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Scale determination method and device, storage medium and equipment

A scale and parameter technology, applied to storage media and equipment, scale determination methods, and device fields, can solve the problem of low efficiency of scale determination and achieve the effect of improving determination efficiency

Active Publication Date: 2018-08-03
TENCENT TECH (SHENZHEN) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present invention provides a scale determination method, device, storage medium and equipment, which are used to solve the problem of inefficient scale determination caused by pre-calibrating the external parameters and internal parameters of two cameras

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  • Scale determination method and device, storage medium and equipment
  • Scale determination method and device, storage medium and equipment

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Embodiment Construction

[0028] In order to make the purpose, technical solutions and advantages of the present invention clearer, the following will further describe in detail the embodiments of the present invention in conjunction with the accompanying drawings.

[0029] Please refer to figure 1 , which shows a schematic diagram of an implementation environment provided by an embodiment of the present invention. figure 1 Take the application of visual inertial odometry in head-mounted displays such as VR and AR as an example.

[0030] A head-mounted display is a display that is worn on a user's head for image display. The head-mounted display usually includes a wearing part and a display part, the wearing part includes glasses legs and elastic bands for wearing the head-mounted display on the user's head, and the display part includes a left-eye display and a right-eye display. The head-mounted display can display different images on the left-eye display and the right-eye display, thereby simulati...

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Abstract

The invention discloses a scale determination method and device, a storage medium and equipment, and belongs to the technical field of virtual reality. The method comprises the following steps of: obtaining at least two image frames; obtaining at least one group of first rotation parameters and first displacement parameters according to the at least two image frames, wherein each group of first rotation parameters and first displacement parameters is used for representing a position posture change of a monocular camera when two adjacent image frames in the at least two image frames are shot bythe monocular camera, the first displacement parameters comprise a scale of visual inertia speedometer and the scale is unknown; obtaining at least one group of second rotation parameters and seconddisplacement parameters, wherein each group of second rotation parameters and second displacement parameters is used for representing a position posture change, measured by an IMU, of the monocular camera when two adjacent image frames in the at least two image frames are shot by the monocular camera; and determining a scale according to the at least one group of first rotation parameters and first displacement parameters and the at least one group of second rotation parameters and second displacement parameters. According to the method and device, the storage medium and the equipment, the scale determination efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of virtual reality, in particular to a scale determination method, device, storage medium and equipment. Background technique [0002] Visual-inertial odometry is a component that uses a camera and an IMU (Inertial Measurement Unit, inertial measurement unit) to achieve positioning and tracking functions, and is widely used in applications such as VR (Virtual Reality, virtual reality) or AR (Augmented Reality, enhanced display) product. In the process of using the visual-inertial odometry, it is necessary to determine the scale of the visual-inertial odometry, so as to facilitate positioning according to the scale. Among them, the scale is the measurement standard of physical quantity. For example, the displacement of the visual-inertial odometer is 1 scale, then when the scale is 1 cm, the displacement is 1 cm; when the scale is 1 decimeter, the displacement is 1 decimeter. [0003] In related te...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 陈宗豪肖泽东郑远力顾照鹏
Owner TENCENT TECH (SHENZHEN) CO LTD
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