Controller positioning method and device, head-mounted display equipment and storage medium

Abstract

The invention discloses a controller positioning method and device, head-mounted display equipment and a storage medium, and relates to the technical field of virtual reality. The method comprises the following steps: acquiring an image containing a controller in a real environment as a first image; acquiring a first number of light spots meeting a preset distribution condition from the first image as a first light spot set; determining a three-dimensional model matched with the first light spot set as a target three-dimensional model from three-dimensional models corresponding to the controller; mapping the target three-dimensional model to a two-dimensional plane to obtain a second image; acquiring a second number of light spots matched with the preset light spot distribution in the second image as a third light spot set from the second light spot set in the first image; and determining pose information of the controller in the real environment based on the first light spot set and the third light spot set. In this way, a sufficient number of light spot sets formed by the light-emitting units of the controller can be accurately recognized, so that the pose information, determined based on the light spot sets, of the controller is more accurate.

Description

technical field [0001] The present application relates to the technical field of virtual reality, and more particularly, to a positioning method, device, head-mounted display device and storage medium of a controller. Background technique [0002] Head Mounted Display (HMD) is a display device that can be worn on the user's head, which can realize Virtual Reality (VR), Augmented Reality (AR) and Mixed Reality (Mixed Reality). , MR) and other different effects. The HMD can be used in conjunction with the joystick control tracker. During this process, the virtual reality, augmented reality or mixed reality scene is presented on the HMD, and the user interacts with the elements in the above scene by controlling the joystick controller held in the hand. [0003] In the related art, a light-emitting unit is carried on the handle controller, and an image during the movement of the controller is acquired through an image acquisition device, and the posture and the position of the ...

AI Technical Summary

Problems solved by technology

However, since the luminous point formed by the luminous unit of the controller on the collected image cannot be accurately identified, the attitude and position information of the handle controller based on the luminous point is inaccurate.

Images