Method and apparatus for device control, device, storage medium and program product

Abstract

According to the embodiment of the invention, a method and device for device control, equipment, a storage medium and a program product are provided. The method comprises the following steps: controlling a light source at each positioner in a first group of positioners to execute lighting according to a first group of time sequences; controlling the light source at each positioner in the second group of positioners to be lightened according to a second group of time sequences, wherein the first group of time sequences and the second group of time sequences are configured to enable the lightening time of the light source at at least one positioner in the first group of positioners to be synchronized with the lightening time of the light sources at part of positioners in the second group of positioners; and controlling the image collector to execute image collection at least according to a third time sequence, wherein the third time sequence is configured to enable the image collector to execute image collection when at least one positioner in the first group of positioners and a part of positioners in the second group of positioners are synchronously lightened.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and in particular, to a method, apparatus, device, computer-readable storage medium and computer program product for device control. BACKGROUND

[0002] Extended Reality (XR) is widely researched and applied. XR combines hardware devices and various technical means to fuse virtual content and real scenes, and provides users with a unique sensory experience. XR includes, for example, Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR).

[0003] Thus, by having a user wear an XR device, a virtual environment can be used to provide the user with an immersive interactive experience. SUMMARY

[0004] In a first aspect of the present disclosure, a method for device control is provided. The method comprises: controlling a light source at each of a first group of locators to perform lighting according to a first group of timing; controlling a light source at each of a second group of locators to perform lighting according to a second group of timing, the first group of timing and the second group of timing being configured to synchronize a lighting time of the light source at at least one of the first group of locators with a lighting time of the light source at a part of the second group of locators; and controlling an image collector to perform image collection according to at least a third timing, the third timing being configured to cause the image collector to perform image collection when at least one of the first group of locators and the part of the second group of locators are synchronously lit.

[0005] In a second aspect of the disclosure, an apparatus for device control is provided. The apparatus includes: a first lighting control module configured to control light sources at individual positioners in a first group of positioners to perform lighting according to a first group of timing; a second lighting control module configured to control light sources at individual positioners in a second group of positioners to perform lighting according to a second group of timing, the first group of timing and the second group of timing being configured to synchronize lighting time of light sources at part of the positioners in the first group of positioners with lighting time of light sources at at least one positioner in the second group of positioners; and an image acquisition module configured to control an image acquirer to perform image acquisition according to at least a third timing, the third timing being configured to cause the image acquirer to perform image acquisition when at least one positioner in the first group of positioners and part of the positioners in the second group of positioners are synchronously lit.

[0006] In a third aspect of the disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. The instructions, when executed by the at least one processing unit, cause the device to perform the method of the first aspect.

[0007] In a fourth aspect of the disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon a computer program, the computer program being executable by a processor to implement the method of the first aspect.

[0008] In a fifth aspect of the disclosure, a computer program product is provided. The computer program product is tangibly stored in a computer storage medium and includes computer-executable instructions that, when executed by a device, cause the device to perform the method of the first aspect.

[0009] It is to be understood that the details set forth in this section are not intended to limit key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0010] The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which:

[0011] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented is shown;

[0012] Figure 2 A flowchart showing a process of device control according to some embodiments of the present disclosure is shown;

[0013] Figure 3 FIG. 1 shows a schematic diagram of an example of a first set of timings of a first set of positioners, a second set of timings of a second set of positioners, and a third set of timings of an image collector, according to some embodiments of the present disclosure;

[0014] Figure 4 FIG. 2 shows a flowchart of a process of device control, according to some embodiments of the present disclosure;

[0015] Figure 5 FIG. 3 shows a schematic diagram of a set of images collected by an image collector, according to some embodiments of the present disclosure;

[0016] Figure 6 FIG. 4 shows a block diagram of an apparatus for device control, according to some embodiments of the present disclosure; and

[0017] Figure 7 FIG. 5 shows a block diagram of an electronic device capable of implementing one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] It can be understood that, before using the technical solutions disclosed in the embodiments of the present disclosure, the type of personal information involved in the present disclosure, the range of use, the scenario of use, etc. should be informed to the user and the authorization of the user should be obtained in a proper manner according to relevant laws and regulations.

[0019] For example, in response to receiving an active request of a user, a prompt information is sent to the user to explicitly prompt the user that the operation requested to be performed will require obtaining and using personal information of the user. Thus, the user can voluntarily choose whether to provide personal information to the electronic device, application program, server or storage medium, etc. software or hardware performing the operation of the technical solutions of the present disclosure according to the prompt information.

[0020] As an optional but non-limiting implementation manner, in response to receiving an active request of a user, the manner of sending a prompt information to the user may, for example, be a pop-up window manner, in which the prompt information can be presented in a text manner. In addition, the pop-up window can also carry a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0021] It can be understood that the above notification and obtaining of user authorization process is only illustrative and does not limit the implementation manner of the present disclosure, and other manners meeting relevant laws and regulations can also be applied to the implementation manner of the present disclosure.

[0022] It can be understood that the data involved in the present technical solutions (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of relevant laws and regulations and relevant provisions.

[0023] Embodiments of the present disclosure will be described below in more detail with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein; rather, these embodiments are provided so as to more thoroughly and completely convey the understanding of the present disclosure to those skilled in the art. It is understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0024] It is noted that the headings provided herein are not limitations of the disclosure. Various embodiments are described throughout this document and any type of embodiment can be included under any heading. Moreover, embodiments described in any heading can be combined with any other embodiment described in the same heading and / or in a different heading in any manner.

[0025] In the description of embodiments of the present disclosure, the term "includes" and its derivatives are to be interpreted as including without limitation. The term "based on" is to be interpreted as "based, at least in part, on." The term "one embodiment" or "an embodiment" are to be interpreted as "at least one embodiment." The term "some embodiments" is to be interpreted as "at least some embodiments." Other explicit and implicit definitions can also be included below. The terms "first," "second," etc. can refer to different or same objects. Other explicit and implicit definitions can also be included below.

[0026] Figure 1A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. The environment 100 can be a physical scene, i.e., the environment 100 can be an example of a real-world actual scene. In the environment 100, a user 110 can implement an interactive operation by wearing at least one XR device. The at least one XR device can include a head-mounted XR device 120, an XR manipulator 122-1 and an XR manipulator 122-2 (which can be referred to individually or collectively as XR manipulators 122) held by the left and right hands respectively, and a plurality of locators 124-1 and 124-2 which can be worn on other parts of the body such as the lower limbs. The locators can also be referred to as trackers. In some embodiments, the XR manipulator 122-1 can include a locator 123-1, the XR manipulator 122-2 can include a locator 123-2, and the locators 123-1 and 123-2 can belong to a first group of locators (each of which is referred to as a first locator 123). Correspondingly, the locators 124-1 and 124-2 can belong to a second group of locators (each of which is referred to as a second locator 124). The hand-held XR manipulators 122 can be any suitable type of device controlled by the hands, such as a hand grip, etc. The second locators 124 can be any suitable type of trackers for being worn on various parts of the body, such as the waist, the arms, etc. In such examples, the head-mounted XR device 120 can communicate with the XR manipulators 122 and the second locators 124 to implement an interaction with the user in a cooperative manner.

[0027] In some embodiments, the XR device can include an image collector, such as a camera, an infrared camera, etc., for collecting images to take images of the physical space. The image collector can be provided on one or more of the XR devices. Exemplarily, the image collector can be provided on the head-mounted XR device 120 to collect images of a wider spatial range based on a higher spatial position. If an infrared camera is provided on the head-mounted XR device 120, correspondingly, at least one infrared light source can be provided on the XR manipulators 122 and the second locators 124 respectively, so that the infrared camera can take images of the infrared light sources on the XR manipulators 122 and the second locators 124, and thus identify and locate the XR manipulators 122 and the second locators 124 according to the obtained images.

[0028] In other scenarios, the image collector for image collection can be independent of the XR device (e.g., independent of the head-mounted XR device 120). Such an image collector can be independently deployed for image perception of the first locators 123, the second locators 124, and other devices and environments, etc. in the environment.

[0029] In some embodiments, the user 110 can utilize multiple XR devices to communicate with the electronic device 130 to utilize the electronic device 130 to process data acquired by the XR devices and to issue data to the XR devices. It should be appreciated that in some cases, the XR devices 120 can also not communicate with the electronic device 130 (or in other words, the environment 100 can also exemplarily not include the electronic device 130). In this case, the XR manipulator 122-1 (and the first positioner therein), the XR manipulator 122-2 (and the first positioner therein), the second positioner 124-1, the second positioner 124-2, and other XR devices can be interacted with through the head-mounted XR device 120. Specifically, the other XR devices can be interacted with through the XR control device 121 in the head-mounted XR device 120. It should be appreciated that the XR control device 121 can not be limited to being disposed in the head-mounted XR device 120, it can be disposed in other XR devices, or it can exist as a standalone control device.

[0030] In the environment 100, the user 110 can utilize the XR devices to acquire a virtual environment 140. The virtual environment 140 can exemplarily be a space. In some embodiments, a virtual object 150 of the user 110 can be generated in the virtual environment 140, so that the user 110 can have an immersive interactive experience in the virtual environment 140 through the virtual object 150, for example, the user 110 can adjust the actions of the virtual object 150, etc. In some embodiments, virtual tools and / or virtual objects of other users can be provided in the virtual environment 140, so that the user 110 can interact with the virtual tools in the virtual environment 140 through the virtual object 150, and can also interact with the virtual objects of other users through the virtual object 150.

[0031] The electronic device 130 can be a separate device capable of communicating with the XR devices and / or other image capture devices, such as a server, a computing node, etc. for image or data processing, or can be integrated with the XR devices and / or other image capture devices. In some embodiments, the electronic device 130 can be implemented as an XR device, that is, in this case, the XR device can implement all the functions of the electronic device 130. It should be appreciated that the above description of the electronic device 130 is merely exemplary and not limiting, and the electronic device 130 can be implemented as a device in multiple forms, structures, or categories, and embodiments of the present disclosure have no limitation in this regard.

[0032] It should be appreciated that the structure and function of the various elements in the environment 100 are described only for exemplary purposes, without implying any limitation on the scope of the present disclosure.

[0033] As briefly mentioned above, a user can achieve an immersive experience in a virtual environment by wearing an XR device. Therefore, when a user operates the XR device, positioning tracking needs to be implemented for some XR devices. Currently, in the field of XR, the positioning tracking of a tracker (i.e., a locator) or a handheld manipulator (e.g., a handle) is mainly achieved by deploying a locator with specific light sources (e.g., optical infrared lights). Specifically, the infrared lights of the handle or other trackers are captured by a camera to track the IMU (Inertial Measurement Unit) pose.

[0034] Generally, it is desirable to produce and use a unified somatosensory tracker, which not only facilitates production, but also facilitates use and expansion. However, if the appearance of the somatosensory tracker and the positions of the light sources, light spots, etc. provided therein are all completely consistent, it will be difficult to distinguish different trackers. In addition, according to different scenarios, the number of trackers used will also be indefinite, so that the distinction of the trackers can only rely on the relative position or IMU pose of the trackers for judgment, which will lead to great interference and difficulty in detecting and identifying the trackers. Therefore, when multiple trackers and handles are used at the same time, how to accurately distinguish different locators among them and avoid misjudgment and interference is an important task to be solved.

[0035] Embodiments of the present disclosure propose a scheme for device control. According to various embodiments of the present disclosure, the light sources at each locator in a first group of locators are controlled to perform lighting according to a first group of timing. Then, the light sources at each locator in a second group of locators are controlled to perform lighting according to a second group of timing, the first group of timing and the second group of timing are configured to synchronize the lighting time of the light sources at at least one locator in the first group of locators with the lighting time of the light sources at part of the locators in the second group of locators. Next, the image collector is controlled to perform image collection at least according to a third timing, the third timing is configured to make the image collector perform image collection when at least one locator in the first group of locators and part of the locators in the second group of locators are synchronously lit. Thus, this scheme can achieve time-sharing lighting of the locators in the second group of locators, while being compatible with the lighting of the first group of locators, realizing the distinction of different locators, avoiding positioning confusion when detecting according to the captured images, and further improving the efficiency and accuracy of positioning tracking.

[0036] Some example embodiments of the present disclosure will be described below with continued reference to the accompanying drawings.

[0037] Figure 2 A flowchart of a process 200 of device control according to some embodiments of the present disclosure is shown. For ease of discussion, reference will be made to Figure 1These embodiments are described with reference to the environment 100 of FIG. In some examples, these embodiments can be implemented in Figure 1 In some other examples, these embodiments may also be implemented in a remote controller, which may be set to Figure 1 The following specific embodiments are implemented in the XR control device 121 as an example, but this is only exemplary and not intended to be limiting.

[0038] It should also be understood that although reference Figure 1 The environment 100 involving XR devices is shown to describe the example embodiment, but the device control scheme provided by the embodiments of the present disclosure can also be applied to non-XR environments, as long as it is necessary to use an image collector in such an environment to track and locate a locator deployed in the environment.

[0039] like Figure 2 As shown, in block 210, the XR control device 121 can control the light source at each first locator 123 in the first group of locators to light up according to the first set of timings. In some embodiments, the light source includes, but is not limited to, an infrared light source. The image collector can identify and capture the light source, and identify and locate the first locator 123 and the locator 124 based on the captured image. In some embodiments, each first locator 123 is deployed at the XR manipulator 122. In such an embodiment, the XR manipulator 122 can be identified and located by each first locator 123.

[0040] In some embodiments, the first group of locators includes multiple first locators 123, and the multiple first timings corresponding to the multiple first locators 123 are configured to cause the light sources at the multiple first locators 123 to be illuminated synchronously. At least one first locator 123 can be deployed at each XR manipulator 122. In such an embodiment, each time the image collector captures the light sources at the multiple first locators 123, it can directly distinguish the corresponding XR manipulator 122 based on the captured image. Therefore, the light sources at the multiple first locators 123 can be controlled to illuminate synchronously. In some embodiments, the first group of locators may also include only a single first locator, and in some examples the locator may be included in any one of the XR manipulators 122.

[0041] Combine Figure 1For example, taking the first set of locators including the first locator 123-1 of the XR manipulator 122-1 held by the left hand of the user and the first locator 123-2 of the XR manipulator 122-2 held by the right hand of the user as an example, when the image collector simultaneously captures the light sources at the first locator 123-1 and the first locator 123-2, the light spots corresponding to the left-hand XR manipulator 122-1 and the right-hand XR manipulator 122-2 can be directly distinguished on the image, so as to identify the positions and postures of the left-hand XR manipulator 122-1 and the right-hand XR manipulator 122-2.

[0042] In some embodiments, the light source patterns of the plurality of first locators 123 are different. In such embodiments, when the image collector captures the light sources of the plurality of first locators 123, the corresponding light source patterns (such as light spots) on the image are different, so that the corresponding manipulators of the plurality of first locators 123 can be quickly distinguished. In some embodiments, the light source in the locator can include a single light source having a corresponding light spot. In some embodiments, the light source in the locator can include a plurality of sub-light sources which can have a certain positional relationship, so that the corresponding light source light spot can be formed by controlling the sub-light sources.

[0043] In block 220, the XR control device 121 can control the light sources at each second locator 124 in the second set of locators to perform lighting according to a second set of timing, the first set of timing and the second set of timing being configured to synchronize the lighting time of the light source at at least one first locator 123 in the first set of locators with the lighting time of the light source at part of the second locators 124 in the second set of locators. In some embodiments, the light source pattern of the first set of locators is different from the light source pattern of the second set of locators, for example, the light source pattern of any one first locator 123 is different from the light source pattern of any one second locator 124.

[0044] In some scenarios, the image collector can simultaneously capture images of the first set of locators and the second set of locators, and in other scenarios, the image collector can be caused to simultaneously capture images of the first set of locators and the second set of locators in order to achieve better identification of the posture and action of the user 110. Based on this, the light source pattern of the first set of locators can be made different from the light source pattern of the second set of locators. In this way, when the image collector simultaneously captures images of the first locators 123 and part of the second locators 124, the two can be conveniently distinguished. Therefore, by making the light source pattern of the first set of locators different from the light source pattern of the second set of locators, and synchronizing the lighting time of the light source at at least one first locator 123 with the lighting time of the light source at part of the second locators 124 in the second set of locators, the positioning tracking effect can be improved.

[0045] In some embodiments, the second set of locators includes a plurality of second locators 124, and wherein the plurality of second timings corresponding to the plurality of second locators 124 are configured to cause the light sources at the plurality of second locators 124 to be sequentially lit. In some embodiments, the light source patterns of the plurality of second locators 124 are identical.

[0046] Since the second locators 124 can be used by the user 110 simultaneously for tracking and locating, the external shapes and internal configurations of the plurality of second locators 124 can be identical. Accordingly, the light source patterns of the plurality of second locators 124 can be identical. It should be appreciated that the plurality of second locators 124 can be the same kind of locators. Thus, in such embodiments, by setting the plurality of second timings to cause the light sources at the corresponding plurality of second locators 124 to be sequentially lit, the time-sharing lighting of the plurality of second locators 124 can be achieved. This way, only one second locator 124 can be lit when the image collector collects images, so as to avoid the abnormal situation of identification confusion caused by simultaneous lighting of the plurality of second locators 124.

[0047] At block 230, the XR control device 121 can control the image collector to perform image collection according to at least a third timing, the third timing being configured to cause the image collector to perform image collection when at least one first locator 123 (or all of the first locators 123) in the first set of locators and part of the second locators 124 in the second set of locators are simultaneously lit.

[0048] In such embodiments, by setting the third timing to cause the image collector to perform image collection when at least one first locator 123 (or all of the first locators 123) in the first set of locators and part of the second locators 124 in the second set of locators are simultaneously lit, the simultaneous use of the XR manipulators 122 where the first locators 123 are located and the second locators 124 can be achieved, the tracking of at least one XR manipulator 122 can be achieved while the tracking and locating of the plurality of second locators 124 are also achieved, and the tracking and locating of the XR manipulators 122 and the second locators 124 can be achieved without interfering with each other.

[0049] Figure 3 A schematic diagram showing an example of the first set of timings of the first set of locators, the second set of timings of the second set of locators, and the third timing of the image collector according to some embodiments of the present disclosure is shown. The example 300 can be implemented in the environment 100 of Figure 1 The example 300 can be applied in part of the process 200.

[0050] As Figure 3As shown, the example 300 includes a third timing 310 of the image collector, and further includes a first timing 320-1 of the first positioner 123-1 of the XR manipulator 122-1 and a first timing 320-2 of the first positioner 123-2 of the XR manipulator 122-2 (which can be referred to individually or collectively as the first timing 320), a second timing 330-1 of the second positioner 124-1 and a second timing 330-2 of the second positioner 124-2 (which can be referred to individually or collectively as the second timing 330). The third timing 310 contains a plurality of pulled-up pulses 301, which can represent the exposure of the head-mounted XR device 120 and the XR manipulators 122. The first timing 320 and the second timing 330 each contain a plurality of pulled-up pulses 302, each of which represents the lighting up of a corresponding light source.

[0051] Specifically, based on the first timing 320-1 and the first timing 320-2, the light sources at the XR manipulator 122-1 and the XR manipulator 122-2 are synchronously lit up. Based on the second timing 330-1, the second timing 330-2, and the first timing 320, the lighting up times of the light sources at the second positioner 124-1 and the second positioner 124-2 are different, and each of the second positioners is respectively synchronized with the lighting up times of the light sources at the respective XR manipulators 122. In this context, the “synchronous lighting up” and “synchronization of lighting up times” of different positioners can include controlling these positioners to light up at the same time, or letting these positioners have a common lighting up state within a certain time period, or letting these positioners be lit up such that the image collector collects these positioners during an exposure of performing image collection, etc.

[0052] Further, based on the second timing 330-1 and the second timing 330-2, the light sources at the second positioner 124-1 and the second positioner 124-2 are sequentially lit up (i.e., lit up in time division). Based on the third timing 310, the image collector performs image collection when the XR manipulator 122-1 and the XR manipulator 122-2, and one of the second positioner 124-1 and the second positioner 124-2 are both lit up.

[0053] In some embodiments, the periods of the respective timings in the first group of timings are the same, and the periods of the respective timings in the second group of timings are the same. In some embodiments, the corresponding periods of the first group of timings are different from the corresponding periods of the second group of timings.

[0054] In some embodiments, the periods of the respective timings in the first group of timings are the same, and the periods of the respective timings in the second group of timings are the same. In some embodiments, the corresponding periods of the first group of timings are different from the corresponding periods of the second group of timings. Figure 3For example, the first group of time sequences includes the first time sequence 320-1 and the first time sequence 320-2, and the second group of time sequences includes the second time sequence 330-1 and the second time sequence 330-2. The periods of the first time sequence 320-1 and the first time sequence 320-2 can be the same, and the periods of the second time sequence 330-1 and the second time sequence 330-2 can also be the same. However, the periods of the first time sequence 320 and the second time sequence 330 can be different. Because the light sources of the first positioner 123-1 and the first positioner 123-2 corresponding to the first time sequence 320-1 and the first time sequence 320-2, respectively, can be photographed at the same time by the image collector, the XR manipulator 122-1 and the XR manipulator 122-2 can be distinguished, and thus the periods of the first time sequence 320-1 and the first time sequence 320-2 can be the same, and the first time sequence 320-1 and the first time sequence 320-2 can be the same. In addition, because the light sources at the plurality of second positioners 124 can be lit in sequence, that is, the second time sequence 330-1 and the second time sequence 330-2 are staggered, the periods of the second time sequence 330-1 and the second time sequence 330-2 can be the same, and the periods of the first time sequence 320 and the second time sequence 330 can be different.

[0055] Thus, through the first time sequence 320 of the first positioner 123, the second time sequence 330 of the second positioner 124, and the third time sequence 310 of the image collector, the time-sharing lighting of the second positioner 124 is realized, and the tracking effect of the second positioner 124 can be improved. In addition, the time-sharing lighting can reduce the power consumption of each second positioner 124, thereby prolonging the use time of the product.

[0056] In some embodiments, if it is detected that the connection of the second group of positioners is completed, the XR control device 121 can determine the time sequence corresponding to each second positioner 124 in the second group of positioners based on the attribute information of the second group of positioners. The time sequence corresponding to each second positioner 124 in the second group of positioners is based on the order in which each second positioner 124 is lit and / or the period in which the second group of positioners is lit in sequence. In some embodiments, the attribute information of the second group of positioners at least includes the number of the second positioners 124 in the second group of positioners. In some embodiments, the attribute information of at least one second positioner 124 can also include a unique identification number of each second positioner 124.

[0057] Specifically, after detecting the second set of locators connected, the XR control device 121 can determine the order in which each second locator 124 is lit according to the number of locators of the second set of locators and the identification number, and can determine the period in which each second locator 124 is sequentially polled and lit according to the number of locators of the second set of locators. Then, based on the period and the order in which each second locator 124 is lit, the timing of each second locator 124 can be determined. In this way, the time-sharing lighting of each second locator 124 is facilitated.

[0058] In some embodiments, the period corresponding to the second set of timings is an integer multiple of the period corresponding to the first set of timings, and wherein the integer multiple is determined based on the number of second locators 124 in the second set of locators. For example, if the number of second locators is 2, then the period of the second set of timings corresponding thereto is 2 times the period of the first set of timings. Referring to Figure 3 , the period of the second timing 330 can be 2 times the period of the first timing 320. In this way, the light sources of each second locator 124 in the second set of locators can be sequentially lit.

[0059] In some embodiments, when controlling the light sources at each second locator 124 in the second set of locators to perform lighting according to the second set of timings, for a first image acquisition period, the XR control device 121 can respectively configure each timing in the second set of timings to each second locator 124 in the second set of locators, and receive a reply from each second locator 124 in the second set of locators for the configuration of each timing in the second set of timings. The first image acquisition period can correspond to a complete period in which the second set of locators is performed a round of time-sharing lighting, and there will be multiple acquisition points in this image acquisition period.

[0060] In some embodiments, when controlling the image acquisition device to perform image acquisition according to at least the third timing, if a reply is received from each second locator 124 in the second set of locators for the configuration of each timing in the second set of timings within a predetermined time, the XR control device 121 can control the image acquisition device to perform image acquisition according to at least the third timing for a first image acquisition period. And if no reply is received from one or more second locators 124 in the second set of locators within a predetermined time, the XR control device 121 can determine that the configuration of the second set of timings fails in the first image acquisition period.

[0061] Exemplarily, when configuring the second group of timing, if the light source of the current second locator 124 in the second group of locators completes the time-sharing lighting according to the corresponding timing, a reply message about the timing configuration is sent. Then, based on the reply message, the XR control device 121 can configure the corresponding timing for the next second locator 124 of the current second locator, so that the light source of the next second locator 124 performs time-sharing lighting according to the corresponding timing.

[0062] In such embodiments, whether the second locator 124 is configured successfully can be determined according to the reply of the second locator 124 to the timing configuration of the second locator 124 and the reply time. In the case where the second locator 124 is configured successfully, the current image acquisition cycle can perform image acquisition. If the configuration fails, it means that the timing synchronization of the current image acquisition cycle fails, and the second timing needs to be reconfigured in the next image acquisition cycle. In this way, the accuracy of the time-sharing lighting of the second locators 124 can be ensured, and the tracking efficiency of the second locators 124 can be improved.

[0063] In some embodiments, the XR control device 121 can perform image analysis on the first image acquired by the image acquisition device to determine the position information and / or pose information corresponding to the part of the second locators 124 that are lit at the acquisition time of the first image. In some embodiments, based on the second group of timing, the XR control device 121 can determine the part of the second locators 124 that are lit at the acquisition time of the first image, and write the serial number of the determined part of the second locators 124 in the frame information of the first image. Moreover, when determining the position information and / or pose information corresponding to the part of the locators, the XR control device 121 can determine that the frame information of the first image contains the position information and / or pose information corresponding to the part of the locators.

[0064] Exemplarily, if the next second locator 124 corresponding to the current second locator 124 is completed in the timing configuration, based on the completed timing configuration, the XR control device 121 can write the serial number of the next second locator 124 into the configuration information of the image collector before controlling the image collector to collect the image of the next second locator 124. After the XR control device 121 writes the serial number of the next second locator 124 into the configuration information of the image collector, the frame information of the image collected by the image collector contains the corresponding serial number. Then, when the upper layer obtains the image, the image information will obtain that the current image is illuminated by the next second locator 124, and the current image also contains the image of the light source of the first locator 123 of the XR manipulator 122, so as to perform image analysis. Thus, the specific second locator 124 that is illuminated can be conveniently identified through the frame information, which is conducive to realizing positioning tracking and accordingly obtaining the posture information of the body part of the user 110.

[0065] In some embodiments, the XR control device 121 can receive the timing used by each second locator 124 in the second group of locators, and determine whether the timing received from each second locator 124 in the second group of locators is the same as the second group timing. If it is determined that at least one timing received from at least one second locator 124 in the second group of locators is not the same as at least one timing in the second group timing, each timing in the second group timing is reconfigured to each second locator 124 in the second group of locators, respectively.

[0066] Exemplarily, after the light source of the current second locator 124 is illuminated, the next second locator 124 that needs to be illuminated can immediately report its serial number to the XR control device 121, and the XR control device 121 can detect whether the configuration information of the serial number to be written corresponds to the serial number of the reported second locator 124 one by one. If an abnormality occurs, it is considered that the timing of the next second locator 124 that needs to be illuminated is disordered. Then, the timing configuration of the second locator 124 can be re-performed in the next image collection period to ensure the stability of the timing. Thus, through the timing detection mechanism, whether the timing of the second locator 124 is abnormal can be detected in real time to ensure that the time-sharing illumination of each second locator 124 can be normally performed.

[0067] In some embodiments, the XR control device 121 can detect the connection status of each second locator 124 in the second group of locators to determine whether the number of second locators 124 in the second group of locators has changed. If it is determined that the number of second locators in the second group of locators has changed, the second group of timing sequences corresponding to the changed second group of locators is determined based on the changed number. In some embodiments, the XR control device 121 determines that the first and second groups of locators are connected to the XR control device 121 before controlling the first and second groups of locators to light up.

[0068] Specifically, if the number of second locators 124 to which the XR control device 121 is connected decreases or increases, the timing of the corresponding second locators 124 will be determined based on the changed number. In some embodiments, the XR control device 121 is deployed at the head-mounted XR device 120. For example, the head-mounted XR device 120 can detect the connection status between it and each second locator 124 to determine whether the number of second locators 124 connected to the head-mounted XR device has changed. If so, the timing corresponding to each second locator 124 can be determined based on the changed number of second locators 124. Thus, through the detection mechanism of the connection status of the second locator 124, the flexibility and adaptability of tracking and positioning of multiple second locators 124 can be improved.

[0069] Through the embodiments disclosed above, the second group of locators can be illuminated in a time-sharing manner while being compatible with the illumination of the first group of locators, thereby avoiding positioning confusion during subsequent detection based on the captured images, thereby improving the efficiency and accuracy of positioning tracking in XR scenarios.

[0070] Figure 4 FIG4 is a flowchart showing a process of device control according to some embodiments of the present disclosure. Process 400 may be implemented in Figure 1 The process 400 can be shown as a specific embodiment of the steps of the process 200. The process 400 can be based on Figure 3 The timing of Example 300 is implemented.

[0071] like Figure 4 As shown, process 400 involves relevant processes of the head-mounted XR device 120, the second locator 124 (including the second locator 124-1 and the second locator 124-2), and the XR manipulator 122 (including the XR manipulator 122-1 and the XR manipulator 122-2). Each second locator 124 performs similar operations, and each XR manipulator 122 performs similar operations. Process 400 can be described in detail by taking the XR control device 121 and the image collector as an example, in which the head-mounted XR device 120 is deployed.

[0072] The XR manipulator 122 needs to be connected to the head-mounted XR device 120 (in particular, to the XR control device 121 therein), and the second locator 124 needs to be connected to the head-mounted XR device 120 (in particular, to the XR control device 121 therein). The head-mounted XR device 120 can detect whether it is determined to be connected to the second locator 124. If it is determined to be connected to the second locator 124 (410), the head-mounted XR device 120 issues a respective second timing to each second locator 124 (411).

[0073] After being connected to the head-mounted XR device 120 (430), the XR manipulator 122 lights up the infrared light source of the first locator 123 thereof according to the predetermined first timing (431). That is, the head-mounted device 120 does not need to issue the first timing to the XR manipulator 122 every time in each cycle. The first timing can be configured or defined at the XR manipulator 122. After being connected to the head-mounted device 120, the XR manipulator 122 can perform the lighting according to the predetermined first timing. In addition, since the lighting time of the plurality of XR manipulators 122 can be the same, the first timing configured at each XR manipulator 122 can also be the same.

[0074] After being connected to the head-mounted XR device 120 (420), each second locator 124 receives and configures the second timing (421), and then replies to the head-mounted XR device 120 with a configuration completion (422). After receiving the reply (412), the head-mounted XR device 120 determines whether the second locator 124 completes the configuration within a preset time (413). If the second locator 124 does not complete the configuration within the predetermined time, the second timing is reissued to the second locator 124 in the next cycle (411). If the second locator 124 completes the configuration within the predetermined time, the configuration of the image collector is performed according to the corresponding second timing (414), which can specifically write the serial number of the second locator 124 into the image collector. The second locator 124 also lights up the infrared light source thereof according to the second timing, achieving time-sharing lighting of the infrared light sources (423). Then, the head-mounted XR device 120 can obtain the serial number of the locator that is lit up according to the frame information of the image captured by the image collector (415), and analyze the image.

[0075] Next, the head-mounted XR device 120 can determine in real time whether the number of the second locators 124 has changed (416). If it has changed, the second timing is updated again and the second timing is issued (411). The second locator 124 can report the current second timing regularly, and then the head-mounted XR device 120 can determine whether the reported second timing is correct when the number of the second locators 124 has not changed (417). If it is correct, the image collector can continue to be configured according to the second timing (414). If it is not correct, it will be considered that the second timing is disordered, and the second timing will be issued again in the next cycle (411) to ensure the stability of the second timing.

[0076] by Figure 1 For example, when the head-mounted XR device 120 captures the exposure moment of the XR manipulator 122 and the second locator 124, the first locator 123 of the two XR manipulators 122 is always illuminated synchronously. Therefore, each shot will always capture the first locator 123 of the two XR manipulators 122, but the infrared light sources of the multiple second locators 124 are illuminated in a time-sharing manner. At the exposure moment of all frame images captured by the XR manipulators 122, the left-hand XR manipulator 122-1 and the right-hand XR manipulator 122-2 will synchronously illuminate their respective infrared light sources. Before the current frame is exposed, the head-mounted XR device 120 will write the sequence number of the second locator 124-1 into the image acquisition device configuration. At the exposure moment, the infrared light source of the second locator 124-1 is illuminated, and the infrared light source of the second locator 124-2 is turned off. When the upper layer acquires this frame of image, it will obtain through image information that the second locator 124-1 is lit in the current image, and obtain images of the synchronously lit second locator 124-1 and the locator 123 of the XR manipulator 122 for analysis.

[0077] Before the next frame is exposed, the head-mounted XR device 120 writes the serial number of the second locator 124-2 into the image acquisition device configuration. At the moment of exposure, the second locator 124-2 is illuminated, and the second locator 124-1 is turned off. When the upper layer acquires this frame of image, it will use the image information to obtain that the second locator 124-2 is currently illuminated, and it will also obtain and analyze the image of the infrared light source that synchronously illuminates the second locator 124-2 and the left and right XR manipulators 122. In this reciprocating process, the tracking effect of the two XR manipulators 122 and the two second locators 124 can be achieved.

[0078] Figure 5 FIG. 5 is a schematic diagram showing an image set 500 collected by an image collector according to some embodiments of the present disclosure. The image set 500 may be implemented in Figure 1 The image set 500 can be shown as an example of the result of executing the process 200. The image set 500 can be shown as an example of the result of executing the process 200.Figure 3 Figure 5 shows an example of the execution result of the method implemented by the example 300. The image set 500 can be shown as an example of the execution result of the process 400.

[0079] As shown in the image set 500, the image 510 and the image 520 are included. The image 510 is an image captured by the image collector when the infrared light source of the second locator 124-1 is lit, and the serial number of the second locator 124-1 is recorded in the frame information of the image 510. The image 520 is an image captured by the image collector when the infrared light source of the second locator 124-2 is lit, and the serial number of the second locator 124-2 is recorded in the frame information of the image 520. Figure 5 Since the infrared light source of the second locator 124-1 is lit at the same time, the two XR manipulators 122-1 and 122-2 are also lit. Accordingly, the three light spots in the image 510 represent the exposure of the infrared light source of the second locator 124-1, the XR manipulator 122-1 of the left hand, and the XR manipulator 122-2 of the right hand, respectively. Since the infrared light source of the second locator 124-2 is lit at the same time, the two XR manipulators 122-1 and 122-2 are also lit. Accordingly, the three light spots in the image 520 represent the exposure of the infrared light source of the second locator 124-2, the XR manipulator 122-1 of the left hand, and the XR manipulator 122-2 of the right hand, respectively. In addition, it can be seen that the light spots have a certain arrangement in space. Thus, the process for device control of the disclosed embodiments realizes the time-sharing lighting control of the locators, and realizes the tracking and positioning of the locators.

[0080]

[0081] Figure 6 shows a schematic structural block diagram of the apparatus 600 for device control according to some embodiments of the present disclosure. The apparatus 600 can be implemented as or included in the XR control device 121. Various modules / components in the apparatus 600 can be implemented by hardware, software, firmware, or any combination thereof. Figure 6

[0082] ​As shown, the apparatus 600 comprises a first lighting control module 610 configured to control the light sources at the individual locators in the first group of locators to perform lighting according to a first group of timing sequences; a second lighting control module 620 configured to control the light sources at the individual locators in the second group of locators to perform lighting according to a second group of timing sequences, the first group of timing sequences and the second group of timing sequences being configured to synchronize the lighting time of the light sources at the at least one locator in the first group of locators with the lighting time of the light sources at the locators in the second group of locators; and an image acquisition module 630 configured to control the image acquirer to perform image acquisition according to a third timing sequence, the third timing sequence being configured to cause the image acquirer to perform image acquisition when the at least one locator in the first group of locators and the locators in the second group of locators are synchronously lit.

[0083] In some embodiments, the period corresponding to the first group of timing sequences is different from the period corresponding to the second group of timing sequences.

[0084] In some embodiments, the period of each timing sequence in the first group of timing sequences is the same, and the period of each timing sequence in the second group of timing sequences is the same.

[0085] In some embodiments, the light source pattern of the first group of locators is different from the light source pattern of the second group of locators.

[0086] In some embodiments, the second group of locators comprises a plurality of second locators, and wherein the plurality of second timing sequences corresponding to the plurality of second locators are configured to cause the light sources at the plurality of second locators to be lit sequentially.

[0087] In some embodiments, the light source pattern of the plurality of second locators is the same.

[0088] In some embodiments, the first group of locators comprises a plurality of first locators, and wherein the plurality of first timing sequences corresponding to the plurality of first locators are configured to cause the infrared light sources at the plurality of first locators to be synchronously lit.

[0089] In some embodiments, the light source pattern of the plurality of first locators is different.

[0090] In some embodiments, the apparatus 600 further comprises a timing sequence determination module configured to, in response to detecting that the connection of the second group of locators is completed, determine the timing sequence corresponding to the individual locators in the second group of locators based on the attribute information of the second group of locators, the timing sequence corresponding to the individual locators in the second group of locators being based on the order in which the individual locators in the second group of locators are lit and / or the period in which the second group of locators are sequentially polled to be lit.

[0091] In some embodiments, the attribute information of the second group of locators comprises at least the number of locators in the second group of locators.

[0092] In some embodiments, the period corresponding to the second set of timings is an integer multiple of the period corresponding to the first set of timings, and wherein the integer multiple is determined based on the number of locators in the second set of locators.

[0093] In some embodiments, the second lighting control module 620 is further configured to configure each timing in the second group of timings to each locator in the second group of locators for the first image acquisition cycle; and receive a reply for the configuration of each timing in the second group of timings from each locator in the second group of locators.

[0094] In some embodiments, the image acquisition module 630 is further configured to control the image acquisition device to perform image acquisition for the first image acquisition cycle at least according to the third timing in response to receiving a reply from each locator in the second group of locators regarding the configuration of each timing in the second group of timing within a predetermined time; and the device 600 also includes a configuration failure module, which is configured to determine that the configuration of the second group of timings in the first image acquisition cycle has failed in response to not receiving a reply from one or more locators in the second group of locators within a predetermined time.

[0095] In some embodiments, the device 600 also includes an image analysis module configured to perform image analysis on the first image captured by the image collector to determine the position information and / or posture information corresponding to some of the locators in the second group of locators that are lit at the time of capture of the first image.

[0096] In some embodiments, the device 600 also includes a serial number writing module, which is configured to determine the partial locators in the second group of locators that are lit at the acquisition time of the first image based on the second group of timings; and write the serial numbers of the determined partial locators in the frame information of the first image; the image analysis module includes an information determination module, which is configured to determine that the frame information of the first image contains position information and / or posture information corresponding to the partial locators.

[0097] In some embodiments, the apparatus 600 further includes a number determination module configured to detect a connection status of each locator in the second group of locators to determine whether the number of locators in the second group of locators has changed; and in response to determining that the number of locators in the second group of locators has changed, determine a second group of timings corresponding to the changed second group of locators based on the changed number.

[0098] In some embodiments, the apparatus 600 further includes a timing reconfiguration module configured to receive, from each of the second set of locators, a respective used timing; determine whether the received timing from each of the second set of locators is the same as the second set of timings; and in response to determining that at least one of the received timing from at least one of the second set of locators is not the same as at least one of the second set of timings, reconfigure each of the second set of timings to each of the second set of locators, respectively.

[0099] In some embodiments, the apparatus 600 can be implemented at an extended reality (XR) control device, and the apparatus 600 further includes a connection determination module configured to determine, prior to controlling the first set of locators and the second set of locators to perform the lighting up, that the first set of locators and the second set of locators have been connected to the XR control device.

[0100] In some embodiments, the XR control device includes a head-mounted XR device, and / or wherein the first set of locators are disposed at an XR manipulator.

[0101] The units and / or modules included in the apparatus 600 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, e.g., machine-executable instructions stored on a storage medium. In addition to or alternatively, some or all of the units and / or modules in the apparatus 500 can be implemented at least partially by one or more hardware logic components. As an example and not by way of limitation, example types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SOCs), complex programmable logic devices (CPLDs), etc.

[0102] Figure 7 A block diagram of an electronic device 700 in which one or more embodiments of the disclosure can be implemented is shown. It should be understood that Figure 7 The electronic device 700 illustrated is merely exemplary and should not be construed as limiting the functionality and scope of embodiments described herein. Figure 7 The electronic device 700 illustrated can be used to implement an XR control device 121 of Figure 1

[0103] As Figure 7 ​As shown, the electronic device 700 is in the form of a general-purpose computing device. The components of the electronic device 700 can include, without limitation, one or more processors or processing units 710, a memory 720, a storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. The processing unit 710 can be a real or virtual processor and capable of executing various processing in accordance with programs stored in the memory 720. In a multi-processing system, multiple processing units can execute computer-executable instructions in parallel to improve the processing power of the electronic device 700.

[0104] The electronic device 700 typically includes a plurality of computer storage media. Such media can be volatile and nonvolatile media, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. The memory 720 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 530 can be a removable or non-removable media, and can include machine readable media, such as flash drives, disks, or any other media, which can be capable of storing information and / or data and can be accessed within the electronic device 700.

[0105] The electronic device 700 can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 7 FIG. 7, a disk drive and a floppy disk drive can be provided to read from or write to a removable, non-removable, volatile, or non-volatile media such as a floppy disk. In these cases, each drive can be connected to the bus (not shown) by one or more data media interfaces. The memory 720 can include a computer program product 725 having one or more program modules configured to carry out the various methods or actions of the various embodiments of the present disclosure.

[0106] The communication unit 740 enables communications with other computing devices over communication media. Additionally, the functionality of the components of the electronic device 700 can be implemented in a single computing cluster or a plurality of computer machines capable of communicating over a communication connection. As such, the electronic device 700 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network nodes in the networking environment.

[0107] Input device 750 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. Output device 760 can be one or more output devices, such as a display, a speaker, a printer, etc. Electronic device 700 can also communicate with one or more external devices (not shown) such as a storage device, a display device, etc. through communication unit 740, as desired, in order to obtain further input to electronic device 700, and / or to provide outputs from electronic device 700. Such communication can be effected via an input / output (I / O) interface (not shown).

[0108] According to an example implementation of the present disclosure, there is provided a computer-readable storage medium having computer-executable instructions stored thereon, where the computer-executable instructions are executed by a processor to implement the method described above. According to an example implementation of the present disclosure, there is also provided a computer program product tangibly stored on a non-transitory computer-readable medium and comprising computer-executable instructions, where the computer-executable instructions are executed by a processor to implement the method described above.

[0109] Various aspects of the disclosure are now described with reference to the drawings. In general, the drawings described below are diagrammatic and schematic representations of actual or conceptual structures and processes, and as such, they are not drawn to scale. Certain aspects of the disclosure are described below with reference to flowchart and / or block diagram illustrations of methods, apparatuses, devices, and computer program products according to this disclosure. It will be understood that each block of the flowchart and / or block diagram illustrations, and combinations of blocks in the flowchart and / or block diagram illustrations, can be implemented by computer-readable program instructions.

[0110] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable medium, volatile, non-volatile, removable, and non-removable media implemented in a method or technology for storage of information such as computer readable program instructions. The computer readable program instructions can also be transmitted or received over a computer network, such as the Internet.

[0111] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0112] The computer program product of the present disclosure can be a computer program product, which is a machine-readable medium (media) having instances of the software embodied thereon, such as computer software, firmware, wireless application protocol (WAP), middleware or microcode. For example, a computer program product can be a floppy disk, a CD-ROM, a DVD, a Blu-ray Disc™, a flash drive, a memory stick, a magnetic tape, or a hard disk drive. The machine-readable medium can be a single medium, or multiple media, of the same or different type. The computer program product can be one or more computer program components embodied in medium and / or transmission signals. The computer program product can have one or more computer program components embodied in medium and / or transmission signals.

[0113] The implementations of the disclosure have been described above with the intent to be illustrative rather than limiting. Although the implementations of the disclosure have been described with regard to one or more implementations, it will be recognized that a variety of modifications and changes can be made to these implementations without departing from the broader spirit and scope of the implementations as set forth in the preceding disclosure. For example, certain aspects of the implementations can be performed using hardware, software, and / or firmware, or any combination thereof. The above-described implementations should therefore be regarded as merely illustrative, and not as narrowing the scope of the disclosure, which is defined by the appended claims and their equivalents.

Claims

1. A method for device control, comprising: controlling light sources at each of a first set of locators to perform lighting according to a first set of timings; controlling light sources at each of a second set of locators to perform lighting according to a second set of timings, the first set of timings and the second set of timings being configured to synchronize lighting time of light sources at at least one of the first set of locators with lighting time of light sources at a portion of the second set of locators; and controlling an image collector to perform image collection according to at least a third timing, the third timing being configured to cause the image collector to perform image collection when at least one of the first set of locators and a portion of the second set of locators are synchronously lit. 2.The method of claim 1, wherein a period corresponding to the first set of timings is different from a period corresponding to the second set of timings. 3.The method of claim 1, wherein a period of each timing in the first set of timings is the same, and a period of each timing in the second set of timings is the same. 4.The method of claim 1, wherein a light source pattern of the first set of locators is different from a light source pattern of the second set of locators. 5.The method of claim 1, wherein the second set of locators comprises a plurality of second locators, and wherein a plurality of second timings corresponding to the plurality of second locators are configured to cause light sources at the plurality of second locators to be lit sequentially. 6.The method of claim 5, wherein light source patterns of the plurality of second locators are the same. 7.The method of claim 1, wherein the first set of locators comprises a plurality of first locators, and wherein a plurality of first timings corresponding to the plurality of first locators are configured to cause light sources at the plurality of first locators to be lit synchronously. 8.The method of claim 7, wherein light source patterns of the plurality of first locators are different. 9.The method of claim 1, further comprising determining the second set of timings at least by: in response to detecting that connection of the second set of locators is completed, determining a timing corresponding to each of the second set of locators based on attribute information of the second set of locators, the timing corresponding to each of the second set of locators being based on an order in which each of the second set of locators is lit and / or a period in which the second set of locators are sequentially polled to be lit. 10.The method of claim 9, wherein the attribute information of the second set of locators comprises at least a number of locators in the second set of locators. 11.The method of claim 10, wherein a period corresponding to the second set of timings is an integer multiple of a period corresponding to the first set of timings, and wherein the integer multiple is determined based on the number of locators in the second set of locators. 12.The method of claim 1, wherein controlling light sources at each of the second set of locators to perform lighting according to a second set of timings comprises: for a first image capture period, configuring each timing in the second set of timings to each positioner in the second set of positioners, respectively; and receiving a reply for the configuration of each timing in the second set of timings from each positioner in the second set of positioners, respectively.

13. The method of claim 12, wherein controlling the image capturer to perform image capture according to at least the third timing comprises: in response to receiving the reply for the configuration of each timing in the second set of timings from each positioner in the second set of positioners, respectively, within a predetermined time, controlling the image capturer to perform image capture of the first image capture period according to at least the third timing; and wherein the method further comprises: in response to not receiving the reply from one or more positioners in the second set of positioners within the predetermined time, determining that the configuration of the second set of timings in the first image capture period fails.

14. The method of claim 1, further comprising: performing image analysis on a first image captured by the image capturer to determine position information and / or pose information corresponding to the portion of positioners in the second set of positioners that are lit at a capture time of the first image.

15. The method of claim 14, further comprising: based on the second set of timings, determining the portion of positioners in the second set of positioners that are lit at the capture time of the first image; and writing a sequence number of the determined portion of positioners in frame information of the first image; wherein the determining the position information and / or pose information corresponding to the portion of positioners comprises determining that the position information and / or pose information corresponding to the portion of positioners is included in the frame information of the first image.

16. The method of claim 1, further comprising: detecting a connection status of each positioner in the second set of positioners to determine whether a number of positioners in the second set of positioners changes; and in response to determining that the number of positioners in the second set of positioners changes, determining a changed second set of timings corresponding to the second set of positioners based on the changed number.

17. The method of claim 1, further comprising: receiving a timing used by each positioner in the second set of positioners from each positioner in the second set of positioners, respectively; determining whether the received timing from each positioner in the second set of positioners is the same as the second set of timings; and in response to determining that at least one of the received timings from at least one positioner in the second set of positioners is not the same as at least one of the second set of timings, reconfiguring each timing in the second set of timings to each positioner in the second set of positioners, respectively.

18. The method of claim 1, wherein the method is implemented at an extended reality (XR) control device, and the method further comprises: prior to controlling the first set of positioners and the second set of positioners to perform lighting, determining that the first set of positioners and the second set of positioners are connected to the XR control device. ​ ​ ​ 19. The method of claim 18, wherein the XR control device is deployed at a head-mounted XR device, and / or wherein the first set of positioners are deployed at an XR manipulator.

20. An apparatus for device control, comprising: a first illumination control module configured to control light sources at individual positioners in a first set of positioners to perform illumination according to a first set of timing; a second illumination control module configured to control light sources at individual positioners in a second set of positioners to perform illumination according to a second set of timing, the first set of timing and the second set of timing being configured to synchronize illumination timing of light sources at at least one positioner in the first set of positioners with illumination timing of light sources at a portion of positioners in the second set of positioners; and an image acquisition module configured to control an image acquirer to perform image acquisition at least according to a third timing, the third timing being configured to cause the image acquirer to perform image acquisition when at least one positioner in the first set of positioners and a portion of positioners in the second set of positioners are synchronously illuminated.

21. An electronic device, comprising: at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions when executed by the at least one processing unit cause the electronic device to perform the method of any of claims 1-19.

22. A computer-readable storage medium having stored thereon a computer program, the computer program executable by a processor to implement the method of any of claims 1-19.

23. A computer program product tangibly stored in a computer storage medium and comprising computer-executable instructions that, when executed by a device, cause the device to perform the method of any of claims 1-19. ​

Images