Positioning method for VR display equipment

Abstract

The positioning method for the VR display equipment comprises the following steps: S1, measuring a plurality of IMU sensors in a calculation time period by the plurality of IMU sensors to obtain a plurality of pieces of IMU measurement data; s2, receiving a plurality of IMU measurement data by a processor, averaging to obtain acceleration and angular velocity values, and performing integral operation on the acceleration and angular velocity values to obtain first pose data; s3, the binocular camera obtains image data of the surrounding environment; s4, the processor receives the image data and obtains second pose data of the current environment; and S5, detecting the second pose data by the processor, and judging whether the current positioning of the user is performed through the first pose data or not, or performing the current positioning of the user according to the pose information obtained after fusion. According to the invention, the binocular camera and the IMU sensor can be used for spatial positioning, and at the same time, the error accumulation value in the IMU sensor can be reduced, the drifting phenomenon can be prevented, and the positioning accuracy can be improved.

Description

technical field [0001] The present invention relates to the technical field of VR devices, and in particular, to a positioning method for VR display devices. Background technique [0002] The existing indoor tracking and positioning methods used in VR scenarios mainly include infrared optical positioning, laser positioning, low-power Bluetooth positioning, and visual positioning. Among them, the visual positioning method is based on external positioning data (such as visual slam, lighthouse, etc.) Data fusion is performed with the angular velocity and acceleration data of the carrier relative to the inertial space measured by the IMU (sensor) to provide high-frequency updated position and attitude. Mainly based on the slam algorithm, the camera is used to collect information and extract the features in the image for positioning. The accuracy of this method is not as high as that of laser positioning and infrared optical positioning, but its algorithm is simple, cheap, and ea...

AI Technical Summary

Problems solved by technology

Mainly based on the slam algorithm, the camera is used to collect information and extract features in the image for positioning. The accuracy of this method is not as high as that of laser positioning, infrared optical positioning, etc., but its algorithm is simple, cheap, and easy to expand, making it a The current relatively mainstream positioning solutions in the VR market

[0003] In the traditional positioning method, because the IMU sensor has the characteristics of error accumulation, there is a "drift" phenomenon, which easily leads to obvious distortion of the motion trajectory detected by the IMU sensor, affecting the accuracy of positioning

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