Terminal pose tracking method, AR rendering method and device, and storage medium

A pose and terminal technology, applied in the field of pose tracking, can solve problems such as unavailability, limiting the scope of application of functions and sharing and spreading, and achieve the effect of improving computing performance

Pending Publication Date: 2021-08-24
北京索为云网科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the SLAM algorithm has strict requirements on computing resources, the existing mobile terminal pose tracking implementation schemes are all APP (Application, application program) methods, and operations such as image and IMU data collection, front-end odometer implementation and optimization calculations are all performed locally on the mobile terminal. Completed, users who have not installed the APP cannot use related functions based on SLAM algorithms (such as AR functions), which greatly limits the scope of application and sharing of related functions

Method used

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  • Terminal pose tracking method, AR rendering method and device, and storage medium
  • Terminal pose tracking method, AR rendering method and device, and storage medium
  • Terminal pose tracking method, AR rendering method and device, and storage medium

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Embodiment Construction

[0024] In order to better understand the above technical solutions, the technical solutions of the embodiments of the present application will be described in detail below through the accompanying drawings and specific examples. It should be understood that the embodiments of the present application and the specific features in the embodiments are the technical solutions of the embodiments of the present application. A detailed description, rather than a limitation to the technical solutions of the present application, the embodiments of the present application and the technical features in the embodiments can be combined with each other under the condition of no conflict.

[0025] An embodiment of the present application provides a terminal pose tracking method, which is implemented by a mobile terminal installed with a browser, such as figure 1 As shown, the method includes:

[0026] Step 101, the main thread of the browser calls the visual sensor of the mobile terminal to c...

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Abstract

The embodiment of the invention provides a terminal pose tracking method, an AR rendering method and device. The method comprises: the browser main thread calling a visual sensor to collect image data according to a first preset frequency; converting the acquired image data into a grey-scale map; calling a web worker to construct an image pyramid of each frame of grey-scale image in real time, and calculating the light gradient of each layer of image in real time; loading an SLAM resolving module by a web worker in a WebAssembly mode; in a pose tracking initialization stage, an SLAM resolving module extracting image point information for a current frame grey-scale map, setting a pseudo depth value and carrying out pose tracking initialization; after pose tracking initialization is completed, the SLAM resolving module dividing each layer of image in an image pyramid into image blocks, tracking the image blocks by using a limit search algorithm, recovering a rotation matrix and a translation vector, and determining the current pose through BA optimization.

Description

technical field [0001] The embodiments of the present application relate to the technical field of pose tracking, and in particular, to a pose tracking method of a terminal, an AR rendering method and device, and a storage medium. Background technique [0002] Augmented reality (Augmented Reality, AR) technology is a technology that integrates virtual information with the real world. Technical means, after simulating and simulating virtual information such as text, images, 3D models, audio, video, and animation generated by computers, they are applied to the real world display. Augmented reality technology considers the relationship between the real world and virtual information at the same time, and the virtual and real information complement each other, so as to realize the enhancement of the real world. [0003] Real-time tracking of mobile terminal 6DoF (6 Degree of Freedom, 6 degrees of freedom) pose is the core foundation of many technologies including Markerless Augm...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G06T1/20G06T7/246
CPCG06T1/20G06T7/246G06T2207/30241G06T2207/30244G06T2207/10012
Inventor汪祥春
Owner北京索为云网科技有限公司