colors.
  • the display is placed close to the user's eyes, and the focal length is adjusted by the optical path to project the image to the eye at a close distance.
  • One solution to this problem is to integrate a 3D camera in the head mounted device to detect the environment in which the user is located.
  • holographic 3D cameras usually require more than 5 lenses, which brings about a significant increase in manufacturing costs for equipment manufacturing.
  • the 3D camera only reports the image, but can not give the user the pre-judgment of avoiding obstacles, and the effectiveness of the user's potential safety hazard is insufficient.
  • an obstacle avoidance method for effectively solving the obstacle avoidance effectiveness of a head-mounted virtual reality device by a user and a virtual reality device having an effective obstacle avoidance function are provided.
  • an obstacle avoidance method for guiding a user of a virtual reality device to effectively avoid obstacles and experience satisfactory satisfaction.
  • an obstacle avoidance method is applied to a virtual reality device, including the following steps:
  • the obstacle avoidance instruction is made according to the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time point, and the acceleration of the virtual reality device at the second time point.
  • the embodiment of the present application further provides a virtual reality device, including:
  • Binocular camera module for:
  • the relative motion speed of the virtual reality device and the obstacle is obtained, and the virtual reality device is at the second time point and the obstacle Distance of matter
  • Acceleration module for:
  • the computing module is further configured to:
  • the obstacle avoidance instruction is made according to the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time point, and the acceleration of the virtual reality device at the second time point.
  • the embodiment of the present application provides an electronic device, including the virtual reality device described in any of the foregoing embodiments.
  • the embodiment of the present application provides a non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium can store computer instructions, which can implement the obstacle avoidance method provided by the embodiments of the present application. Some or all of the steps in each implementation.
  • An embodiment of the present application provides an electronic device, including: one or more processors; and a memory; Wherein the memory stores instructions executable by the one or more processors, the instructions being arranged to perform any of the above-described obstacle avoidance methods of the present application.
  • An embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, The computer is caused to perform the above-mentioned obstacle avoidance method according to the embodiment of the present application.
  • the user of the virtual reality device can be guided according to the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time point, and the acceleration of the virtual reality device at the second time point. Effective obstacle avoidance and good experience satisfaction.
  • FIG. 1 is a schematic flowchart of a method for avoiding obstacles in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of measuring the distance of a virtual reality device from an obstacle at a second point in time.
  • FIG. 3 is a schematic structural diagram of a virtual reality device according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for avoiding obstacles in an embodiment of the present application, which specifically includes the following steps:
  • S01 At a first time point, acquire a first image of the obstacle photographed by the first camera at the first angle and a second image of the obstacle photographed by the second camera at the second angle.
  • the virtual reality device includes, but is not limited to, an eye-catching device, a helmet, a glasses, and the like, and an electronic virtual reality device that integrates sound, light, electricity, and the like with a computer chip as a core, and integrates visual, acoustic, and tactile sensors.
  • the virtual reality device of the embodiment of the present invention is configured with a binocular camera module, a calculation module, an acceleration module, and the like.
  • the binocular camera module can refer to an integrated camera formed by two cameras arranged in a position similar to a human body.
  • the binocular camera module here includes, in addition to the two cameras, auxiliary components such as corresponding signal transmission lines.
  • the first camera in the binocular camera module captures the obstacle at a first angle to form a first image; the second camera in the binocular camera module takes a second angle An obstacle forms a second image.
  • the obstacle here can be regarded as a target object. In reality, it can be correspondingly a street light pole, a parked car, a person near the user, and the like. These target objects are presented in the background image in the foreground image in the first image and the second image. In practical applications, in order to speed up the speed of information processing, in the design of the computer-specific algorithm, some target objects that are obviously impossible to become obstacles can be pre-filtered out to prevent these target objects from adversely affecting the detection of obstacles. .
  • first and second are used merely for the convenience of the description, and do not imply a certain order or a continuous relationship.
  • first angle refers to the manner in which the obstacle is imaged on the first camera. Different obstacles are imaged differently on the first camera, and the same obstacles are imaged differently on different cameras.
  • first and second herein refer only to the logical difference of this narrative.
  • S02 At a second time point, acquire a third image of the obstacle photographed by the first camera at the third angle and a fourth image of the obstacle photographed by the second camera at the fourth angle.
  • step S01 when the user wears the virtual reality device, at the second time, the first camera in the binocular camera module captures the obstacle at a third angle to form a third image; the second camera in the binocular camera module The obstacle is photographed at a fourth angle to form a fourth image.
  • first”, “second”, “third”, “fourth” are similar to “first” and “second” above, which means that the narrative is logically different.
  • S03 Deriving the relative motion speed of the virtual reality device and the obstacle according to the first image, the second image, the third image, and the fourth image, and the distance between the virtual reality device and the obstacle at the second time point.
  • the computing module of the virtual reality device is based on an obstacle in the double
  • the third image and the fourth image formed by the camera module are derived, and the distance between the virtual reality device and the obstacle at the second time is obtained, which specifically includes:
  • a computing module of the virtual reality device calculates a parallax (L1-L2) of the obstacle in the third image and the fourth image;
  • f is the focal length of the first camera and the second camera.
  • FIG. 2 is a schematic diagram of measuring the distance of the virtual reality device from the obstacle at the second time.
  • the distance between the virtual reality device and the obstacle at the second time point can be derived from the position of the obstacle in the third image and the fourth image.
  • point P is assumed to be any target point on the obstacle.
  • C1 and C2 are assumed to be the optical center of the first camera and the optical center of the second camera, respectively, and the distance between the optical center C1 and the optical center C2 is b.
  • the focal lengths of the first camera and the second camera are both f.
  • the projection point of the point P on the imaging plane of the first camera is P1
  • the projection point of the point P on the imaging plane of the second camera is P2.
  • Point P the distance from the line connecting optical center C1 and optical center C2 is d.
  • the passing center C1 is perpendicular to the imaging plane, and the foot is A1.
  • the optical center C2 is perpendicular to the imaging plane, and the foot is A2.
  • P is perpendicular to the imaging plane, and the foot is B.
  • the distance d is related to b, f and L1-L2.
  • L1-L2 is called the parallax of the point P on the imaging planes of the first camera and the second camera.
  • the corresponding points of the two image responses have parallax only in the horizontal direction, and the coordinate values in the Y direction are equal.
  • the values of the parameters b and f have been determined, and only the corresponding pixel parallax needs to be obtained for the image to obtain the distance of the obstacle.
  • the distance between the virtual reality device and the obstacle can be derived at the first time point in the first image and the second image.
  • the computing module of the virtual reality device is derived according to the first image, the second image, the third image, and the fourth image formed by the obstacle in the binocular camera module.
  • the relative motion speed of the virtual reality device and the obstacle includes:
  • a computing module of the virtual reality device calculates a parallax of the obstacle in the first image and the second image
  • the distance between the virtual reality device and the obstacle at the first time point is set to d1
  • the distance between the virtual reality device and the obstacle at the second time point is d2
  • the time difference t between the two is known, thereby obtaining
  • the average value of the relative motion speed of the virtual reality device and the obstacle can be approximated as the second time point virtual The relative speed of movement of realistic equipment and obstacles.
  • the motion of the obstacle in the three-dimensional scene is considered to correspond to the projection of the obstacle in the two-dimensional image plane.
  • the flow of this motion in the form of image plane brightness is called optical flow.
  • the brightness between the first image and the third image is constant, and the brightness between the second image and the fourth image is constant;
  • the time interval between the first time point and the second time point is small, so that the obstacle has a small variation distance in the first image and the third image;
  • the obstacles in the first camera imaging process, the pixels constituting the first image have substantially the same motion, thereby forming a third image.
  • the computing module of the virtual reality device derives the virtuality according to the first image, the second image, the third image, and the fourth image formed by the obstacle in the binocular camera module.
  • the relative movement speed of the actual equipment and obstacles including:
  • the relative motion speed of the virtual reality device and the obstacle can be obtained
  • I(x, y, t) I(x+dx, y+dy, t+dt);
  • the partial derivatives of the gray value pairs x, y, t, respectively, can be estimated from the image, which has two unknowns, V x and V y .
  • the V x and V y of all the primitives or pixels in the tiny distance are the same, two unknowns, multiple equations, and the least squares method is easy. Find the values of V x and V y . Then, according to the projection relationship, the relative motion speed of the virtual reality device and the obstacle can be obtained.
  • the computing module of the virtual reality device derives the virtual reality according to the first image, the second image, the third image, and the fourth image formed by the obstacle in the binocular camera module.
  • the relative movement speed of the device and the obstacle, and the distance between the virtual reality device and the obstacle at the second time point specifically include:
  • the relative motion speed of the virtual reality device and the obstacle is obtained, and the distance between the virtual reality device and the obstacle at the second time point is derived.
  • the first primitive is determined from the first image
  • the second primitive and the third primitive corresponding to the first primitive are respectively determined from the second image, the third image, and the fourth image.
  • the picture element and the fourth picture element specifically include:
  • big data technology can be used to establish a physical feature database of obstacles.
  • a physical feature database of obstacles For example, it can be built The shape parameters of the contours of the head, shoulders, and feet of the human body. These contours and environmental backgrounds tend to have higher contrast in each image. It is assumed that according to the shape, contrast and other parameters of the contour, a certain pixel or pixel in the first image is found to be the head feature of the human body. In addition, according to the shape, the contrast and other parameters of the contour, a certain pixel or pixel in the second image is found as the head feature of the human body. Then, it can be considered that the primitive representing the human head feature in the first image is identical to the body unit of the human body represented by the primitive representing the human head feature in the second image.
  • the third picture element and the fourth picture element that represent the same physical feature of the obstacle may be searched from the third image and the fourth image. Therefore, on the basis of this, the relative motion speed of the virtual reality device and the obstacle and the distance between the virtual reality device and the obstacle can be calculated.
  • the first primitive is determined from the first image
  • the second primitive and the third primitive corresponding to the first primitive are respectively determined from the second image, the third image, and the fourth image.
  • the picture element and the fourth picture element specifically include:
  • the sift feature in each image can be found, and then the relative motion speed of the virtual reality device and the obstacle and the distance between the virtual reality device and the obstacle are calculated according to the same sift feature in different images.
  • the first primitive is determined from the first image
  • the second primitive and the third primitive corresponding to the first primitive are respectively determined from the second image, the third image, and the fourth image.
  • the picture element and the fourth picture element specifically include:
  • the first primitive, the second primitive, the third primitive, and the fourth primitive that can match each other are searched from the first image, the second image, the third image, and the fourth image by using an image convolution method.
  • the corresponding area in different images may be determined by using image convolution, so that the relative motion speed of the virtual reality device and the obstacle and the distance between the virtual reality device and the obstacle may be calculated.
  • the method further includes:
  • the relative motion speed of the virtual reality device and the obstacle repeatedly acquired repeatedly and the distance between the virtual reality device and the obstacle at the second time point are optimized by the least squares method to obtain the relative motion speed of the optimized virtual reality device and the obstacle. And the distance of the optimized virtual reality device from the obstacle at the second point in time.
  • the least moving method can be used to optimize the relative motion speed of the virtual reality device and the obstacle calculated according to different target points and the distance between the virtual reality device and the obstacle.
  • the acceleration module can be an electronic device capable of measuring acceleration forces.
  • the piezoelectric effect of the piezoelectric ceramic or the quartz crystal can be utilized, and when the acceleration module is vibrated, the force applied to the piezoelectric element by the mass is also changed.
  • the measured vibration frequency is much lower than the natural frequency of the accelerometer, the change in force is proportional to the measured acceleration.
  • the acceleration module of the virtual reality device can acquire the acceleration of the virtual reality device at the second time point.
  • S05 Perform an obstacle avoidance instruction according to the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time point, and the acceleration of the virtual reality device at the second time point.
  • the computing module of the virtual reality device can calculate the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time point, and the acceleration of the virtual reality device at the second time point. Obtain the expectation that the virtual reality device will collide with the obstacle, so that the obstacle avoidance instruction fed back to the user can be made in time.
  • the computing module of the virtual reality device is based on the relative motion speed of the virtual reality device and the obstacle, the distance of the virtual reality device from the obstacle at the second time, and the virtual reality device at the second time.
  • the acceleration makes an obstacle avoidance instruction, so that the user of the virtual reality device can be guided to effectively avoid obstacles, and the experience satisfaction is good.
  • the non-transitory computer readable storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • FIG. 3 Providing a virtual reality device 1 comprising:
  • Binocular camera module 11 for:
  • the calculation module 12 is configured to:
  • the relative motion speed of the virtual reality device 1 and the obstacle is obtained, and the virtual reality device 1 is in the second time.
  • Acceleration module 13 for:
  • the calculation module 12 is further configured to:
  • the obstacle avoidance instruction is made according to the relative movement speed of the virtual reality device 1 and the obstacle, the distance of the virtual reality device 1 from the obstacle at the second time point, and the acceleration of the virtual reality device 1 at the second time point.
  • the calculating module 12 is configured to:
  • f is the focal length of the first camera and the second camera.
  • the calculating module 12 is further configured to:
  • Calculating the virtual reality device 1 and the obstacle according to the distance of the virtual reality device 1 from the obstacle at the first time point, the distance of the virtual reality device 1 from the obstacle at the second time point, and the time difference between the first time point and the second time point The relative speed of movement of objects.
  • the calculating module 12 is configured to:
  • the relative motion speed of the virtual reality device 1 and the obstacle can be obtained
  • the calculating module 12 is configured to:
  • the relative motion speed of the virtual reality device 1 and the obstacle is obtained, and the virtual reality device 1 is at the second time point and the obstacle the distance.
  • the calculating module 12 is configured to:
  • the calculating module 12 is configured to:
  • the calculating module 12 is configured to:
  • the first primitive, the second primitive, the third primitive, and the fourth primitive that can match each other are searched from the first image, the second image, the third image, and the fourth image by using an image convolution method.
  • the calculating module 12 is further configured to:
  • Determining the first primitive, the second primitive, the third primitive, and the fourth primitive independently and repeatedly, each time The first picture element, the second picture element, the third picture element, and the fourth picture element are different;
  • the relative motion speed of the virtual reality device 1 and the obstacle that are independently acquired repeatedly and the distance between the virtual reality device 1 and the obstacle at the second time point are optimized by the least squares method to obtain the optimized virtual reality device 1 and the obstacle.
  • the relative motion speed and the distance of the optimized virtual reality device 1 from the obstacle at the second time point are optimized by the least squares method to obtain the optimized virtual reality device 1 and the obstacle.
  • an electronic device including the virtual reality device described in any of the foregoing embodiments.
  • a non-transitory computer readable storage medium is also provided, the non-transitory computer readable storage medium storing computer executable instructions executable by any of the above methods The obstacle avoidance method in the example.
  • FIG. 4 is a schematic diagram of a hardware structure of an electronic device for performing an obstacle avoidance method according to an embodiment of the present application. As shown in FIG. 4, the device includes:
  • processors 410 and memory 420 One or more processors 410 and memory 420, one processor 410 is exemplified in FIG.
  • the apparatus for performing the obstacle avoidance method may further include: an input device 430 and an output device 440.
  • the processor 410, the memory 420, the input device 430, and the output device 440 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 420 is used as a non-transitory computer readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the obstacle avoidance method in the embodiment of the present application. Modules (eg, binocular camera module 11, calculation module 12, and acceleration module 13 shown in FIG. 3).
  • the processor 410 executes various functional applications and data processing of the electronic device by executing non-volatile software programs, instructions, and modules stored in the memory 420, that is, implementing the above-described method embodiment obstacle avoidance method.
  • the memory 420 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the virtual reality device, and the like.
  • memory 420 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 420 can optionally include remotely with respect to processor 410 Set up memory that can be connected to a virtual reality device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 430 can receive input numeric or character information and generate key signal inputs related to user settings and function control of the virtual reality device.
  • Output device 440 can include a display device such as a display screen.
  • the one or more modules are stored in the memory 420, and when executed by the one or more processors 410, perform the obstacle avoidance method in any of the above method embodiments.
  • the electronic device of the embodiment of the present application exists in various forms, including but not limited to:
  • Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
  • Portable entertainment devices These devices can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
  • the server consists of a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.

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  • General Physics & Mathematics (AREA)
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  • Theoretical Computer Science (AREA)
  • Processing Or Creating Images (AREA)

Abstract

L'invention concerne un dispositif de réalité virtuelle et un procédé d'évitement d'obstacle. Dans les modes de réalisation de la présente invention, une instruction d'évitement d'obstacle est délivrée conformément à une vitesse de déplacement relatif d'un dispositif de réalité virtuelle par rapport à un obstacle, une distance entre le dispositif de réalité virtuelle et l'obstacle à un deuxième instant et l'accélération du dispositif de réalité virtuelle au deuxième instant, de manière à guider un utilisateur du dispositif de réalité virtuelle pour éviter efficacement l'obstacle, de sorte que la satisfaction de l'expérience est élevée.
PCT/CN2016/096987 2015-12-21 2016-08-26 Dispositif de réalité virtuelle et procédé d'évitement d'obstacle WO2017107537A1 (fr)

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