WO2018107923A1

WO2018107923A1 - Positioning feature point identification method for use in virtual reality space

Info

Publication number: WO2018107923A1
Application number: PCT/CN2017/109795
Authority: WO
Inventors: 李宗乘; 党少军
Original assignee: 深圳市虚拟现实技术有限公司
Priority date: 2016-12-16
Filing date: 2017-11-07
Publication date: 2018-06-21
Also published as: CN106774992A

Abstract

A positioning feature point identification method for use in a virtual reality space, comprising the following steps: confirming that all infrared point light sources on a virtual reality headset have been turned off, and if not all of said infrared point light sources have been turned off, turning off the infrared point light sources that are in an illuminated state; illuminating one of the infrared point light sources on the virtual reality headset, and a processing unit recording an infrared point light source ID which corresponds to a light spot on an image captured by an infrared camera; said virtual reality headset maintaining the infrared point light source illuminated at the time of a previous frame in an illuminated state, and also illuminating a new infrared point light source, and the processing unit determining an infrared point light source ID corresponding to a newly added light spot on the image captured by the infrared camera. By means of sequentially illuminating the infrared point light sources and correspondingly searching for infrared point light source IDs corresponding to light spots on an image captured by an infrared camera, the present method provides an accurate and efficient solution for determining light spot IDs.

Description

Virtual reality spatial positioning feature point recognition method

[0001] The present invention relates to the field of virtual reality, and more particularly to a virtual reality spatial positioning feature point identification method.

Background technique

[0002] Spatial positioning generally uses optical or ultrasonic modes for positioning and measurement, and the model is used to derive the spatial position of the object to be measured. The general virtual reality space positioning system uses the infrared point and the light-sensing camera to determine the spatial position of the object. The infrared point is at the front end of the near-eye display device. After positioning, the light-sensing camera captures the position of the infrared point and then derives the user's position. Physical coordinates. If you know the correspondence between at least three light sources and projections, you can call the PnP algorithm to get the spatial positioning position of the helmet. The key to realize this process is to determine the light source ID (Identity, serial number) corresponding to the projection. The current virtual reality space positioning in determining the corresponding light source ID of the projection often has the disadvantages of corresponding inaccuracy and corresponding long interval, which affects the accuracy and efficiency of the positioning.

technical problem

[0003] In order to solve the defect that the current virtual reality spatial positioning method determines the accuracy and efficiency of the projection ID (Identity), the present invention provides a virtual reality spatial positioning feature that determines the accuracy and efficiency of the projection ID. Point identification method.

Problem solution

Technical solution

The technical solution adopted by the present invention to solve the technical problem thereof is as follows: A virtual reality spatial positioning feature point identification method is provided, which includes the following steps:

[0005] S1: confirming that the infrared point light sources on the virtual reality helmet are all extinguished, and if the infrared point light sources are not all extinguished, extinguishing the infrared point light source in the lighting state;

[0006] S2: illuminating one of the infrared point light sources on the virtual reality helmet, and the processing unit records an ID of the infrared point source corresponding to the light spot on the image captured by the infrared camera;

[0007] S3: the virtual reality helmet keeps the infrared point light source that is lit in the previous frame, and is in a lighting state, and Illuminating a new infrared point source, the processing unit determining an ID of the infrared point source corresponding to the newly added spot on the image captured by the infrared camera;

S4: repeating S3 until all of the infrared point light sources are illuminated and the processing unit determines an ID of the infrared point source corresponding to all light spots on the image captured by the infrared camera.

[0009] Preferably, when the virtual reality helmet is stationary, the ID of the infrared point source corresponding to the newly added light spot is determined by comparing the image difference between the current frame and the previous frame.

[0010] Preferably, when the virtual reality helmet moves, the processing unit combines the historical information of the previous frame to make a slight translation of the light spot of the image of the previous frame, so that the light spot of the image of the previous frame is Corresponding relationship is generated between the light spots of the current frame image, and the corresponding ID of each light spot having a corresponding relationship on the current frame image is determined according to the correspondence relationship and the history information of the previous frame.

[0011] Preferably, the light spot on the current frame image that has no corresponding relationship with the previous frame image corresponds to the ID of the newly illuminated infrared point light source.

[0012] Preferably, in the process of performing S2 and S4, if the number of the illuminated infrared point sources and the number of spots on the image do not match, Sl is re-executed.

[0013] Preferably, in the positioning process, if the number of light spots on the image does not satisfy the number of points required by the PnP algorithm, Sl is re-executed.

Advantageous effects of the invention

Beneficial effect

[0014] Compared with the prior art, the present invention provides a method for determining the spot ID by accurately finding a method corresponding to the infrared point source ID of the image taken by the infrared camera by sequentially lighting the infrared point source. And efficient. When the virtual reality helmet is stationary, the ID corresponding to the newly added spot can be judged by comparing the images of the two frames before and after. When the virtual reality helmet moves, the added spot and its corresponding ID are determined by adding displacement, and the virtual reality helmet is provided. A method of identifying a spot ID in a plurality of motion states. By monitoring the number of infrared point sources and the number of spots on the image and whether the number of spots meets the number of points required by the PnP algorithm, the accuracy of the positioning is ensured and deviations are prevented.

Brief description of the drawing

DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which: 1 is a schematic diagram of a virtual reality helmet of a virtual reality spatial positioning feature point recognition method according to the present invention;

2 is a schematic diagram showing the principle of a virtual reality spatial positioning feature point recognition method according to the present invention;

[0018] FIG. 3 is an infrared point image taken by an infrared camera.

BEST MODE FOR CARRYING OUT THE INVENTION

[0019] In order to solve the defect that the current virtual reality spatial positioning method determines that the accuracy and efficiency of the projection ID are not high, the present invention provides a virtual reality spatial positioning feature point identification method for determining the accuracy and efficiency of the projection ID.

[0020] In order to more clearly understand the technical features, objects and advantages of the present invention, the embodiments of the present invention are described in detail with reference to the accompanying drawings.

1 and 2 show a schematic diagram of a virtual reality spatial positioning feature point recognition method of the present invention. The virtual reality positioning feature point recognition method of the present invention comprises a virtual reality helmet 10, an infrared camera 20 and a processing unit 30, and the infrared camera 20 is electrically connected to the processing unit 30. The virtual reality helmet 10 includes a front panel 11 , and a plurality of infrared point light sources 13 are distributed on the front panel 11 of the virtual reality helmet 10 and the four side panels of the upper, lower, left and right sides, and the plurality of infrared point light sources 13 can pass through the virtual reality The firmware interface of the helmet 10 is illuminated or turned off as needed.

[0022] FIG. 3 shows an infrared point image taken by an infrared camera. When the front panel 11 of the virtual reality helmet 10 faces an infrared camera (not shown), due to the band pass characteristic of the infrared camera, only the infrared point source can be 13 A spot projection is formed on the image, and the rest forms a uniform background image. The infrared point source 13 on the virtual reality helmet 10 can form a spot of light on the image.

[0023] When the ID recognition is started, the virtual reality helmet 10 is in an initial state, lighting an infrared point light source 13 on the virtual reality helmet 10, and the processing unit 30 records the illuminated infrared point source 13 according to the light spots on the image. The correspondence relationship of the light spots, that is, the ID of the infrared point light source 13 corresponding to the light spot on the image captured by the infrared camera. After the process is completed, the virtual reality helmet 10 keeps the infrared light source 13 that is lit in the previous frame, and is lit, and lights up a new infrared point light source 13, which can be found on the image taken by the infrared camera 20. The two light spots, the processing unit 30 determines the ID of the infrared point source 13 corresponding to the newly added light spot. After the process is completed, the virtual reality helmet 10 keeps the infrared spot light source 13 illuminated in the previous frame, and lights up a new infrared point light source 13, and uses the same method to determine the added light on the image. The ID of the spot is newly illuminated by an infrared point source 13 in each frame according to the above method until all the infrared point sources 13 are lit, and each spot successfully corresponds to the ID of the illuminated infrared point source 13, ID identification process End.

[0024] In the process of increasing the illumination of the infrared point source 13, if the infrared point source 13 is blocked, the number of the illuminated infrared point source 13 does not match the number of spots on the image, the ID recognition process needs to be re-executed. . Similarly, in the positioning process after the end of the ID recognition process, if the infrared point source 13 is occluded, the number of spots on the image is insufficient to satisfy the number of points required by the PnP algorithm, and the ID recognition process needs to be re-executed.

[0025] The method for the processing unit 30 to determine the ID of the infrared point source 13 corresponding to the newly added light spot is: in the initial state of the virtual reality helmet 10, there is no corresponding relationship of the previous frame, or the data loss of the previous frame needs to be determined again. Corresponding relationship 吋, the present invention illuminates only one infrared point source 13 at the initial ,, so that there is at most one spot on the image, and in this case, the correspondence can be easily determined. By illuminating a new infrared point source 13 with each additional point, it is possible to illuminate a plurality of infrared point sources 13 to determine the desired correspondence. Specifically, in two cases, when the virtual reality helmet 10 is stationary, the light spot corresponding to the newly added infrared point light source 13 can be determined by comparing the image difference between the current frame and the previous frame, and the corresponding ID of the light spot is The ID of the illuminated infrared point source 13 is added. In the virtual reality helmet 10 movement, because the sampling time of each frame is small enough, the general sampling time is 30ms, so in general, each light spot of the previous frame and each of the current frames except the newly added light spots The position difference of the light spots is small, and the processing unit 30 combines the known historical information of the previous frame to make a slight translation of the light spots of the previous frame image, so that the light spots of the previous frame image and the light spots of the current frame image are generated. Corresponding relationship, determining, according to the correspondence relationship and the historical information of the previous frame, the corresponding ID of each light spot corresponding to the current frame image, and the same, the light spot having no corresponding relationship with the previous frame image on the current frame image Corresponding to the ID of the newly illuminated infrared point source.

After the ID identification is completed, the processing unit 30 can call the PnP algorithm to obtain the spatial positioning position of the helmet. The Pn P algorithm belongs to the prior art, and the present invention will not be described again.

Compared with the prior art, the present invention provides a method for determining the spot ID by correspondingly searching for the method corresponding to the infrared point source 13ID of the image taken by the infrared camera 20 by sequentially lighting the infrared point source 13. , accurate and efficient. When the virtual reality helmet 10 is stationary, the contrast between the two frames is The ID corresponding to the newly added spot can be judged. When the virtual reality helmet moves, the added spot and its corresponding ID are determined by adding displacement, and the method for identifying the spot ID of the virtual reality helmet in multiple motion states is provided. By monitoring whether the number of infrared point light sources 13 and the number of light spots on the image match and whether the number of light spots satisfies the number of points required by the PnP algorithm, the accuracy of the positioning is ensured, and the deviation is prevented from occurring. The embodiment of the present invention is described above with reference to the accompanying drawings. The description is made, but the present invention is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative and not restrictive, and those of ordinary skill in the art Many forms may be made without departing from the spirit and scope of the invention as claimed.

Claims

Claim

[Claim 1] A virtual reality spatial positioning feature point recognition method, comprising the following steps

S1: confirming that the infrared point light sources on the virtual reality helmet are all extinguished, and if the infrared point light sources are not completely extinguished, extinguishing the infrared point light source in the lighting state;

S2: illuminating one of the infrared point light sources on the virtual reality helmet, and the processing unit records an ID of the infrared point light source corresponding to the light spot on the image captured by the infrared camera; S3: the virtual reality helmet is kept on The infrared point light source that is lit by one frame is in a lighting state, and illuminates a new infrared point light source, and the processing unit determines the infrared point source corresponding to the newly added light spot on the image captured by the infrared camera ID

S4: S3 is repeated until all of the infrared point light sources are illuminated and the processing unit determines the ID of the infrared point light source corresponding to all the light spots on the image captured by the infrared camera.

[Claim 2] The virtual reality spatial positioning feature point recognition method according to claim 1, wherein when the virtual reality helmet is stationary, the added light is determined by comparing image differences between the current frame and the previous frame. The ID of the infrared point source corresponding to the spot.

[Claim 3] The virtual reality spatial positioning feature point recognition method according to claim 2, wherein, when the virtual reality helmet moves, the processing unit combines the historical information known in the previous frame with the previous one. The light spot of the frame image makes a slight translation so that the light spot of the previous frame image is corresponding to the light spot of the current frame image, and according to the correspondence relationship and the historical information of the previous frame, it is determined that there is a corresponding relationship on the current frame image. The corresponding ID of the light spot.

[Claim 4] The virtual reality spatial locating feature point recognition method according to claim 3, wherein the light spot on the current frame image that has no corresponding relationship with the previous frame image corresponds to the newly illuminated infrared point The ID of the light source.

[Claim 5] The virtual reality spatial locating feature point identifying method according to claim 1, wherein, in the process of performing S2 and S4, if the number of the infrared point light sources that are lit and the light on the image If the number of spots does not match, re-execute Sl.

[Claim 6] The virtual reality spatial locating feature point identification method according to claim 1, characterized in that