Method, medium, apparatus and computing device for spatial positioning

Abstract

The embodiment of the invention provides a spatial positioning method. The method comprises the steps of: obtaining current angle information, which is relative to a reference plane, of an image collecting device corresponding to a current frame image on the basis of information of an angle measuring device; determining pose information of the image collecting device corresponding to the current frame image on the basis of image matching relationship between the current frame image and a previous frame image; and correspondingly rotating and / or translating a picture which is same as current frame image, collected by the image collecting device and located on the reference plane according to the pose information of the image collecting device corresponding to the current frame image to obtain spatial positioning of the current frame image. According to the method provided by the invention, scene tracking is carried out by utilizing the angle information and the image information, so that the method is more stable and does not need complicated pre-calibration. Moreover, the embodiment of the invention provides a spatial positioning device, a medium and a computing device.

Description

technical field [0001] The embodiments of the present invention relate to the field of virtual reality or augmented reality, and more particularly, the embodiments of the present invention relate to a spatial positioning method, medium, apparatus and computing device that can be used for positioning a mobile terminal. Background technique [0002] This section is intended to provide a background or context for the embodiments of the invention that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] A relatively common method for positioning an inside-out mobile terminal is to perform spatial positioning of the mobile terminal according to sensors such as a camera and an IMU (Inertial Measurement Unit) attached to a mobile terminal such as a mobile phone or a headset. It is applied to scenarios such as VR (Virtual Reality, virtual reality) equipment, AR (Augmented Reality, augmented reality) equipment, an...

AI Technical Summary

Problems solved by technology

[0004] However, the method of positioning mobile terminals through the coupling of visual images and IMUs relies on the calibration information of IMUs and cameras, and requires complex pre-calibration of devices in advance, which greatly increases the difficulty of covering mobile devices

In addition, pure visual localization methods rely on rich image feature information and gentle user motion and cannot handle pure rotation, which greatly limits the user experience.

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