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Low-delay pose fusion method for mobile terminal sensor and external positioning system

A positioning system and mobile terminal technology, applied in the processing of instruments, computer parts, 3D images, etc., can solve the problems of no fusion scheme, affect user experience, delay in display effect, etc., and achieve the effect of low delay characteristics

Pending Publication Date: 2020-08-25
NANJING RUIYUE INFORMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The technical solutions of some manufacturers, such as NOLO, adopt the core technology of acousto-optic hybrid space positioning, which achieves space positioning through hardware such as base stations and helmet locators. This technology can integrate external space positioning into virtual reality mobile terminals, but its positioning accuracy is low. And the hardware requirements are relatively strict, and the virtual / augmented reality mobile terminal needs to be connected to the helmet locator to use it.
In addition, the built-in 6dof solution like Oculus Quest, its displacement data is output through its internal modules, without introducing external modules
[0004] At present, there are many mature external positioning system solutions on the market, but they are rarely used in virtual / augmented reality scenarios, and there is no relatively complete fusion solution, or there are some fusion solutions
For general external positioning systems, if the virtual / augmented reality mobile terminal uses all its rotation and displacement data, it will cause a high delay in the display effect rendered by the mobile terminal, seriously affecting the user experience

Method used

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  • Low-delay pose fusion method for mobile terminal sensor and external positioning system
  • Low-delay pose fusion method for mobile terminal sensor and external positioning system
  • Low-delay pose fusion method for mobile terminal sensor and external positioning system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A low-latency pose fusion method for a mobile terminal sensor and an external positioning system, comprising the following steps:

[0046] Step 1: According to the appearance of the virtual reality mobile device, prepare several panel molds and positioning beacons. Each beacon positioning panel is equipped with more than 3 positioning beacons. The positioning beacons are fixed on the panel mold, and the beacons are opposite to each other. The position guarantees a vertical relationship.

[0047] In this embodiment, one beacon positioning panel 2 is pasted on the front panel of the virtual reality mobile terminal device 1. This is only one way of pasting. According to different appearances, the pasting position can be adjusted to suit. The beacon positioning panel is provided with 3 positioning beacons, such as figure 2 shown. The positioning beacon is connected to the external positioning system, and the positioning beacon 1, the beacon 2, and the beacon 3 are relative...

Embodiment 2

[0066] A low-latency pose fusion system for a mobile terminal sensor and an external positioning system, including a virtual reality mobile terminal device, an external positioning system, a calibration module, and a fusion algorithm module. The virtual reality mobile terminal device includes a sensor module and a rendering module. The external positioning system includes several positioning beacons, the positioning beacons are fixed on the beacon positioning panel, and the positioning beacons are relatively vertically arranged, and the beacon positioning panel is pasted on the panel of the virtual reality mobile terminal device. The output terminals of the sensor module and the positioning beacon are connected with the calibration module and the fusion algorithm module, the output terminal of the calibration module is connected with the fusion algorithm module, and the output terminal of the fusion algorithm module is connected with the rendering module. in:

[0067] The sen...

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Abstract

The invention provides a low-delay pose fusion method for a mobile terminal sensor and an external positioning system, and the method specifically comprises the steps: enabling a positioning beacon tobe fixed on a panel of virtual reality mobile terminal equipment, and enabling the positioning beacon to be connected with the external positioning system; performing calibration calculation on the rotation data of the virtual reality mobile terminal equipment sensor and the positioning beacon displacement data of the external positioning system to obtain a corresponding calibration pose matrix;and acquiring latest rotation data of the sensor and latest displacement data of the positioning beacon, performing fusion calculation in combination with the calibration pose matrix, outputting fusedpose data, applying the fused pose data to a virtual / augmented reality mobile terminal, and performing low-delay rendering on an application scene. According to the method, the displacement data of the external positioning system are introduced into the virtual / augmented reality mobile terminal device, and the low delay characteristic of the virtual / augmented reality mobile terminal device is maintained.

Description

technical field [0001] The invention belongs to the technical field of augmented reality, in particular to a low-latency pose fusion method of a mobile terminal sensor and an external positioning system. Background technique [0002] Virtual / augmented reality technology comprehensively utilizes computer graphics, photoelectric imaging technology, sensing technology, computer simulation, artificial intelligence and other technologies, and with the help of various interactive devices, it aims to provide users with a realistic and multi-perceptual virtual world. world. [0003] External positioning systems generally include laser positioning, external camera positioning and other technologies, and the positioning accuracy and readiness of these technologies are relatively complete. Generally speaking, the external positioning system will provide two sets of data of rotation and displacement for developers to use. The technical solutions of some manufacturers, such as NOLO, ad...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06F3/14G06K9/62G06T15/00
CPCG06F3/011G06F3/14G06T15/005G06F18/25
Inventor 曹浩张琦曹俊
Owner NANJING RUIYUE INFORMATION TECH
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