Attitude determination and virtual reality roaming method of intelligent machine

A measuring method and technology of intelligent machine, applied in the field of information, can solve the problems of no longer applicable, laborious real scene and map association, inconvenient for globalization and popularization, etc.

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A measuring method and technology of intelligent machine, applied in the field of information, can solve the problems of no longer applicable, laborious real scene and map association, inconvenient for globalization and popularization, etc.

CN104748746AActive Publication Date: 2015-07-01武汉雄楚高晶科技有限公司

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[0307] The present invention requires sensor input for 3 configuration types of smart machines for 3 methods

[0308] Method (1) Use the following formula R g = Calculate R g

[0309] in

[0310] R θ =

[0311]

[0312] =

[0313] Calculate Azimuth Angle Using Magnetometer The trigonometric functions of are:

[0314]

[0315] In actual operation, if the geomagnetic declination △ As a result, the direction of the magnetic force is not pointing to true north, and R can be calculated by the following formula g

[0316]

[0317] R g =

[0318] The three values of the gravity accelerometer sensor {v ax , v ay , v az}Requires the lowest configuration and has the widest applicability;

[0319] The three values of the magnetometer sensor {v mx , v my , v mz} or heading angle value[0] of direction sensor

[0320] If there is neither a magnetometer nor an orientation sensor, The angle can be increased or decreased by the user interf...

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Abstract

Disclosed are attitude determination, panoramic image generation and target recognition methods for an intelligent machine. The attitude determination method for the intelligent machine comprises the following steps: defining a local coordinate system; and determining an intelligent machine attitude matrix Rg, wherein Rg is a 3x3 unit orthogonal matrix relative to the local coordinate system and can be obtained through multiple methods according to different sensors inside the intelligent machine. By means of attitude determination of the intelligent machine, multiple applications can be achieved, comprising a virtual reality roaming method for the intelligent machine, multi-vision localization of the intelligent machine, monocular single-point localization of the intelligent machine, panoramic image generation of the intelligent machine, target direction selection in the intelligent machine, real-time video image correction, single-image localization of the intelligent machine, and relative localization among multiple cameras.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a smart machine attitude measurement and a virtual reality roaming method. Background technique [0002] Virtual reality technology allows users to immerse themselves in the virtual or real three-dimensional scene displayed on the display screen of a smartphone, superimposes virtual target labels on it, and prompts interactive information to the user. Traditional 3D virtual scenes, such as digital 3D cities, games and other applications are very mature, but roaming in 3D scenes is mainly through traditional control devices such as mouse, keyboard, rolling ball, etc. The direction of the control device and the actual scene observed cannot be intuitive Correspondingly, the rendering equipment is huge and clumsy, which will bring great inconvenience to the operator and affect the wide application of these three-dimensional digital technologies. Therefore, there is an urgent ne...

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Application Information

Patent Timeline

01 Jul 2015

Publication

CN104748746A

IPC: G01C21/08; G01C21/10; G01C21/20; G06F3/01; G06T17/00; H04W4/021

CPC: G06F19/00; G01C21/08; G01C21/12; G01C21/20; G06T19/006; G06V20/20; G01C21/1654; H04W4/021

Inventors: 刘进; 陶重芝