VR system and positioning and tracking method thereof

Abstract

The invention provides a VR system and a positioning tracking method thereof, wherein the VR system comprises a head-mounted display and a handle; the head-mounted display comprises a first inertial sensor, a first processor and a plurality of first shooting devices; the handle comprises a second inertial sensor and a plurality of second shooting devices; the first shooting devices collect external environment images of a coordinate system of the head-mounted display; and the second shooting devices collect external environment images of the coordinate system of the head-mounted display; wherein the first inertial sensor collects inertial data of the head-mounted display, the second shooting device collects an external environment image of a handle coordinate system, the second inertial sensor collects inertial data of the handle, and the first processor obtains 6DOF data of the head-mounted display in a world coordinate system through the inertial data of the head-mounted display and the external environment image of the head-mounted display; then the 6DOF data of the handle in a world coordinate system are obtained through the inertial data of the handle and the external environment image of the handle, and the 6DOF data of the handle end on the head-mounted display are generated. According to the system and the method, the 6DOF data of the handle on the head-mounted display can be obtained with high precision and low time delay.

Description

technical field [0001] The invention relates to the technical field of virtual reality, in particular to a VR system and a location tracking method thereof. Background technique [0002] Most of the existing All-in-one VR (Virtual Reality, VR) 6DOF all-in-one machine designs support 6DOF (Six Degrees of Freedom) tracking of the head, and judge HMD (head-mounted display) through optical, ultrasonic, electromagnetic and other solutions. ) and the relative position relationship of the handle, on the basis of the current HMD 6DOF, through the mapping of the relative relationship, the position of the handle is converted into the world coordinate system of the handle. The optical handle has the problem of FOV (field of view), which will introduce large errors beyond the FOV of the HMD camera; the ultrasonic solution has occlusion and reflection problems, and has high requirements for wireless synchronization, and wireless fluctuations will also introduce certain errors. ; The ele...

AI Technical Summary

Problems solved by technology

The optical handle has the problem of FOV (field of view), which will introduce large errors beyond the FOV of the HMD camera; the ultrasonic solution has occlusion and reflection problems, and has high requirements for wireless synchronization, and wireless fluctuations will also introduce certain errors. ;The electromagnetic solution can achieve 360-degree tracking, but it is greatly affected by the external magnetic field. In addition, the mutual interference between devices is also a difficult problem. Usually, it does not support many devices working at the same time.

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