Walking redirection control method, device and storage medium in virtual reality space

Abstract

The present invention discloses a walking redirection control method, device and storage medium in a virtual reality (VR) space. The method comprises: obtaining the posture information of a VR terminal; determining a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on simultaneous localization and mapping (SLAM); performing contour extraction on the three-dimensional point cloud map to determine the boundary corresponding to the activity range of the VR terminal; determining the predicted posture of the VR terminal based on the posture information, and adjusting the walking speed of the VR terminal in the VR space according to the predicted posture and the boundary.

Description

Technical Field

[0001] The present invention relates to virtual reality (VR), and in particular to a walking redirection control method, device and storage medium in a VR space. Background Art

[0002] With the booming development of VR technology, users can enjoy an immersive experience in the virtual world (i.e., virtual reality space) by wearing different types of VR devices. VR devices enable information interaction between the real world and the virtual world, among which a very important interactive technology is how to achieve free walking in the virtual reality space.

[0003] In the related technology, the outside-in method is to arrange the positioning tracker in the environment in advance, but this not only requires the environment to be modified in advance, but may not be applicable to all environments. In addition, the processor that realizes the adjustment of step length and walking deflection angle will also increase the computing burden of the local end. This processing method is not suitable for all-in-one VR devices. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide a method, device and storage medium for controlling walking redirection in a VR space, aiming to timely enable walking redirection in a VR space and realize free walking in virtual reality.

[0005] The technical solution of the embodiment of the present invention is achieved as follows:

[0006] An embodiment of the present invention provides a walking redirection control method in a virtual reality (VR) space, comprising:

[0007] Get the posture information of the VR terminal;

[0008] Determine a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on simultaneous localization and mapping (SLAM);

[0009] Extracting contours of the three-dimensional point cloud map to determine a boundary corresponding to the activity range of the VR terminal;

[0010] The walking of the VR terminal is predicted based on the posture information and the boundary, and the walking in the VR space is redirected according to the prediction result.

[0011] The embodiment of the present invention further provides a walking redirection control device in a VR space, comprising:

[0012] The acquisition module is used to obtain the posture information of the VR terminal;

[0013] A map construction module, used to determine a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on real-time positioning and map construction SLAM;

[0014] A boundary determination module, used to extract the contour of the three-dimensional point cloud map and determine the boundary corresponding to the activity range of the VR terminal;

[0015] A redirection module is used to predict the walking of the VR terminal based on the posture information and the boundary, and redirect the walking in the VR space according to the prediction result.

[0016] An embodiment of the present invention further provides a walking redirection control device in a VR space, comprising: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor is used to execute the steps of the method described in the embodiment of the present invention when running the computer program.

[0017] An embodiment of the present invention further provides a walking redirection control system in a VR space, comprising: a VR terminal and a server, wherein the server is communicatively connected to the VR terminal; and the server is used for the steps of the method described in the embodiment of the present invention.

[0018] An embodiment of the present invention further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the embodiment of the present invention are implemented.

[0019] The technical solution provided by the embodiment of the present invention obtains the posture information of the VR terminal, determines the three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on SLAM, extracts the contour of the three-dimensional point cloud map, determines the boundary corresponding to the activity range of the VR terminal, determines the predicted posture of the VR terminal based on the posture information, and adjusts the walking speed of the VR terminal in the VR space according to the predicted posture and the boundary. There is no need to pre-arrange a positioning tracker in the environment. The walking of the VR terminal in the VR space can be predicted based on the posture information of the VR terminal and the boundary corresponding to the activity range of the VR terminal without modifying the environment, and then redirection is enabled according to the prediction result, thereby guiding the user to walk safely in the real environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of a flow chart of a walking redirection control method in a VR space according to an embodiment of the present invention;

[0021] Figure 2 This is a structural diagram of a VR control system according to an application example of the present invention;

[0022] Figure 3 It is a flow chart of a walking redirection control method in a VR space according to an application example of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a walking redirection control device in a VR space according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a walking redirection control device in a VR space according to an embodiment of the present invention;

[0025] Figure 6 Schematic diagram of the structure of a walking redirection control system in a VR space according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0028] In the related art, in order to allow users wearing VR terminals (also known as VR devices) to walk freely in VR space in a real environment with limited space, there are mainly the following methods:

[0029] Method 1: Use external devices to achieve unlimited walking in VR space. Fix the user wearing the VR headset in a specific area, similar to the principle of a treadmill, to achieve active walking under natural conditions. Or VR users can achieve space walking through the handheld controller buttons and the prompt screen in the headset, but this kind of walking is passively accepting the space walking under the pre-set walking route.

[0030] The second method is to achieve spatial walking through software control, which specifically includes: one is to design the architectural features of the virtual environment based on the content, and to achieve unlimited walking in a limited space by manipulating and changing the architectural features of the virtual environment, such as changing the orientation of doors and corridors in the virtual environment; the other is to control the mapping relationship between the translation and rotation of the user's physical world and the virtual world, thereby guiding the user away from the edge of the space and physical obstacles.

[0031] For method 1, it is often necessary to deploy the positioning tracker in the environment in advance. However, this not only requires the environment to be modified in advance, but may not be applicable to all environments. In addition, the processor that adjusts the step distance and walking deflection angle will also increase the computing burden on the local end. This processing method is more suitable for wired connections between head-mounted display devices and processors or PC devices, and is not suitable for all-in-one VR devices.

[0032] For the second method, if the VR device walking in space is likely to touch the physical boundary, the control needs to be turned on in time. On the one hand, if it is impossible to predict whether the target is about to touch the boundary, that is, the perspective rendering screen cannot be updated in time, it will also cause a delay in the subsequent screen rendering and display, affecting the user's walking experience; on the other hand, if the relocation command is turned on through human intervention, the system needs to determine whether it is the preset voice data for relocation, which will also affect the user's immersive experience.

[0033] Based on this, in various embodiments of the present invention, the walking of the VR terminal in the VR space is predicted based on the posture information of the VR terminal and the boundary corresponding to the activity range of the VR terminal, and then walking redirection is enabled according to the prediction result, thereby guiding the user to walk safely in the real environment.

[0034] The embodiment of the present invention provides a walking redirection control method in a VR space, such as Figure 1 As shown, the method includes:

[0035] Step 101, obtaining the posture information of the VR terminal;

[0036] In one embodiment, a walking redirection control method in a VR space is applied to a server, and the server is communicatively connected to a VR terminal, and the VR terminal may be an all-in-one VR machine.

[0037] In one embodiment, a camera and an inertial measurement unit (IMU) are provided on the VR terminal, the camera can collect image information of the environment in which the VR terminal is located, and the IMU can measure the posture data corresponding to the VR terminal. Specifically, the camera can adopt a binocular camera, and collect image information of the physical environment in real time through the binocular camera at the same frequency. The IMU may include a gyroscope and an accelerometer, and collect the angular velocity and angular acceleration of the VR terminal in real time, such as collecting the angular velocity and angular acceleration data information of the pitch angle, roll angle, heading angle, etc. of the VR terminal, thereby generating posture data.

[0038] The VR terminal transmits the locally collected image information and posture data to the server. The server receives the image information and posture data of the VR terminal, performs data fusion on the image information and posture data, and determines the current posture information corresponding to the VR terminal, which includes the position and posture of the VR terminal. Specifically, the server can make a difference between the posture solved by the IMU and the posture determined by the image information, and use the result of the difference as an external quantity. The Kalman filter is used to perform data fusion on the posture data and image information, and the posture data and image information are mutually corrected to obtain the corrected posture data and image information, thereby obtaining the position and posture of the VR terminal in the current physical environment, and realizing the precise positioning of the VR terminal.

[0039] In an application example, the VR terminal can pre-process the image information and posture data collected locally, and send the pre-processed image information and posture data to the server. The posture data can be sent to the server in the form of quaternions, thereby reducing the amount of data transmission.

[0040] Step 102, determining a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on simultaneous localization and mapping (SLAM);

[0041] In one embodiment, a three-dimensional point cloud map is established based on SLAM for the image information corresponding to the three-dimensional environment of the VR terminal. Specifically, multiple consecutive frames of image information corresponding to the three-dimensional environment of the VR terminal are spliced ​​to establish the three-dimensional point cloud map.

[0042] Step 103, extracting the contour of the three-dimensional point cloud map to determine the boundary corresponding to the activity range of the VR terminal;

[0043] In one embodiment, extracting the contour of the three-dimensional point cloud map to determine the boundary corresponding to the activity range of the VR terminal includes:

[0044] The three-dimensional point cloud map is grid-divided, and point clouds are screened based on a set confidence level to obtain a three-dimensional point cloud with a confidence level that meets the requirements;

[0045] The contour of the three-dimensional point cloud is extracted based on a random sampling consensus (RANSAC) algorithm to determine a boundary corresponding to the activity range of the VR terminal.

[0046] In practical applications, the number of points in a 3D point cloud map is usually between 100,000 and 300,000, and further point cloud screening is required. First, the 3D point cloud map is divided into grids of uniform size, and the confidence filter is used to filter the point clouds with low confidence in each grid, retaining the point cloud structure with high point density in the grid. The RANSAC algorithm is used to extract the contours of the retained high-density point cloud structure, retaining its linear structure, and then determining the physical boundary of the walkable area.

[0047] Step 104: determine a predicted posture of the VR terminal based on the posture information, and adjust a walking speed of the VR terminal in the VR space according to the predicted posture and the boundary.

[0048] In one embodiment, determining the predicted posture of the VR terminal based on the posture information includes:

[0049] The current posture of the VR terminal is reprojected in a three-dimensional point cloud map corresponding to the environment where the VR terminal is located, and the predicted posture of the VR terminal is determined according to the current moving speed of the VR terminal.

[0050] In actual application, the current posture of the VR terminal is reprojected in the three-dimensional point cloud map corresponding to the environment where the VR terminal is located. According to the current moving speed of the VR terminal, the posture within n frames after the current moment can be predicted, where n is a natural number greater than 1.

[0051] In one embodiment, adjusting the walking speed of the VR terminal in the VR space according to the predicted posture and the boundary includes:

[0052] When it is determined based on the predicted posture that the VR terminal will touch the boundary, the straight-line speed and / or the turning angular velocity of the VR terminal rendering walking in the VR space are adjusted.

[0053] In actual application, if the posture determined by more than n / 2 frames exceeds the above boundary, it is considered that redirected walking is required. The straight-line walking speed and angular velocity can be calculated based on the position and time corresponding to the predicted posture (the camera has a fixed frame rate, so the time can be known). The rendered picture can be slowed down and accelerated according to the current user's movement speed. Specifically, the straight-line walking speed and / or the angular velocity of turning in the VR space are adjusted, and the adjustment range can be between 15% slower and 25% faster for the straight-line speed, and between 20% slower and 40% faster for the angular velocity.

[0054] The method of the embodiment of the present invention predicts the walking of the VR terminal based on the posture information and the boundary, and redirects the walking in the VR space according to the prediction result, without pre-arranging a positioning tracker in the environment. The walking of the VR terminal in the VR space can be predicted based on the posture information of the VR terminal and the boundary corresponding to the activity range of the VR terminal without modifying the environment, and then redirection is started according to the prediction result, thereby guiding the user to walk safely in the real environment.

[0055] In addition, the method of the embodiment of the present invention applies a server to receive the collected information uploaded by the VR terminal through the server, thereby realizing an inside-out VR positioning method, which can give full play to the processing and storage capabilities of the cloud, while reducing the network resource usage and terminal computing consumption during data interaction between the cloud and the terminal, ensuring the continuity of the user's walking while improving the user experience, and is suitable for VR all-in-one machines.

[0056] The present invention is further described in detail below in conjunction with application examples.

[0057] Figure 2 It is a structural schematic diagram of a VR control system according to an application embodiment of the present invention. Figure 3 It is a flow chart of a walking redirection control method in a VR space according to an application example of the present invention.

[0058] In this application example, Figure 2 As shown, the VR control system includes: a terminal and a cloud service. The terminal side includes a data acquisition module and a local computing module; the cloud service includes a network edge computing module and a network edge storage module. Among them:

[0059] The data acquisition module adopts the inside-out positioning and tracking method in VR, and uses the built-in binocular camera in the terminal-side VR all-in-one machine to collect image information of the physical environment in real time at the same frequency. The built-in IMU includes a gyroscope and an accelerometer, which collects the angular velocity and angular acceleration data of the VR all-in-one machine in real time.

[0060] The local computing module pre-processes the image information and IMU data collected by the binocular camera in the data acquisition module, transmits the data obtained by the IMU to the cloud (i.e., cloud service) in the form of quaternions, and transmits the processed images to the cloud.

[0061] The network edge computing module includes functions such as realizing VR all-in-one positioning, environmental mapping and redirection. The VR all-in-one positioning function is to use the SLAM front-end technology to fuse the two parts of data transmitted from the terminal side and correct each other to determine the position and posture information of the VR all-in-one in the current physical environment, so as to realize the precise positioning of the VR all-in-one. The environmental mapping function is to use the SLAM back-end technology to establish a three-dimensional point cloud map of the real physical environment where the VR user is located in real time during the continuous movement of the VR all-in-one. The point cloud is divided into grids of uniform size, and the point cloud in each grid is screened, and only the point cloud with a confidence level higher than a certain threshold is retained. The retained point cloud is contour extracted to finally determine the physical environment boundary. The redirection function is used to predict the user's behavior in the real environment when the VR all-in-one may touch the real environment boundary or obstacle, and to induce the user's perspective in the virtual environment in a timely manner, so that the user is in a safe area in the real environment.

[0062] The network edge storage module includes real-time storage of the VR all-in-one machine position, posture results and the physical boundaries determined by the continuously updated processed real environment point cloud map in the network edge computing module, and the network edge computing module retrieves the data of the network edge storage module in real time.

[0063] like Figure 3 As shown, the method of this application embodiment includes the following steps:

[0064] 1. This system runs VR terminals and mobile network edge servers (i.e., cloud services) at the same time. VR terminals use binocular cameras to collect image information of the same feature distributed in two cameras and IMU to collect angular velocity and acceleration data such as pitch angle, roll angle, and heading angle in real time, and interact with the mobile network edge server in real time. After receiving the data transmitted by the terminal side, the edge network performs data fusion and corrects the camera data and IMU data to each other.

[0065] 2. Use the efficient processing power of the edge server and SLAM technology to build a 3D point cloud map of the 3D environment of the VR device in real time. The number of environmental point clouds is often between 100,000 and 300,000, and further point cloud screening is required. First, divide the 3D point cloud map into grids of uniform size, use a confidence filter to filter the point clouds with low confidence in each grid, and retain the point cloud structure with a higher point density in the grid. Use the random sampling consensus (RANSAC) algorithm to extract the contours of the retained high-density point cloud structure, retain its linear structure, and then determine the physical boundary of the walkable area.

[0066] 3. Implement the probability prediction algorithm through the physical boundary of the current environment determined in step 2, and predict the translation and rotation data of users in the real world and virtual world at the same time, and the edge computing module will redirect the walking. The redirected walking process will dynamically adjust the straight speed and the angular velocity of the turn according to the corresponding mapping relationship between the virtual world and the current mapping environment and the probability prediction results. The adjustment range is generally to slow down the straight speed by 15% or speed up by 25%, and slow down the angular velocity of the turn by 20% or increase it by 40%.

[0067] In order to implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a walking redirection control device in a VR space, which is arranged on a server, such as Figure 4 As shown, the device includes: an acquisition module 401, a map construction module 402, a boundary determination module 403, and a redirection module 404. Among them:

[0068] The acquisition module 401 is used to acquire the posture information of the VR terminal;

[0069] A map construction module 402, configured to determine a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on real-time positioning and map construction SLAM;

[0070] The boundary determination module 403 is used to extract the contour of the three-dimensional point cloud map to determine the boundary corresponding to the activity range of the VR terminal;

[0071] The redirection module 404 is used to determine the predicted posture of the VR terminal based on the posture information, and adjust the walking speed of the VR terminal in the VR space according to the predicted posture and the boundary.

[0072] In one embodiment, the acquisition module 401 is specifically used for:

[0073] The image information collected by the camera on the VR terminal and the posture data measured by the inertial measurement unit IMU are fused to determine the current position and current posture of the VR terminal.

[0074] In one embodiment, the map construction module 402 is specifically used for:

[0075] A three-dimensional point cloud map is established based on SLAM based on the image information corresponding to the three-dimensional environment of the VR terminal.

[0076] In one embodiment, the boundary determination module 403 is specifically used to:

[0077] The three-dimensional point cloud map is grid-divided, and point clouds are screened based on a set confidence level to obtain a three-dimensional point cloud with a confidence level that meets the requirements;

[0078] The contour of the three-dimensional point cloud is extracted based on a random sampling consensus algorithm to determine the boundary corresponding to the activity range of the VR terminal.

[0079] In one embodiment, the redirection module 404 is specifically used to:

[0080] The current posture of the VR terminal is reprojected in a three-dimensional point cloud map corresponding to the environment where the VR terminal is located, and the predicted posture of the VR terminal is determined according to the current moving speed of the VR terminal.

[0081] In one embodiment, the redirection module 404 is specifically used to:

[0082] When it is determined based on the predicted posture that the VR terminal will touch the boundary, the straight-line speed and / or the turning angular velocity of the VR terminal rendering walking in the VR space are adjusted.

[0083] In actual application, the acquisition module 401, the map construction module 402, the boundary determination module 403 and the redirection module 404 can be implemented by a processor in the walking redirection control device in the VR space. Of course, the processor needs to run the computer program in the memory to realize its function.

[0084] It should be noted that: the walking redirection control device in VR space provided in the above embodiment only uses the division of the above program modules as an example when performing walking redirection control in VR space. In actual application, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the walking redirection control device in VR space provided in the above embodiment and the walking redirection control method embodiment in VR space belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0085] Based on the hardware implementation of the above program modules and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a walking redirection control device in a VR space. Figure 5 Only an exemplary structure of the walking redirection control device in the VR space is shown, not all structures, and can be implemented as needed. Figure 5 Partial or complete structure shown.

[0086] like Figure 5 As shown, the walking redirection control device 500 in the VR space provided by the embodiment of the present invention includes: at least one processor 501, a memory 502 and at least one network interface 503. The various components in the walking redirection control device 500 in the VR space are coupled together through a bus system 504. It can be understood that the bus system 504 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 504 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 5 Various buses are labeled as bus system 504 .

[0087] The memory 502 in the embodiment of the present invention is used to store various types of data to support the operation of the walking redirection control device in the VR space. Examples of such data include: any computer program for operating on the walking redirection control device in the VR space.

[0088] The walking redirection control method in VR space disclosed in the embodiment of the present invention can be applied to the processor 501, or implemented by the processor 501. The processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the walking redirection control method in VR space can be completed by the hardware integrated logic circuit in the processor 501 or the instructions in the form of software. The above-mentioned processor 501 can be a general 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 501 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or a combination of hardware and software modules in the decoding processor to execute. The software module can be located in a storage medium, and the storage medium is located in the memory 502. The processor 501 reads the information in the memory 502 and completes the steps of the walking redirection control method in VR space provided by the embodiment of the present invention in combination with its hardware.

[0089] In an exemplary embodiment, the walking redirection control device in the VR space can be implemented by one or more application-specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), FPGA, general-purpose processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0090] It can be understood that the memory 502 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 disk, 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 invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0091] The embodiment of the present invention also provides a walking redirection control system in a virtual reality VR space, such as Figure 6 As shown, the system includes: a VR terminal 601 and a server 602, wherein the server 602 is in communication connection with the VR terminal 601; the server 602 is used to execute the steps of the method described in the embodiment of the present invention, which will not be repeated here.

[0092] In an exemplary embodiment, the present invention also provides a storage medium, namely a computer storage medium, which may be a computer-readable storage medium, for example, a memory 502 storing a computer program, and the computer program may be executed by a processor 501 of a walking redirection control device in a VR space to complete the steps described in the method of the present invention. The computer-readable storage medium may be a memory such as a ROM, a PROM, an EPROM, an EEPROM, a Flash Memory, a magnetic surface memory, an optical disk, or a CD-ROM.

[0093] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0094] In addition, the technical solutions described in the embodiments of the present invention can be arbitrarily combined without conflict.

[0095] 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 can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A walking redirection control method in a virtual reality (VR) space, characterized in that: Applied to a server, the server is communicatively connected with a VR terminal, and the method comprises: Obtaining the position information of the VR terminal; Determine a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on real-time positioning and map construction SLAM; Extracting contours of the three-dimensional point cloud map to determine a boundary corresponding to the activity range of the VR terminal; Determine a predicted posture of the VR terminal based on the posture information, and adjust a walking speed of the VR terminal in the VR space according to the predicted posture and the boundary; Among them, the server is a mobile network edge server, and the VR terminal is a VR all-in-one machine.

2. The method according to claim 1, characterized in that The obtaining of the posture information of the VR terminal includes: The image information collected by the camera on the VR terminal and the posture data measured by the inertial measurement unit IMU are fused to determine the current position and current posture of the VR terminal.

3. The method according to claim 1, characterized in that The method of determining the three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on SLAM includes: A three-dimensional point cloud map is established based on SLAM for image information corresponding to the three-dimensional environment passed by the VR terminal.

4. The method according to claim 1, characterized in that: The extracting the contour of the three-dimensional point cloud map to determine the boundary corresponding to the activity range of the VR terminal includes: The three-dimensional point cloud map is grid-divided, and point clouds are screened based on a set confidence level to obtain a three-dimensional point cloud with a confidence level that meets the requirements; The contour of the three-dimensional point cloud is extracted based on a random sampling consensus algorithm to determine the boundary corresponding to the activity range of the VR terminal.

5. The method according to claim 1, characterized in that The determining the predicted posture of the VR terminal based on the posture information includes: The current posture of the VR terminal is reprojected in a three-dimensional point cloud map corresponding to the environment where the VR terminal is located, and the predicted posture of the VR terminal is determined according to the current moving speed of the VR terminal.

6. The method according to claim 1, characterized in that The adjusting the walking speed of the VR terminal in the VR space according to the predicted posture and the boundary includes: When it is determined based on the predicted posture that the VR terminal will touch the boundary, the straight-line speed and / or the turning angular velocity of the VR terminal rendering walking in the VR space are adjusted.

7. A walking redirection control device in a VR space, characterized in that: Applied to a server, the server is connected to a VR terminal for communication, and the device comprises: An acquisition module, used to acquire the position information of the VR terminal; A map construction module, used to determine a three-dimensional point cloud map corresponding to the environment where the VR terminal is located based on SLAM; A boundary determination module, used to extract the contour of the three-dimensional point cloud map and determine the boundary corresponding to the activity range of the VR terminal; A redirection module, used to determine a predicted posture of the VR terminal based on the posture information, and adjust a walking speed of the VR terminal in the VR space according to the predicted posture and the boundary; Among them, the server is a mobile network edge server, and the VR terminal is a VR all-in-one machine.

8. The device according to claim 7, characterized in that The acquisition module is specifically used for: The image information collected by the camera on the VR terminal and the posture data measured by the inertial measurement unit IMU are fused to determine the current position and current posture of the VR terminal.

9. The device according to claim 7, characterized in that The map construction module is specifically used for: A three-dimensional point cloud map is established based on SLAM for image information corresponding to the three-dimensional environment passed by the VR terminal.

10. The device according to claim 7, characterized in that The boundary determination module is specifically used for: The three-dimensional point cloud map is grid-divided, and point clouds are screened based on a set confidence level to obtain a three-dimensional point cloud with a confidence level that meets the requirements; The contour of the three-dimensional point cloud is extracted based on a random sampling consensus algorithm to determine the boundary corresponding to the activity range of the VR terminal.

11. The device according to claim 7, characterized in that The redirection module is specifically used for: The current posture of the VR terminal is reprojected in a three-dimensional point cloud map corresponding to the environment where the VR terminal is located, and the predicted posture of the VR terminal is determined according to the current moving speed of the VR terminal.

12. The device according to claim 7, characterized in that The redirection module is specifically used for: When it is determined based on the predicted posture that the VR terminal will touch the boundary, the straight-line speed and / or the turning angular velocity of the VR terminal rendering walking in the VR space are adjusted.

13. A walking redirection control device in a virtual reality (VR) space, characterized in that: Applied to a server, the server is in communication with a VR terminal, the server is a mobile network edge server, the VR terminal is a VR all-in-one machine, the device comprises: a processor and a memory for storing a computer program that can be run on the processor, wherein: The processor is used to execute the steps of the method according to any one of claims 1 to 6 when running a computer program.

14. A walking redirection control system in a virtual reality (VR) space, characterized in that: include: A VR terminal and a server, wherein the server is communicatively connected with the VR terminal; The server is a mobile network edge server, and the VR terminal is a VR all-in-one machine; The server is used to execute the steps of the method according to any one of claims 1 to 6.

15. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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