Method, device and system for displaying virtual object, processing equipment and storage medium

Abstract

The embodiment of the invention discloses a method, device and system for displaying a virtual object, processing equipment and a storage medium. The method is applied to an augmented reality (AR) terminal, and the method comprises the following steps: determining a first coordinate system according to first pose information of a first object; determining a first relative pose relationship; the first relative pose relationship indicates a first pose of the AR terminal relative to the first object in the first coordinate system; adjusting the pose of a virtual object in the AR terminal in the second coordinate system based on the first relative pose relationship; wherein the second coordinate system is a coordinate system used for displaying the virtual object in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and second relative pose relations between the adjusted virtual objects and the first object are the same. According to the embodiment of the invention, the synchronization of the adjusted virtual objects displayed by different terminals in the same terminal set can be ensured.

Description

Technical Field

[0001] The present invention relates to but is not limited to the field of information processing, and in particular to a method, apparatus, processing device and storage medium for displaying virtual objects. Background Art

[0002] Augmented Reality (AR) technology is a technology that cleverly integrates virtual information with the real world. It widely uses a variety of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction and sensing. It simulates computer-generated virtual information such as text, images, three-dimensional models, music and video, and applies them to the real world. The two types of information complement each other, thereby achieving "enhancement" of the real world.

[0003] However, the related art can only ensure good effects when a single AR terminal displays a virtual object. In the process where multiple AR terminals need to jointly display the same virtual object, the related art cannot ensure the synchronization of the postures of virtual objects in different AR terminals, resulting in the inability of users corresponding to multiple AR terminals to reliably interact based on synchronized virtual objects. As a result, in the related art, the synchronization of displaying the same virtual object in multiple AR terminals is poor, and different users have poor experience when interacting with the virtual objects displayed by the AR terminals after wearing the AR terminals. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure disclose a method, apparatus, system, processing device, and storage medium for displaying a virtual object.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for displaying a virtual object is provided, the method being applied to an augmented reality (AR) terminal, the method comprising:

[0006] Determine a first coordinate system according to the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; and the position and pose of the first object are fixed;

[0007] Determine a first relative posture relationship; wherein the first relative posture relationship indicates a first posture of the AR terminal relative to the first object in the first coordinate system;

[0008] Based on the first relative position and posture relationship, adjusting the position and posture of the virtual object in the AR terminal in the second coordinate system;

[0009] Among them, the second coordinate system is a coordinate system used to display virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual objects and the first object is the same.

[0010] In one embodiment, determining the first relative posture relationship includes:

[0011] Determining the first relative posture relationship based on the third relative posture relationship and the first information;

[0012] Among them, the third relative posture relationship is a pre-set relative posture relationship between the AR terminal and the first object, and the first information indicates: the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship.

[0013] In one embodiment, the first information includes first sub-information, and the first sub-information indicates: the change amount of a first sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first sub-posture is the posture of the image acquisition module of the AR terminal relative to the first object.

[0014] In one embodiment, the method further comprises:

[0015] When the relative position and posture relationship between the AR terminal and the first object is the first relative position and posture relationship, using the image acquisition module to acquire a first image of the first object;

[0016] When the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, using the image acquisition module to acquire a second image of the first object;

[0017] The first sub-information is determined according to a position deviation of the first object in the first image and the second image.

[0018] In one embodiment, determining the first sub-information according to the position deviation of the first object in the first image and the second image includes:

[0019] The first sub-information is determined based on a position deviation of a reference feature of the first object in the first image and the second image; wherein the reference feature includes at least one of the following: a contour feature of the first object, a feature of a line set on a surface of the first object, and a feature of a reference point set on the surface of the first object.

[0020] In one embodiment, a characteristic image is arranged on the surface of the first object, black grids and white grids are arranged at intervals on the characteristic image, and the reference points include corner points of the black grids and / or the white grids.

[0021] In one embodiment, the first information also includes second sub-information, and the second sub-information indicates: the change amount of the second sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the second sub-posture is the posture of the image acquisition module of the AR terminal relative to the base fixed on the AR terminal.

[0022] In one embodiment, the AR terminal is also provided with a rotation module located on the base, and the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range, and the second sub-posture is the posture of the rotation module relative to the base.

[0023] In one embodiment, determining the first relative posture relationship based on the third relative posture relationship and the first information includes:

[0024] Determine second posture information based on the first sub-information, the second sub-information and the third sub-information; wherein the second posture information indicates: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, the position and posture of the AR terminal in the first coordinate system; the third sub-information indicates: when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, the posture information of the base in the first coordinate system;

[0025] Based on the second posture information, the first relative posture relationship is determined.

[0026] In one embodiment, before determining the first coordinate system according to the position and posture information of the first object, the method further includes:

[0027] Controlling the rotation module to rotate within the predetermined angle range until the image acquisition module acquires the image of the first object;

[0028] In response to acquiring the image of the first object, the rotation module is controlled to rotate when the AR terminal moves, so that the first object is maintained within the shooting range of the image acquisition module.

[0029] According to a second aspect of an embodiment of the present disclosure, there is provided a device for displaying a virtual object, the device comprising:

[0030] A determination module, configured to determine a first coordinate system according to first pose information of a first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; determine a first relative pose relationship; wherein the first relative pose relationship indicates a first pose of the AR terminal relative to the first object in the first coordinate system;

[0031] An adjustment module is used to adjust the posture of the virtual object in the AR terminal in a second coordinate system based on the first relative posture relationship; wherein the second coordinate system is a coordinate system used to display the virtual object in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual object and the first object is the same.

[0032] According to a third aspect of an embodiment of the present disclosure, an AR terminal is provided, for executing any method described in the embodiment of the present disclosure.

[0033] In one embodiment, the AR terminal includes:

[0034] The image acquisition module is used to acquire the image of the first object;

[0035] The rotating module is used to carry the image acquisition module and rotate within a predetermined angle range;

[0036] The base is used to support the rotating module.

[0037] According to a fourth aspect of an embodiment of the present disclosure, a first object is provided, which is a communication terminal used for interaction between at least two AR terminals as described in any one of the embodiments of the present disclosure, and the communication terminal is used to determine the AR terminal set to which the AR terminal belongs; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual object and the first object is the same.

[0038] According to a fifth aspect of an embodiment of the present disclosure, a system for displaying a virtual object is provided, the system comprising:

[0039] At least two AR terminals as described in any one of the embodiments of the present disclosure, wherein at least two of the AR terminals belong to the same AR terminal set; and

[0040] Such as the first object in the embodiment of the present disclosure.

[0041] According to a fifth aspect of an embodiment of the present disclosure, a processing device is provided, the processing device comprising:

[0042] A memory for storing executable programs;

[0043] The processor is used to implement any method described in the embodiments of the present disclosure when executing the executable program stored in the memory.

[0044] According to a sixth aspect of the embodiments of the present disclosure, a computer storage medium is provided, wherein the computer storage medium stores an executable program, and when the executable program is executed by a processor, it implements the method described in any one of the embodiments of the present disclosure.

[0045] In an embodiment of the present disclosure, a first coordinate system is determined based on the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; a first relative pose relationship is determined; wherein the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system; based on the first relative pose relationship, the pose of the virtual object in the AR terminal in a second coordinate system is adjusted; wherein the second coordinate system is a coordinate system for displaying virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative pose relationship between the adjusted virtual objects and the first object is the same.

[0046] Here, since the pose of the virtual object in the AR terminal in the second coordinate system is adjusted based on the first relative pose relationship between the AR terminal and the first object, the second coordinate system is the coordinate system used to display the virtual object in the AR terminal, and the AR terminal belongs to the AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative pose relationship between the adjusted virtual object and the first object is the same, and the first coordinate system is determined according to the first pose information of the first object with a fixed pose, therefore, when there are AR terminals with different corresponding second coordinate systems in the AR terminal set, the first object can be used as a reference object to establish the first coordinate system, so that the first relative pose relationship between each AR terminal and the reference object (i.e., the first object) in the same first coordinate system can be used to accurately adjust the pose of the virtual object in the second coordinate system, so that the poses of the adjusted virtual objects in different AR terminals in the same first coordinate system are the same, so that the poses of the adjusted virtual objects displayed by different terminals in the same AR terminal set in the real space can be synchronized. At this time, in the embodiment of the present disclosure, the situation that the virtual objects displayed in the AR terminals are not synchronized in the real space due to the different second coordinate systems corresponding to the AR terminals can be reduced. Compared with the method in the related art that cannot ensure the synchronization of the posture of virtual objects in different AR terminals, the embodiment of the present disclosure can use the first object as a reference and the first coordinate system determined according to the first posture information of the first object to adjust the virtual objects displayed by different AR terminals in the same AR terminal set to the same posture. In this way, the synchronization of the adjusted virtual objects displayed by different terminals in the same terminal set is ensured, and users wearing AR terminals in scenes where multiple people wear AR terminals can interact based on synchronized virtual objects, ensuring a good user interaction experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0048] Figure 2 is a schematic diagram showing a process of a method for displaying a virtual object according to an exemplary embodiment;

[0049] Figure 3 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0050] Figure 4 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0051] Figure 5 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0052] Figure 6 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0053] Figure 7 is a flow chart of a method for displaying a virtual object according to an exemplary embodiment;

[0054] Figure 8 It is a structural schematic diagram of a device for displaying a virtual object according to an exemplary embodiment;

[0055] Fig. 9 is a schematic structural diagram of an AR terminal according to an exemplary embodiment;

[0056] Fig.10 is a schematic structural diagram of an AR terminal according to an exemplary embodiment;

[0057] Fig.11 The figure is a schematic diagram of the structure of a first object according to an exemplary embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0059] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0060] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein.

[0061] In the following description, “greater than” and “less than” are involved. It should be noted that in the present disclosure, “greater than” can be used to indicate “greater than” or “equal to”; “less than” can be used to indicate “less than” or “equal to”.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0063] like Figure 1 As shown, a method for displaying a virtual object is provided in an embodiment of the present disclosure, and the method is applied to an augmented reality (AR) terminal, and the method includes:

[0064] Step S0011, determining a first coordinate system according to the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed;

[0065] Step S0012, determining a first relative posture relationship; wherein the first relative posture relationship indicates a first posture of the AR terminal relative to the first object in the first coordinate system;

[0066] Step S0013: Based on the first relative posture relationship, adjust the posture of the virtual object in the AR terminal in the second coordinate system; wherein the second coordinate system is a coordinate system used to display virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual object and the first object is the same.

[0067] In one embodiment, the pose of the virtual object to be displayed in the second coordinate system can indicate the fourth relative pose relationship between the virtual object and the AR terminal. Exemplarily, the second coordinate system can be a coordinate system established based on the field of view of the AR terminal. In this case, the pose of the virtual object to be displayed in the second coordinate system can indicate the fourth relative pose relationship between the virtual object and the AR terminal.

[0068] In one embodiment, the posture of the virtual object in the AR terminal in the second coordinate system can be adjusted based on the first relative posture relationship, until the second relative posture relationship indicates that the posture of the virtual object relative to the first object in the first coordinate system is the second posture. It should be noted that since the second coordinate system can indicate the fourth relative posture relationship between the virtual object and the AR terminal, and the first relative posture relationship indicates the relative posture relationship between the AR terminal and the first object, therefore, adjusting the posture of the virtual object in the AR terminal in the second coordinate system based on the first relative posture relationship can be understood as adjusting the second relative posture relationship between the virtual object and the first object based on the first relative posture relationship.

[0069] In one embodiment, a second relative posture relationship between the virtual object and the first object may be determined based on the first relative posture relationship and the fourth relative posture relationship.

[0070] In one embodiment, in the first coordinate system, the postures of the adjusted virtual objects corresponding to the AR terminals in the same AR terminal set in the first coordinate system are all the second postures.

[0071] In one embodiment, there is a mapping relationship between the posture of the virtual object in the first coordinate system and the posture of the virtual object in the second coordinate system, and the posture of the virtual object in the second coordinate system can be adjusted based on the mapping relationship and the preset second posture until the second relative posture relationship indicates that the posture of the virtual object relative to the first object in the first coordinate system is the second posture. It can be understood that when the posture of the virtual object in the second coordinate system changes, the posture of the virtual object in the first coordinate system will also change.

[0072] In one embodiment, there is a mapping relationship between the posture of the virtual object in the first coordinate system and the posture of the virtual object in the second coordinate system, and a third posture can be determined based on the mapping relationship and the preset second posture; there is the mapping relationship between the third posture and the second posture; based on the third posture, the posture of the virtual object in the second coordinate system is adjusted until the second relative posture relationship indicates that the posture of the virtual object relative to the first object in the second coordinate system is the third posture. Here, the posture to be adjusted to the virtual object in the first coordinate system can be first converted into the posture to be adjusted to the virtual object in the second coordinate system, so as to quickly adjust the posture of the virtual object in the second coordinate system.

[0073] In one embodiment, the second posture may be a posture determined in real time. For example, the second posture may be a posture determined according to the posture of the virtual object in the target terminal in the first coordinate system.

[0074] In one embodiment, a target terminal is determined from the AR terminals in the AR terminal set, and the second posture is determined according to the posture of the virtual object in the target terminal in the first coordinate system. At this time, the AR terminals other than the target terminal in the AR terminal set can adjust the posture of the virtual object in the first coordinate system to the second posture, and the target terminal may not adjust the posture of the virtual object in the first coordinate system. Here, the second posture is determined based on the posture of the virtual object in the target terminal in the first coordinate system, so that the posture of the virtual object adjusted by each AR terminal in the AR terminal set can adapt to the posture of the virtual object of the target terminal in the first coordinate system.

[0075] Exemplarily, the disclosed embodiments may correspond to an application scenario in which an AR terminal is used for teaching. In the teaching scenario, it has become a trend for multiple people to wear AR terminals for interactive learning. At this time, the AR terminal set may include an AR terminal worn by a teacher and an AR terminal worn by a student, and the target terminal determined from the AR terminal set may be an AR terminal worn by a teacher. According to the posture of the virtual object in the AR terminal worn by the teacher in the first coordinate system, a second posture is determined, and the AR terminal worn by the student in the AR terminal set can adjust the posture of the virtual object in the first coordinate system to the second posture. Here, the second posture is quickly determined based on the posture of the virtual object in the AR terminal worn by the teacher in the first coordinate system, so that in the process of adjusting the posture of the virtual object according to the second posture of the AR terminal worn by the student, the posture of the virtual object adjusted in the AR terminal worn by each student can be adapted to the posture of the virtual object in the AR terminal worn by the teacher. In this way, the synchronization of the virtual object in the AR terminal worn by the teacher and the virtual object in the AR terminal worn by the student in the teaching scenario can be ensured, and the teaching effect is good.

[0076] In one embodiment, the second posture may be a preset posture. The second postures corresponding to the AR terminals in the same AR terminal set are the same.

[0077] In one embodiment, based on the preset second posture, the posture of the virtual objects in all AR terminals in the AR terminal set in the second coordinate system is adjusted until the second relative posture relationship indicates that the posture of the virtual object relative to the first object in the first coordinate system is the second posture. Here, there is no need to calculate the second posture in real time, but the posture of the virtual objects in all AR terminals in the AR terminal set can be quickly adjusted according to the preset second posture.

[0078] In one embodiment, the first pose information may indicate the position and pose of the first object in the real space, and / or the first pose information may indicate the position and pose of the first object in the first coordinate system.

[0079] In one embodiment, determining the first coordinate system according to the first pose information of the first object includes: determining the origin and coordinate axes of the first coordinate system according to the first pose information; and constructing the first coordinate system based on the origin and the coordinate axes. It is understandable that the first pose information can indicate the position and posture of the first object in the first coordinate system by indicating the reference point and reference axis of the first object. Here, the reference coordinate system (i.e., the first coordinate system) with the first object as a reference can be determined through the pose information of the first object.

[0080] In one embodiment, a reference point may be determined based on the first pose information, the reference point being in the space where the first object is located, and the origin of the first coordinate system is determined based on the reference point. Exemplarily, the reference point may be located on the surface of the first object, or the reference point may be located inside the first object. Here, the reference point may not be limited to a specific position of the first object, and it is only necessary to ensure that the reference point is in the space where the first object is located.

[0081] In one embodiment, a reference point can be randomly determined in the first object based on the first pose information. The position of the reference point on the first object may not be limited, and the reference point may be a point at any position on the first object. Alternatively, a reference point located at a predetermined position of the first object may be determined based on the first pose information. For example, the reference point may be the center point of the first object, or the reference point may be a corner point of the first object. Here, by randomly determining a reference point, the calculation steps can be reduced, and the origin of the first coordinate system can be quickly determined. Alternatively, by determining a reference point located at a predetermined position, a reference point that better meets the use requirements can be determined.

[0082] In one embodiment, a reference axis can be determined according to the first pose information, and the reference axis is determined according to the pose of the axis of the first object, and / or the reference axis is determined according to the pose of the contour line of the first object; the coordinate axis of the first coordinate system is determined according to the reference axis (it can also be understood that the direction of the coordinate axis is determined according to the direction of the reference axis). Exemplarily, the reference axis can be an axis parallel to the contour line of the first object, or the reference axis can be an axis parallel to the central axis of the first object. It can be understood that when the pose of the first object is different, the direction of the reference axis is also different.

[0083] In one embodiment, the first object includes a first number of contour lines, and a target contour line can be determined from the first number of contour lines according to the first pose information; and the reference axis is determined according to the target contour line. In one embodiment, the target contour line can be randomly determined from the first number of contour lines. In this way, by randomly determining the target contour line, the calculation steps can be reduced and the target contour line can be quickly determined.

[0084] In one embodiment, the first object may be an irregular object. The first object may also be a regular object. For example, the first object may be a regular cube, cylinder, cone, frustum or sphere.

[0085] In one embodiment, the first coordinate system and the second coordinate system are both coordinate systems corresponding to three-dimensional space.

[0086] In an embodiment of the present disclosure, a first coordinate system is determined based on the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; a first relative pose relationship is determined; wherein the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system; based on the first relative pose relationship, the pose of the virtual object in the AR terminal in a second coordinate system is adjusted; wherein the second coordinate system is a coordinate system for displaying virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative pose relationship between the adjusted virtual objects and the first object is the same.

[0087] Here, since the pose of the virtual object in the AR terminal in the second coordinate system is adjusted based on the first relative pose relationship between the AR terminal and the first object, the second coordinate system is a coordinate system used to display the virtual object in the AR terminal, and the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative pose relationship between the adjusted virtual object and the first object is the same, the virtual objects corresponding to the AR terminals in the same AR terminal set are the same, and the first coordinate system is determined according to the first pose information of the first object with a fixed pose. Therefore, when there are AR terminals with different second coordinate systems in the same AR terminal set, the first coordinate system can be established with the first object as a reference object, so that the first relative pose relationship between each AR terminal and the reference object (i.e., the first object) in the same first coordinate system can be used to accurately adjust the pose of the virtual object in the second coordinate system, so that the poses of the adjusted virtual objects in different AR terminals in the same first coordinate system are the same, so that the poses of the adjusted virtual objects displayed by different terminals in the same AR terminal set in the real space can be synchronized. At this time, the disclosed embodiment can reduce the situation where the virtual objects displayed in the AR terminal are not synchronized in the real space due to the different second coordinate systems corresponding to the AR terminals. Compared with the method in the related art that cannot ensure the synchronization of the posture of virtual objects in different AR terminals, the disclosed embodiment can use the first object as a reference and the first coordinate system determined according to the first posture information of the first object to adjust the virtual objects displayed by different AR terminals in the same AR terminal set to the same posture. In this way, the synchronization of the adjusted virtual objects displayed by different terminals in the same terminal set can be ensured, and it can be ensured that users wearing AR terminals in a scene where multiple people wear AR terminals can interact based on synchronized virtual objects, ensuring a good user interaction experience.

[0088] In order to better understand the technical solutions in the embodiments of the present disclosure, the differences between the application of AR technology in the related art and in the embodiments of the present disclosure are described below through some exemplary embodiments:

[0089] In related technologies, in teaching scenarios, it has become a trend for multiple people to wear AR terminals for interactive learning. AR technology can integrate virtual information into the real world. Through the display screen of the AR terminal, students can see virtual three-dimensional models, animations, etc., and can observe, interact, and learn at the same time. However, in multi-person scenarios of related technologies, the objects rendered in the AR terminal are difficult to overlap in space, which will cause the target pointed by the teaching gesture to be different from the target determined by the student terminal based on the gesture when the teacher explains according to the object rendered by his own AR terminal, thus affecting the teaching effect.

[0090] In the embodiment of the present disclosure, the AR terminal set may include AR terminals worn by teachers and AR terminals worn by students. In the embodiment of the present disclosure, since it is possible to ensure that the second relative posture relationship between the virtual objects displayed by the AR terminals in the same AR terminal set and the first object in the first coordinate system is the same, it is possible to ensure that when the teacher explains based on the virtual objects rendered by his own AR terminal, the target pointed to by the teaching gesture is the same as the target determined by the student terminal based on the gesture, thereby ensuring good teaching results.

[0091] For example, in the related technology, when a physics teacher uses an AR terminal worn by him to teach mechanics, the physics teacher needs to let students see a three-dimensional model of a falling object on his AR terminal, and then point to the various positions of the falling object through gestures, and explain concepts such as acceleration and speed. However, since the falling object in the student terminal cannot overlap with the falling object in the teacher's terminal, students may experience problems such as inconsistent perspectives and confusion when watching, which affects the learning effect.

[0092] In the disclosed embodiment, the AR terminal worn by the physics teacher and the AR terminal worn by the student can be added to the same AR terminal set. Since the disclosed embodiment can ensure that the second relative posture relationship between the virtual objects displayed by the AR terminals in the same AR terminal set and the first object in the first coordinate system is the same, it can ensure that the position of the falling object indicated by the teacher's gesture coincides with the position of the falling object seen by the student, ensuring a good learning effect.

[0093] For example, in the related technology, a teacher explains the body structure of a dinosaur, and a huge dinosaur is rendered in the AR terminal of each student and the teacher. The teacher's general explanation process is to express the current explanation object by pointing his finger. However, if the posture or position of the dinosaurs rendered by each AR terminal in the real space deviates, the teacher's finger points to different parts in the eyes of different students, resulting in errors in the knowledge teaching.

[0094] In the disclosed embodiment, the AR terminals worn by the teacher and the students can be added to the same AR terminal set. Since the disclosed embodiment can ensure that the virtual objects displayed by the AR terminals in the same AR terminal set have the same second relative posture relationship with the first object in the first coordinate system, the part of the virtual object dinosaur that the teacher's finger actually points to in the real space is the same as the part of the virtual object dinosaur that the teacher points to in the students' eyes. In this way, a good teaching effect can be ensured.

[0095] For example, in the related technology, each member of the study group wears an AR terminal device and can conduct chemical experiments by operating virtual objects, including virtual test tubes, reaction vessels, and chemical reagents. However, each group member can only see the experimental equipment (such as virtual test tubes, reaction vessels, and chemical reagents) rendered by their own equipment, and cannot conduct team experiments among group members. For example, if classmate A asks classmate B to deliver reagent M, the gestures or eye contact communication in general experiments will fail, because the positions of reagent M displayed in the two AR devices of classmate A and classmate B are not the same in real space.

[0096] In the disclosed embodiment, the AR terminals worn by members of the same study group can be added to the same AR terminal set. Since the disclosed embodiment can ensure that the second relative posture relationship between the virtual objects displayed by the AR terminals in the same AR terminal set and the first object in the first coordinate system is the same, the positions of the virtual objects indicated by the gestures or eye contact of the members of the same study group are the same. At this time, classmate A asks classmate B to deliver reagent M, and classmate B can pass the reagent to classmate A based on the accurate position of the reagent. In this way, it can ensure that the interactive effect of multiple users wearing AR terminals for interaction is good.

[0097] It is understandable that the application scenarios of AR technology in the embodiments of the present disclosure may not be limited to teaching scenarios. For example, the application scenarios of AR technology in the embodiments of the present disclosure may be shopping scenarios where multiple users select products based on virtual objects, or application scenarios in AR technology may be product launch scenarios where multiple users participate based on virtual objects. Here, it is only necessary to ensure that the method in the embodiments of the present disclosure can be applied to application scenarios where multiple users wear AR terminals and interact with each other.

[0098] In one embodiment, in response to detecting that a user wearing a first AR terminal has performed a moving operation on a virtual object and the virtual object in the first AR terminal has moved from a first starting position to a first ending position, the second AR terminal may move the virtual object from a second starting position to a second ending position in the second AR terminal according to the first starting position and the first ending position. The first AR terminal and the second AR terminal belong to the same AR terminal set, the first starting position and the second starting position have the same position in the reference coordinate system, and the first ending position and the second ending position have the same position in the reference coordinate system. The reference coordinate system may be any of the first coordinate systems described in the embodiments of the present disclosure, or the reference coordinate system may be a world coordinate system.

[0099] In one embodiment, the first coordinate information can be obtained, the first coordinate information is the coordinate information of the first starting position and the first ending position of the virtual object in the second coordinate system corresponding to the first AR terminal; based on the first coordinate information, the second coordinate information is determined, the second coordinate information is the coordinate information of the first starting position and the first ending position of the virtual object in the reference coordinate system; based on the second coordinate information, the third coordinate information is determined; the third coordinate information is the coordinate information of the first starting position and the first ending position of the virtual object in the second coordinate system corresponding to the second AR terminal; according to the third coordinate information, the second starting position and the second ending position are determined. Here, in the process of the user wearing the first AR terminal performing a moving operation on the virtual object, the coordinates in the coordinate system of the action initiator (i.e., the first AR terminal) can be converted to the coordinates in the reference coordinate system, and finally converted to the coordinates in the coordinate system of the action recipient (i.e., the second AR terminal), so that in the process of moving the virtual object, the moving trajectory of the virtual object in the first AR terminal and the second AR terminal can be synchronized in the real space.

[0100] Exemplarily, the user wearing the first AR terminal is classmate A, the user wearing the second AR terminal is classmate B, and the virtual object is reagent M. In the process of classmate A requesting classmate B to deliver reagent M, the movement of the virtual object reagent M is involved. In the disclosed embodiment, by converting the position of the virtual object reagent M in the second coordinate system corresponding to the first AR terminal, the reference coordinate system, and the second coordinate system corresponding to the second AR terminal, the movement trajectory of the virtual object in the first AR terminal and the second AR terminal can be synchronized in the real space during the movement of the virtual object reagent M, so that classmate A can see the reagent M handed over to classmate B, and classmate B can also see the reagent M handed out by classmate A.

[0101] In one embodiment, the second coordinate information can be determined according to the first relative posture relationship corresponding to the first AR terminal and the first coordinate information; the first coordinate information is the coordinate information of the first starting posture and the first ending posture of the virtual object in the second coordinate system corresponding to the first AR terminal; the second coordinate information is the coordinate information of the first starting posture and the first ending posture of the virtual object in the first coordinate system. The third coordinate information can be determined according to the second coordinate information and the first relative posture relationship corresponding to the second AR terminal; the third coordinate information is the coordinate information of the first starting posture and the first ending posture of the virtual object in the second coordinate system corresponding to the second AR terminal. According to the third coordinate information, the second starting posture of the virtual object and the second ending posture of the virtual object are determined. Here, the postures of different AR terminals in the same first coordinate system (that is, the first relative postures of different AR terminals relative to the first object) can be combined to convert the postures of the virtual object in the second coordinate system corresponding to the AR terminal and the first coordinate system, so that the movement trajectory of the virtual object in the first AR terminal can be converted to the second movement trajectory, so that the movement trajectory of the virtual object in the first AR terminal and the second AR terminal are synchronized.

[0102] In one embodiment, the first relative posture relationship indicates a first posture of the AR terminal relative to the first object in the first coordinate system.

[0103] In one embodiment, the first posture includes the position and posture of the AR terminal.

[0104] In one embodiment, a sensor may be provided in the AR terminal to detect the first relative posture relationship, where the sensor is used to detect the posture of the AR terminal relative to the first object.

[0105] In one embodiment, the sensor provided in the AR terminal may be a radar wave sensor, and the radar wave sensor may be used to detect the first relative posture relationship. Exemplarily, the radar wave sensor may be used to transmit a first radar wave signal toward a first object and receive a second radar wave signal; the second radar wave signal is an echo signal returned to the AR terminal after the first object reflects the first radar wave signal. Based on the first radar wave signal and the second radar wave signal, the first relative posture relationship is determined. Here, in an application scenario where the first relative posture relationship needs to be determined in real time, since the propagation speed of radar waves is very fast (close to the speed of light), the first radar wave signal can be quickly transmitted and the second radar wave signal can be received, thereby quickly determining the first relative posture relationship based on the first radar wave signal and the second radar wave signal that are quickly acquired. In this way, the real-time nature of the acquired first relative posture relationship can be ensured.

[0106] In one embodiment, Figure 2 As shown, the determining of the first relative posture relationship includes:

[0107] Step S0021, determining the first relative posture relationship based on the third relative posture relationship and the first information;

[0108] Among them, the third relative posture relationship is a pre-set relative posture relationship between the AR terminal and the first object, and the first information indicates: the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship.

[0109] Here, since the first relative posture relationship can be determined based on the third relative posture relationship and the first information, the third relative posture relationship is a preset relative posture relationship between the AR terminal and the first object, and the first information indicates the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship, the relative posture relationship after the change between the AR terminal and the first object can be accurately determined based on the third relative posture relationship before the change between the AR terminal and the first object, and the change of the relative posture relationship between the AR terminal and the first object indicated by the first information, that is, the current relative posture relationship between the AR terminal and the first object can be accurately determined. In this way, the current relative posture relationship between the AR terminal and the first object that is accurately determined can be used to accurately execute relevant measures (for example, adjusting the virtual objects in the AR terminal to synchronize the virtual objects in each AR terminal).

[0110] In one embodiment, the first information can be updated based on a first period; wherein the first period is determined according to a first parameter, and the first parameter is used to indicate the adjustment frequency of adjusting the posture of the virtual object. In response to the first information update, the first relative posture relationship is determined based on the third relative posture relationship and the updated first information. Based on the first relative posture relationship, the posture of the virtual object in the AR terminal in the second coordinate system is adjusted. Here, the first period can be determined to adapt to the adjustment frequency of adjusting the posture of the virtual object, so as to flexibly control the frequency of updating the first information.

[0111] In one embodiment, the first period is inversely correlated with the adjustment frequency indicated by the first parameter. The adjustment frequency indicated by the first parameter is greater than the first frequency, and the first period is less than the first time; or, the adjustment frequency indicated by the first parameter is less than the first frequency, and the first period is greater than the first time.

[0112] Here, on the one hand, since the first period is less than the first time when the adjustment frequency of the virtual object indicated by the first parameter is greater than the first frequency, the first period is less than the first time. Therefore, when the adjustment frequency of the virtual object is large, the first information can be updated at a high frequency based on a small time interval. In this way, the first relative posture relationship can be determined in time based on the first information updated at a high frequency, so that the posture of the virtual object in the second coordinate system can be adjusted in time based on the first relative posture relationship determined in time, ensuring that the actual frequency of adjusting the virtual object can adapt to the need of adjusting the virtual object with an adjustment frequency greater than the first frequency indicated by the first parameter. On the other hand, since the first period is less than the first time when the adjustment frequency indicated by the first parameter is less than the first frequency, the first period is less than the first time. Therefore, when the adjustment frequency of the virtual object is small, the first information can be updated at a low frequency based on a large time interval. At this time, the first information will not be updated frequently, nor will the posture of the virtual object in the second coordinate system be frequently adjusted based on the frequently updated first information. In this way, the number of times the first information is updated can be reduced, and the waste of resources caused by frequently updating the first information can be reduced while ensuring that the frequency of actually adjusting the posture of the virtual object can adapt to the need of adjusting the virtual object with an adjustment frequency less than the first frequency indicated by the first parameter.

[0113] In one embodiment, the first parameter indicates real-time adjustment of the posture of the virtual object. At this time, the adjustment frequency indicated by the first parameter is greater than the first frequency, and the first period is less than the first time. Exemplarily, the predetermined period is less than 1s. Here, since the first parameter indicates real-time adjustment of the posture of the virtual object, and the predetermined period is less than the first time, the first sub-information can be determined in time using a shorter predetermined period, and the third relative posture relationship and the first sub-information determine the first relative posture relationship in real time. Therefore, the timeliness of executing related measures based on the first relative posture relationship can be ensured. For example, in the embodiment of the present disclosure, in the process of adjusting the posture of the virtual object in the AR terminal in the second coordinate system using the first relative posture relationship, it can be ensured that the posture of the virtual object in the AR terminal after adjustment can adapt to the current first relative posture relationship determined in real time, thereby ensuring the reliability and timeliness of adjusting the posture of the virtual object.

[0114] In one embodiment, before determining the first relative posture relationship based on the third relative posture relationship and the first information, the relative posture relationship between the AR terminal and the first object may be tested until the third relative posture relationship is obtained. The third relative posture relationship obtained after the test is a relative posture relationship that is easy to identify. For example, the third relative posture relationship may indicate a relative posture relationship in which the AR terminal and the first object are facing each other.

[0115] In one embodiment, the third relative posture relationship indicates a preset first posture of the AR terminal relative to the first object, the first relative posture relationship indicates the first posture of the AR terminal relative to the first object at a first moment, and the change in the first posture indicates the change between the preset first posture and the first posture at the first moment.

[0116] In one embodiment, the change amount of the first posture includes a first change amount and a second change amount, the first change amount indicates the change amount of the position of the AR terminal, and the second change amount indicates the change amount of the posture of the AR terminal.

[0117] In one embodiment, the first relative posture relationship indicates a pre-set first posture of the entire AR terminal relative to the first object, the first relative posture relationship indicates the first posture of the entire AR terminal relative to the first object at a first moment, and the change in the first posture indicates the change between the pre-set first posture and the first posture at the first moment.

[0118] In one embodiment, the first relative posture relationship indicates a pre-set sub-pose of a partial module of the AR terminal relative to the first object, the first relative posture relationship indicates a sub-pose of a partial module of the AR terminal relative to the first object at a first moment, and the change in the first posture indicates the change between the pre-set sub-pose and the sub-pose at the first moment. Here, there is no need to detect the change in the overall posture of the AR terminal, but the change in the sub-pose of some modules in the AR terminal can be adapted to determine the first relative posture relationship. In this way, the process of determining the change in the first posture can be simplified, and the rate of determining the first relative posture relationship according to the change in the first posture can be accelerated.

[0119] In one embodiment, the partial module of the AR terminal may be any module on the AR terminal that can determine the posture.

[0120] In one embodiment, a sensor for determining posture may be provided in some modules of the AR terminal, and a sub-pose of the some modules of the AR terminal is determined by the sensor.

[0121] In one embodiment, the first information includes first sub-information, and the first sub-information indicates: the change amount of a first sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first sub-posture is the posture of the image acquisition module of the AR terminal relative to the first object.

[0122] It should be noted that some modules of the AR terminal described in any of the embodiments of the present disclosure may be the image acquisition module here.

[0123] In one embodiment, based on the third relative posture relationship and the first sub-information, the first relative posture relationship is determined; wherein the first sub-information indicates: the amount of change of the first sub-pose when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the third relative posture relationship is a preset relative posture relationship between the AR terminal and the first object. Here, there is no need to detect the amount of change of the overall posture of the AR terminal, but the amount of change of the first sub-pose of the image acquisition module in the AR terminal, that is, the amount of change of the posture of some modules in the AR terminal, can be adapted to determine the first relative posture relationship. In this way, the process of determining the first sub-information used to indicate the amount of change of the first sub-pose can be simplified, and the efficiency of determining the first relative posture relationship according to the first sub-information can be accelerated.

[0124] In one embodiment, based on the third relative posture relationship and the first sub-information, determining the first relative posture relationship includes: determining the first sub-posture of the image acquisition module at the first moment based on the first predetermined posture and the change in the first sub-posture; wherein the first predetermined posture is the first sub-posture of the image acquisition module when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship; at the first moment, the relative posture relationship between the AR terminal and the first object is the first relative posture relationship; the change in the first sub-posture is the change between the first predetermined posture and the first sub-posture at the first moment.

[0125] In one embodiment, a sensor for determining the sub-pose of the image acquisition module may be provided in the AR terminal, and the sensor may be a radar wave sensor.

[0126] In one embodiment, Figure 3 As shown, the method also includes:

[0127] Step S0031: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, using the image acquisition module to acquire a first image of the first object;

[0128] Step S0032: when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, using the image acquisition module to acquire a second image of the first object;

[0129] Step S0033: determining the first sub-information according to the position deviation of the first object in the first image and the second image.

[0130] In the disclosed embodiment, since the first sub-information can be determined according to the position deviation of the first object in the first image and the second image, it is not necessary to set a sensor for determining the position and posture of the image acquisition module in the AR terminal, and the position and posture of the image acquisition module can be determined by using the image acquired by the image acquisition module for capturing and / or tracking the first object in the AR terminal. In this way, the cost can be saved while ensuring that the position and posture of the image acquisition module can be acquired.

[0131] In one embodiment, the image acquisition module is used to capture and / or track the first object during the movement of the AR terminal. In this way, it can be ensured that the first object is within the detection range of the AR terminal, and the first relative posture relationship between the AR terminal and the first object can be determined based on the first object within the detection range of the AR terminal.

[0132] In one embodiment, the image acquisition module may capture and / or track the first object by performing feature matching on the first object.

[0133] Exemplarily, the image acquisition module can perform feature matching on the color and / or light reflection features at the outline of the object to capture and / or track the first object. At this time, the feature matching performed by the image acquisition module can quickly capture and / or track the first object.

[0134] It can be understood that, here, since the image acquisition module is in different positions and / or different postures, the positions of the pixels corresponding to the features of the first object in the acquired image of the first object will deviate. Therefore, based on the position deviation of the first object in the first image and the second image, the change in the position and / or posture of the image acquisition module can be calculated, that is, the first sub-information can be calculated.

[0135] In one embodiment, the first sub-information indicates the position and posture of the image acquisition module relative to the first object. The position of the image acquisition module relative to the first object may refer to the distance of the image acquisition module relative to the first object, and the posture of the image acquisition module relative to the first object may also refer to the orientation of the image acquisition module relative to the first object. At this time, the position deviation of the first object in the first image and the second image can indicate the distance between the first object and the image acquisition module and the change in the orientation of the image acquisition module relative to the first object.

[0136] In one embodiment, the image acquisition module may acquire the first image and the second image at different positions in the same horizontal direction. Alternatively, the image acquisition module may acquire the first image and the second image at the same positions in different horizontal directions. Here, the specific position of the image acquisition module when acquiring the image of the first object is not limited, and it is only necessary to ensure that the image acquisition module can acquire the first image and / or the second image of the first object.

[0137] In one embodiment, any of the first relative posture relationships determined in the embodiments of the present disclosure may be a relative posture relationship between the AR terminal and the first object when the corresponding first image is acquired by the image acquisition module.

[0138] In one embodiment, Figure 4 As shown, determining the first sub-information according to the position deviation of the first object in the first image and the second image includes:

[0139] Step S0041, determining the first sub-information based on the position deviation of the reference feature of the first object in the first image and the second image; wherein the reference feature includes at least one of the following: a contour feature of the first object, a feature of a line set on the surface of the first object, and a feature of a reference point set on the surface of the first object.

[0140] Here, since the first sub-information can be determined based on the position deviation of the reference feature of the first object in the first image and the second image, and the reference feature includes at least one of the following: the contour feature of the first object, the feature of the line set on the surface of the first object, and the feature of the reference point set on the surface of the first object, it is possible to quickly and accurately determine the position deviation of the reference feature of the first object in the first image and the second image only for at least one of the contour feature of the first object that is small in granularity and easy to identify, the feature of the line set on the surface of the first object, and the feature of the reference point set on the surface of the first object, thereby quickly and accurately determining the first sub-information. In this way, the efficiency of determining the first sub-information can be improved and the accuracy of the determined first sub-information can be ensured. In the case where it is necessary to adjust the posture of the virtual object in the AR terminal based on the first relative posture relationship, it can be ensured that the posture of the virtual object in the AR terminal can be accurately and quickly adjusted based on the quickly acquired accurate first relative posture relationship, thereby ensuring the consistency and timeliness of the adjusted virtual objects in different AR terminals.

[0141] In one embodiment, the first pixel point coordinates of the reference feature in the first image are obtained, the second pixel point coordinates of the reference feature in the second image are obtained, the position deviation between the first pixel point coordinates and the second pixel point coordinates is calculated, and a first coordinate relationship group is generated. The first coordinate relationship group is the first sub-information described in any of the embodiments of the present disclosure.

[0142] In one embodiment, the second pixel point coordinates may be pre-stored in the AR terminal. The first pixel point coordinates may be pixel point coordinates determined in real time.

[0143] In one embodiment, the second image may be pre-stored in the AR terminal, and the first image may be an image acquired in real time. In one embodiment, the first image may be an image acquired at a first moment, and the second image may be an image acquired at a second moment, and the first moment is greater than the second moment. Any of the first coordinate relationship groups described in the embodiments of the present disclosure may be used to determine a first relative posture relationship between the AR terminal and the first object at a first moment.

[0144] In one embodiment, an image processing module is also provided in the AR terminal, and the image processing module can process the first image acquired by the image acquisition module in real time, and quickly extract the first pixel coordinates of the reference feature of the first object in the first image.

[0145] In one embodiment, the position deviation of the reference feature of the first object in the first image and the second image can be determined according to the change between the first feature value in the first image and the second feature value in the second image. The first feature value can indicate the change gradient of the pixel grayscale value of the reference feature of the first object in the first image, and the second feature value can indicate the change gradient of the pixel grayscale value of the reference feature in the second image.

[0146] In one embodiment, the specific type of the first object may not be limited, and it is only necessary to ensure that the first object has an easily identifiable reference feature. Exemplarily, a feature image may be provided on the first object, and a reference feature having a predetermined color is provided on the feature image. The predetermined color may be a color that is easily recognized by the photosensitive module of the AR terminal. For example, the predetermined color may be black or white. The first object may be of a regular shape, in which case the contour features of the first object of the regular shape are easily recognized.

[0147] In one embodiment, a characteristic image is arranged on the surface of the first object, black grids and white grids are arranged at intervals on the characteristic image, and the reference points include corner points of the black grids and / or the white grids.

[0148] Here, since a feature image is provided on the surface of the first object, black grids and white grids are provided on the feature image, and the reference point includes the corner points of the black grids and / or white grids, therefore, in the process of determining the position deviation of the reference point in different images to determine the first relative posture relationship described in any of the embodiments of the present disclosure, the position deviation of the reference point in different images can be quickly determined through the easily identifiable corner points of the black grids and / or white grids (on the one hand, the black color of the black grids and the white color of the white grids are easily recognized by the photosensitive module provided in the AR terminal, and at this time, the corner points of the black grids and the white grids are easy to recognize; on the other hand, the shapes of the black grids and the white grids are easy to recognize, and at this time, the corner points of the black grids and the white grids are easy to recognize). This can quickly determine the first relative posture relationship described in any of the embodiments of the present disclosure, improve the efficiency of determining the first relative posture relationship, and thus, when it is necessary to adjust the posture of the virtual object in the AR terminal based on the first relative posture relationship, the efficiency of adjusting the posture of the virtual object in the AR terminal can be improved.

[0149] In one embodiment, the image acquisition module is used to acquire an image of a characteristic image set on the surface of the first object. Here, since the characteristic image is provided with easily identifiable black and white grids at intervals, the image acquisition module can quickly capture and / or track the characteristic image.

[0150] In one embodiment, the contour feature of the first object may include at least one of the following: the contour feature of the whole feature image, the contour feature of the black grid set on the feature image, and the contour feature of the white grid set on the feature image. The features of the lines set on the surface of the first object may include at least one of the following: the features of the lines of the black grid set on the feature image, and the features of the lines of the white grid set on the feature image.

[0151] In one embodiment, the image arranged on the surface of the first object may be a checkerboard image.

[0152] In one embodiment, the feature image may not be limited to a checkerboard image, and it is only necessary to ensure that the feature image has reference features that are easily recognized by the AR terminal. For example, the feature image may be an image with a predetermined font appearance, a QR code, or an image of a person.

[0153] It should be noted that the image acquisition module described in any of the embodiments of the present disclosure can capture and / or track the first object by performing feature matching on the first object. It can be understood that the image acquisition module can capture and / or track the feature image and / or reference feature on the first object by performing feature matching on the feature image and / or reference feature set on the first object.

[0154] In one embodiment, the first information also includes second sub-information, and the second sub-information indicates: the change amount of the second sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the second sub-posture is the posture of the image acquisition module of the AR terminal relative to the base fixed on the AR terminal.

[0155] In one embodiment, a first coordinate system is determined based on the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed. A first relative pose relationship is determined; wherein, the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system; the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system. Based on the third relative posture relationship and the first information, the first relative posture relationship is determined; wherein the third relative posture relationship is a preset relative posture relationship between the AR terminal and the first object, and the first information indicates: the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first information includes first sub-information, and the first sub-information indicates: the change amount of the first sub-pose when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first sub-pose is the posture of the image acquisition module of the AR terminal relative to the first object. The first information also includes second sub-information, and the second sub-information indicates: the change amount of the second sub-pose when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the second sub-pose is the posture of the image acquisition module of the AR terminal relative to the base fixed on the AR terminal.

[0156] Here, it can be known that since the first relative posture relationship is determined based on the third relative posture relationship and the first information, the first information not only includes the first sub-information, the first sub-information indicating: when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship, the first information also includes the second sub-information indicating: when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship, the first information also includes the second sub-information indicating: when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship, the second sub-information indicates: The amount of change in the sub-pose, therefore, in the embodiment of the present disclosure, when the image acquisition module is not fixed relative to the second sub-pose on the base fixed on the AR terminal (for example, the image acquisition module may be rotated during the process of capturing and / or tracking the first object, resulting in the second sub-pose of the image acquisition module and the base being not fixed), the influence of the change of the first sub-pose of the image acquisition module relative to the first object and the change of the second sub-pose of the image acquisition module relative to the base on the determined first relative pose relationship can be fully considered, thereby ensuring that the first relative pose relationship between the entire AR terminal where the image acquisition module is located and the first object can be accurately obtained. In this way, when it is necessary to adjust the pose of the virtual object in the AR terminal based on the first relative pose relationship, it can be ensured that the pose of the virtual object in the AR terminal can be accurately adjusted based on the accurate first relative pose relationship, thereby ensuring the consistency of the adjusted virtual objects in different AR terminals.

[0157] In one embodiment, the image acquisition module can rotate within a predetermined angle range to capture and / or track the first object, and the base can be used to carry the image acquisition module. It should be noted that the base can directly carry the image acquisition module, and the image acquisition module can rotate directly on the base within a predetermined angle range. Alternatively, the base can also indirectly carry the image acquisition module. The image acquisition module itself does not necessarily have the ability to rotate. A rotation module can be set on the AR terminal, and the image acquisition module can be driven to rotate within a predetermined angle range by rotating the rotation module within a predetermined angle range.

[0158] In one embodiment, the AR terminal is also provided with a rotation module located on the base, and the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range, and the second sub-posture is the posture of the rotation module relative to the base.

[0159] In one embodiment, a first coordinate system is determined based on the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed. A first relative pose relationship is determined; wherein, the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system; the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system. Based on the third relative posture relationship and the first information, the first relative posture relationship is determined; wherein the third relative posture relationship is a preset relative posture relationship between the AR terminal and the first object, and the first information indicates: the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first information includes first sub-information, and the first sub-information indicates: the change amount of the first sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first sub-posture is the posture of the image acquisition module of the AR terminal relative to the first object. The first information also includes second sub-information, and the second sub-information indicates: the change amount of the second sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the AR terminal is also provided with a rotation module located on the base, the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range, and the second sub-posture is the posture of the rotation module carrying the image acquisition module relative to the base.

[0160] Here, since the AR terminal is also provided with a rotation module located on the base, the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range, and the second sub-pose is the pose of the rotation module carrying the image acquisition module relative to the base. Therefore, when the rotation module carrying the image acquisition module rotates relative to the base within a predetermined angle range, the influence of the change of the first sub-pose of the image acquisition module relative to the first object and the change of the second sub-pose of the rotation module carrying the image acquisition module relative to the base on determining the first relative pose relationship can be fully considered. In this way, when it is necessary to adjust the pose of the virtual object in the AR terminal based on the first relative pose relationship, the factors related to the first relative pose can be fully considered, so as to ensure that the accurate first relative pose relationship can be obtained, so as to accurately adjust the pose of the virtual object in the AR terminal based on the accurate first relative pose relationship, thereby ensuring the synchronization of the adjusted virtual objects in different AR terminals.

[0161] In one embodiment, the predetermined angle range may be larger than the predetermined range.

[0162] In one embodiment, the angle in the predetermined angle range may be greater than or equal to 0°, and the angle in the predetermined angle range may be less than or equal to 360°.

[0163] In one embodiment, the rotation module may be a pan / tilt head.

[0164] In one embodiment, the posture of the rotation module at the first moment is determined, and based on the posture of the rotation module at the first moment, the coordinate information of the rotation module relative to the base fixed on the AR terminal is determined; based on the coordinate information, a second coordinate relationship group is generated. The second sub-information described in any of the embodiments of the present disclosure may be the second coordinate relationship group.

[0165] In one embodiment, based on the posture of the rotation module at the first moment, determining the coordinate information of the rotation module relative to the base fixed on the AR terminal includes: based on the posture of the rotation module at the first moment, determining the first coordinate of the rotation module in the third coordinate system; wherein the third coordinate system is a coordinate system established with the base as a reference. Based on the first coordinate, determining the second coordinate relationship group. The second coordinate relationship group is used to determine the first relative posture relationship between the AR terminal and the first object at the first moment.

[0166] In one embodiment, the second coordinate relationship group at least includes the coordinates of the rotation module in the third coordinate system at a first moment.

[0167] In one embodiment, the posture of the rotating module includes the posture of the rotating shaft of the rotating module in each degree of freedom. The rotating module rotates within a predetermined angle range through the rotating shaft.

[0168] In one embodiment, based on the posture of the rotation module at the first moment, the coordinate information of the rotation module relative to the base fixed on the AR terminal is determined, including: based on the posture of the rotation module at the first moment, determining the first coordinate of the rotation module in the third coordinate system; wherein the third coordinate system is a coordinate system established with the base as a reference. Based on the first coordinate and the second coordinate, a second coordinate relationship group is determined. The second coordinate relationship group is used to determine a first relative posture relationship between the AR terminal and the first object at the first moment. The second coordinate is the coordinate of the rotation module in the third coordinate system at the second moment, and the relative posture relationship between the AR terminal and the first object at the second moment is a second posture relationship.

[0169] In one embodiment, Figure 5 As shown, the determining the first relative posture relationship based on the third relative posture relationship and the first information includes:

[0170] Step S0051, determining second posture information based on the first sub-information, the second sub-information and the third sub-information; wherein the second posture information indicates: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, the position and posture of the AR terminal in the first coordinate system; the third sub-information indicates: when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, the posture information of the base in the first coordinate system;

[0171] Step S0052: determine the first relative posture relationship based on the second posture information.

[0172] In one embodiment, a first coordinate system is determined based on the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed. The second pose information is determined based on the first sub-information, the second sub-information and the third sub-information; wherein, the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system; the second pose information indicates: when the relative pose relationship between the AR terminal and the first object is the first relative pose relationship, the position and pose of the AR terminal in the first coordinate system; the third relative pose relationship is a preset relative pose relationship between the AR terminal and the first object, and the first sub-information indicates: the amount of change of the first sub-pose when the relative pose relationship between the AR terminal and the first object changes from the third relative pose relationship to the first relative pose relationship; The first sub-pose is the pose of the image acquisition module of the AR terminal relative to the first object; the second sub-information indicates: the change amount of the second sub-pose when the relative pose relationship between the AR terminal and the first object changes from the third relative pose relationship to the first relative pose relationship; the AR terminal is also provided with a rotation module located on the base, the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range, and the second sub-pose is the pose of the rotation module carrying the image acquisition module relative to the base; the third sub-information indicates: the pose information of the base in the first coordinate system when the relative pose relationship between the AR terminal and the first object is the third relative pose relationship. Based on the second pose information, the first relative pose relationship is determined. Based on the first relative pose relationship, the pose of the virtual object in the AR terminal in the second coordinate system is adjusted; wherein the second coordinate system is the coordinate system used to display the virtual object in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative pose relationship between the adjusted virtual object and the first object is the same.

[0173] It should be noted that, in the disclosed embodiment, since the first coordinate system is a coordinate system determined according to the posture information of the first object, the first coordinate system can indicate the first posture information of the first object. Since the first relative posture relationship is determined based on the second posture information, the second posture information indicates: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, the position and posture of the AR terminal in the first coordinate system; the first coordinate system can indicate the first posture information of the first object, therefore, the position of the AR terminal in the first coordinate system when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship can be used to indicate the relative posture of the AR terminal relative to the first object, thereby accurately determining the first relative posture relationship between the AR terminal and the first object.

[0174] In one embodiment, in order to better understand the technical solution in the embodiment of the present disclosure, please refer to Figure 6 , Figure 6 A calculation process for calculating the first relative posture relationship is shown as an example:

[0175] Step S0061, obtaining the first pixel coordinates of the reference feature in the first image and the second pixel coordinates of the reference feature in the second image; calculating the position deviation between the first pixel coordinates and the second pixel coordinates, and determining a first coordinate relationship group;

[0176] The first coordinate relationship group is the first sub-information described in any one of the embodiments of the present disclosure; the first image is an image acquired at a first moment, and the second image is an image acquired at a second moment;

[0177] Step S0062, based on the posture of the rotation module at the first moment, determining the first coordinate of the rotation module in the third coordinate system; based on the first coordinate, determining the second coordinate relationship group;

[0178] The third coordinate system is a coordinate system established based on the base; the second coordinate relationship group is any second sub-information described in any embodiment of the present disclosure;

[0179] Step S0063, determining second position and posture information based on the first coordinate relationship group, the second coordinate relationship group and the third sub-information;

[0180] Among them, the second posture information indicates: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, the position and posture of the AR terminal in the first coordinate system; the third sub-information indicates: when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, the posture information of the base in the first coordinate system; the third relative posture relationship is the relative posture relationship between the AR terminal and the first object at the second moment.

[0181] It can be understood that the second posture information can be used to indicate the first relative posture relationship between the AR terminal and the first object at the first moment, that is, the second posture information can be used to indicate the position and posture of the AR terminal relative to the first object at the first moment.

[0182] In one embodiment, Figure 7 As shown, before determining the first coordinate system according to the posture information of the first object, the method further includes:

[0183] Step S0071, controlling the rotation module to rotate within the predetermined angle range until the image acquisition module acquires the image of the first object;

[0184] Step S0072: In response to acquiring the image of the first object, controlling the rotation module to rotate when the AR terminal moves, so that the first object remains within the shooting range of the image acquisition module.

[0185] Here, since the rotation module can be controlled to rotate within a predetermined angle range until the image acquisition module acquires the image of the first object, even if the first object is temporarily not within the shooting range of the image acquisition module, the rotation module carrying the image acquisition module can still be controlled to rotate to capture the first object, so as to facilitate the establishment of a first coordinate system based on the captured first object, ensure that the first coordinate system for adjusting the virtual object can be established, and ensure the reliability of adjusting the virtual object. On the other hand, since the rotation module is controlled to rotate when the AR terminal moves in the image of the first object acquired, so that the first object is maintained within the shooting range of the image acquisition module, the first object can still be tracked when the AR terminal moves, so that when the first relative posture relationship between the AR terminal and the first object needs to be determined, the first relative posture relationship between the AR terminal and the first object can always be determined in time based on the first object within the shooting range of the AR terminal. In this way, in the process of adjusting the virtual object using the first relative posture relationship, it is ensured that the correct first relative posture relationship can be obtained in time, so as to ensure the timeliness and accuracy of adjusting the virtual object according to the first relative posture relationship.

[0186] In one embodiment, the rotation module has a first control component and a second control component, the first control component is used to control the rotation module to rotate within a predetermined angle range until the image acquisition module acquires the characteristic image of the first object, and the second control component is used to control the rotation module to rotate in response to the image of the first object acquired when the AR terminal moves, so that the first object remains within the shooting range of the image acquisition module. Here, the first control component can be used to control the rotation module to perform a spatial scanning movement so that the image acquisition module carried by the rotation module captures (searches for) the first object. When the first object is found, the second control component takes over the work of the first control component to control the rotation module. The second control component controls the rotation module to keep tracking the first object (i.e., to ensure that the first object is within the shooting range of the image acquisition module).

[0187] In one embodiment, the first control component can be used to determine whether the image acquisition module has acquired an image of the first object, and the second control component can be used to determine whether the first object remains within the shooting range of the image acquisition module.

[0188] In one embodiment, in response to detecting that the image acquired by the image acquisition module has a first predetermined number of reference features, the first control component determines that the image acquisition module has acquired an image of the first object; and / or, in response to detecting that the image acquired by the image acquisition module has a second predetermined number of reference features, the second control component determines that the first object remains within the shooting range of the image acquisition module. The second predetermined number is greater than the first predetermined number. The processing frequency of processing data of the first control component is lower than the processing frequency of processing data of the second control component. It can be understood that compared with the second control component that needs to identify fewer first predetermined number of reference features, the second control component can identify more second predetermined number of reference features based on a higher processing frequency of processing data.

[0189] In one embodiment, controlling the rotation module to rotate within the predetermined angle range until the image acquisition module acquires an image of the first object may refer to controlling the rotation module to rotate within the predetermined angle range until the image acquisition module acquires an image of a characteristic image set on the first object.

[0190] In one embodiment, in response to acquiring the image of the first object, the rotation module is controlled to rotate when the AR terminal moves so that the first object remains within the shooting range of the image acquisition module. This may mean that in response to acquiring the image of the first object, the rotation module is controlled to rotate when the AR terminal moves so that the feature image set on the first object remains within the shooting range of the image acquisition module.

[0191] In one embodiment, a rendering module is also provided in the AR terminal, in which the first sub-information, the second sub-information and the third sub-information are recorded, and the rendering module is used to: use the first sub-information, the second sub-information, the third sub-information and the third relative posture relationship to fuse and calculate the first relative posture relationship. The rendering control module is also used to adjust the posture of the virtual object to be displayed in the AR terminal using the first relative posture relationship, so that the adjusted virtual object corresponding to the AR terminal in the same AR terminal set has the same second relative posture relationship as the first object.

[0192] like Figure 8 As shown, the embodiment of the present disclosure discloses a device for displaying a virtual object, the device comprising:

[0193] The determination module 81 is used to determine a first coordinate system according to the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of the virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; determine a first relative pose relationship; wherein the first relative pose relationship indicates the first pose of the AR terminal relative to the first object in the first coordinate system;

[0194] An adjustment module 82 is used to adjust the posture of the virtual object in the AR terminal in a second coordinate system based on the first relative posture relationship; wherein the second coordinate system is a coordinate system used to display virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual object and the first object is the same.

[0195] like Figures 9 and 10 As shown, the present disclosure embodiment provides an AR terminal 1 for executing any method as described in any one of the embodiments of the present disclosure. In one embodiment, please refer again to Figure 8 , the AR terminal 1 includes:

[0196] An image acquisition module 3, used to acquire an image of the first object;

[0197] A rotating module 4, used for carrying the image acquisition module 3 and rotating within a predetermined angle range;

[0198] The base (not shown in the figure) is used to support the rotating module 4.

[0199] In one embodiment, the AR terminal 1 further includes an image processing module 2 for processing the image acquired by the image acquisition module 3 .

[0200] In one embodiment, the AR terminal further includes at least one of the first control component, the second control component and the rendering module described in any one of the embodiments of the present disclosure.

[0201] like Fig.11 As shown, the embodiment of the present disclosure also provides a first object 4, which is a communication terminal used for interacting with the AR terminal 1 described in any one of the embodiments of the present disclosure, and the communication terminal is used to determine the AR terminal set to which the AR terminal 1 belongs; the virtual objects corresponding to the AR terminals 1 in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual objects and the first object 4 is the same.

[0202] In one embodiment, the first object 4 includes: a characteristic image 5 set on the surface of the first object. The characteristic image 5 can be any characteristic image described in the embodiments of the present disclosure.

[0203] In one embodiment, the first object 4 further includes: a function button 6, and the function button 6 is used to determine the AR terminal set to which the AR terminal 1 belongs. The first object 4 can add and / or delete an AR terminal in the AR terminal set by using a touch operation acting on the function button 6 to determine the AR terminal set to which the AR terminal belongs.

[0204] In one embodiment, the first object 4 performs a removal operation and / or a connection operation based on a touch operation acting on the function key 6, wherein the connection operation is an operation of establishing a communication connection between the first object 4 and the AR terminal, and the removal operation is an operation of disconnecting the communication connection between the first object 4 and the AR terminal.

[0205] In one embodiment, if a connection operation is performed, the first object 4 can select an AR terminal from the stored terminal information for connection through the function button 6, or the first object 4 can detect in real time an AR terminal device that can communicate with the first object 4 and establish a communication connection with it.

[0206] In one embodiment, the first object 4 further includes: a control module, the control module includes a connection detection module, the connection detection module is used to detect multiple AR terminals connected to the first object through the wireless connection component, and manage the connection status of each AR terminal, and can output the connection status of the AR terminal to the outside. The connection status includes a first state in which the AR terminal is connected to the first object 4 for communication and a second state in which the AR terminal is not connected to the first object 4 for communication.

[0207] In one embodiment, the first object is a communication terminal, and the communication terminal can connect and manage the AR terminal device through a near field connection technology. For example, the communication terminal can group and manage the AR terminals to allocate the AR terminals to the AR terminal set to which the AR terminals belong.

[0208] The present disclosure also provides a system for displaying a virtual object, the system comprising:

[0209] at least two AR terminals 1 as described in any one of the embodiments of the present disclosure, wherein at least two of the AR terminals 1 belong to the same AR terminal set; and

[0210] A first object 4 as described in any of the embodiments of the present disclosure.

[0211] The present disclosure provides a processing device, the processing device comprising:

[0212] A memory for storing executable programs;

[0213] The processor is used to implement any method described in the embodiments of the present disclosure when executing the executable program stored in the memory.

[0214] It can be understood that the memory can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0215] Among them, the method for displaying virtual objects disclosed in the present invention can be applied to the processor or implemented by the processor. The processor can be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the method for displaying virtual objects can be completed by the hardware integrated logic circuit or software instructions in the processor. The above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the present invention. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory, and completes the steps of the method for displaying virtual objects provided in the embodiment of the present application in combination with its hardware.

[0216] The present invention also provides a computer storage medium, wherein the computer storage medium stores an executable program, and when the executable program is executed by a processor, the method for displaying a virtual object as described in any of the embodiments of the present disclosure is implemented. Specifically, it can be a computer-readable storage medium, such as a memory including a computer program, and the computer program can be executed by a processor of a processing device to complete the steps described in the method of the embodiment of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM.

[0217] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for displaying a virtual object, characterized in that: The method is applied to an augmented reality (AR) terminal, and the method includes: Determine a first coordinate system according to the first pose information of the first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in the AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; Determine a first relative posture relationship; wherein the first relative posture relationship indicates a first posture of the AR terminal relative to the first object in the first coordinate system; Based on the first relative position and posture relationship, adjusting the position and posture of the virtual object in the AR terminal in the second coordinate system; Among them, the second coordinate system is a coordinate system used to display virtual objects in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual objects and the first object is the same.

2. The method according to claim 1, characterized in that The determining of the first relative posture relationship comprises: Determining the first relative posture relationship based on the third relative posture relationship and the first information; Among them, the third relative posture relationship is a pre-set relative posture relationship between the AR terminal and the first object, and the first information indicates: the change amount of the first posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship.

3. The method according to claim 2, characterized in that The first information includes first sub-information, and the first sub-information indicates: the change amount of the first sub-posture when the relative posture relationship between the AR terminal and the first object changes from the third relative posture relationship to the first relative posture relationship; the first sub-posture is the posture of the image acquisition module of the AR terminal relative to the first object.

4. The method according to claim 3, characterized in that The method further comprises: When the relative position and posture relationship between the AR terminal and the first object is the first relative position and posture relationship, using the image acquisition module to acquire a first image of the first object; When the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, using the image acquisition module to acquire a second image of the first object; The first sub-information is determined according to a position deviation of the first object in the first image and the second image.

5. The method according to claim 4, characterized in that The determining the first sub-information according to the position deviation of the first object in the first image and the second image includes: The first sub-information is determined based on a position deviation of a reference feature of the first object in the first image and the second image; wherein the reference feature includes at least one of the following: a contour feature of the first object, a feature of a line set on a surface of the first object, and a feature of a reference point set on the surface of the first object.

6. The method according to claim 5, characterized in that A characteristic image is arranged on the surface of the first object, black grids and white grids are arranged at intervals on the characteristic image, and the reference points include corner points of the black grids and / or the white grids.

7. The method according to claim 3, characterized in that The first information further includes second sub-information, wherein the second sub-information indicates: a change amount of a second sub-pose when the relative pose relationship between the AR terminal and the first object changes from the third relative pose relationship to the first relative pose relationship; The second sub-posture is the posture of the image acquisition module of the AR terminal relative to the base fixed on the AR terminal.

8. The method according to claim 7, characterized in that The AR terminal is also provided with a rotation module located on the base, and the rotation module is used to carry the image acquisition module and rotate within a predetermined angle range. The second sub-posture is the posture of the rotation module relative to the base.

9. The method according to claim 8, characterized in that The determining the first relative posture relationship based on the third relative posture relationship and the first information includes: Determine second posture information based on the first sub-information, the second sub-information and the third sub-information; wherein the second posture information indicates: when the relative posture relationship between the AR terminal and the first object is the first relative posture relationship, the position and posture of the AR terminal in the first coordinate system; the third sub-information indicates: when the relative posture relationship between the AR terminal and the first object is the third relative posture relationship, the posture information of the base in the first coordinate system; Based on the second posture information, the first relative posture relationship is determined.

10. The method according to claim 8, characterized in that Before determining the first coordinate system according to the position and posture information of the first object, the method further includes: Controlling the rotation module to rotate within the predetermined angle range until the image acquisition module acquires the image of the first object; In response to acquiring the image of the first object, the rotation module is controlled to rotate when the AR terminal moves, so that the first object is maintained within the shooting range of the image acquisition module.

11. A device for displaying a virtual object, characterized in that: The device comprises: A determination module, configured to determine a first coordinate system according to first pose information of a first object; wherein, in the first coordinate system, the first object is a reference object of a virtual object to be displayed in an AR terminal; the first pose information includes information about the position and pose of the first object; the position and pose of the first object are fixed; determine a first relative pose relationship; wherein the first relative pose relationship indicates a first pose of the AR terminal relative to the first object in the first coordinate system; An adjustment module is used to adjust the posture of the virtual object in the AR terminal in a second coordinate system based on the first relative posture relationship; wherein the second coordinate system is a coordinate system used to display the virtual object in the AR terminal; the AR terminal belongs to an AR terminal set; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual object and the first object is the same.

12. An AR terminal, configured to execute the method according to any one of claims 1 to 10.

13. The AR terminal according to claim 12, comprising: An image acquisition module, used to acquire an image of the first object; A rotating module, used for carrying the image acquisition module and rotating within a predetermined angle range; The base is used to support the rotating module.

14. A first object, characterized in that The first object is a communication terminal used for interaction between at least two AR terminals as described in any one of claims 12 to 13, and the communication terminal is used to determine the AR terminal set to which the AR terminal belongs; the virtual objects corresponding to the AR terminals in the AR terminal set are the same, and the second relative posture relationship between the adjusted virtual objects and the first object is the same.

15. A system for displaying a virtual object, characterized in that: The system comprises: At least two AR terminals according to any one of claims 12 to 13, wherein at least two of the AR terminals belong to the same AR terminal set; and The first object as claimed in claim 14.

16. A processing device, characterized in that: The processing equipment comprises: A memory for storing executable programs; A processor, configured to implement the method according to any one of claims 1 to 10 when executing the executable program stored in the memory.

17. A computer storage medium, characterized in that: The computer storage medium stores an executable program, and when the executable program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

Images