A method, device, electronic device and storage medium for establishing a spatial anchor point

Abstract

The invention belongs to the technical field of virtual reality, and specifically relates to a method, device, electronic device and storage medium for establishing a spatial anchor point. This application changes the material in the physical environment image so that the spatial anchor point can be arranged in places where the spatial anchor point cannot be arranged in the prior art, thereby improving the flexibility of the spatial anchor point arrangement, making it more flexible when adding virtual elements, and promoting the development of virtual reality technology. A method for establishing a spatial anchor point, comprising: obtaining a first physical environment image of the current physical environment; determining a first target position in the first physical environment image where a spatial anchor point can be directly established according to preset rules, and outputting the first target position; when it is determined that the second target position selected by the user is different from the first target position, overwriting the target material picture on the second target position; and establishing a spatial anchor point at the overwritten second target position.

Description

Technical Field

[0001] The present invention belongs to the technical field of virtual reality, and specifically relates to a method, device, electronic device and storage medium for establishing a spatial anchor point. Background Art

[0002] A spatial anchor is a visual anchor in the real world. Users use a mobile device or head-mounted AR device (such as a smartphone or HoloLens) to set an anchor point in the real world and associate virtual content, such as a hologram, with the anchor point. The system then generates a map based on the current environment. When the user returns to the same location, they can access the previously associated virtual content at the original location.

[0003] However, there are many limitations in the setting of spatial anchor points in the existing technology. Spatial anchor points cannot be arbitrarily arranged at any location in a physical environment, which makes the arrangement of spatial anchor points and the addition of virtual elements lose a lot of flexibility, affecting the further development of virtual reality technology. Summary of the Invention

[0004] To address the above technical issues, the present invention proposes a method, device, electronic device, and storage medium for establishing spatial anchor points. By modifying the material in the physical environment image, this application enables spatial anchor point placement in locations where it is not possible to place them in the prior art. This improves the flexibility of spatial anchor point placement, allows for greater flexibility in adding virtual elements, and promotes the development of virtual reality technology.

[0005] To solve the above technical problems, the technical solution adopted by the present invention includes four aspects.

[0006] In a first aspect, a method for establishing a spatial anchor point is provided, including: obtaining a first physical environment image of a current physical environment; determining a first target position in the first physical environment image at which a spatial anchor point can be directly established according to preset rules, and outputting the first target position; when it is determined that a second target position selected by a user is different from the first target position, overlaying a target material image on the second target position; and establishing a spatial anchor point at the overlaid second target position.

[0007] In some embodiments, the method further includes: generating spatial anchor point information from the spatial anchor point, the first spatial representation information of the current physical environment corresponding to the spatial anchor point, the modified second spatial representation information of the current physical environment, and the target material information; and storing the spatial anchor point information.

[0008] In some embodiments, the method further includes: determining whether the user arrives at the current physical environment for the first time based on the first physical environment image; wherein, when it is determined that the user arrives at the current physical environment for the first time, determining a first target position in the first physical environment image in which a spatial anchor point can be directly established according to preset rules, and outputting the first target position.

[0009] In some embodiments, determining whether the user has arrived at the current physical environment for the first time based on the first physical environment image includes: obtaining first spatial representation information of the first physical environment image; determining whether spatial anchor point information with a similarity greater than a similarity threshold is stored based on the first spatial representation information; wherein, when there is no spatial anchor point information with a similarity greater than the similarity threshold, it is determined that the user has arrived at the current physical environment for the first time.

[0010] In some embodiments, the method further includes: when there is spatial anchor point information with a similarity greater than a similarity threshold, searching whether spatial anchor point information corresponding to the current physical environment is stored; when it is determined that corresponding spatial anchor point information is stored, downloading the spatial anchor point information.

[0011] In some embodiments, when there is spatial anchor point information with a similarity greater than a similarity threshold, searching whether spatial anchor point information corresponding to the current physical environment is stored includes: when there is spatial anchor point information with a similarity greater than a similarity threshold, obtaining target spatial anchor point information with a similarity greater than the similarity threshold; placing the target material in the target spatial anchor point information to a corresponding position in the first physical environment image to form temporary spatial anchor point information; obtaining temporary second spatial representation information in the temporary spatial anchor point information; comparing the temporary second spatial representation information with the second spatial representation information in the target spatial anchor point information to determine whether the target spatial anchor point information is the spatial anchor point information corresponding to the current physical environment.

[0012] In some embodiments, determining the first target position in the first physical environment image at which a spatial anchor point can be directly established according to preset rules and outputting the first target position includes: obtaining the reflectivity of each area in the first physical environment image and the color difference value between each area; determining the area whose reflectivity is less than or equal to the first reflection threshold and whose color difference value is greater than or equal to the first color difference threshold as the first target position, and outputting the first target position.

[0013] In the second aspect, the present application proposes a spatial anchor point establishment device, including: a first acquisition module, used to acquire a first physical environment image of the current physical environment; a first determination module, used to determine a first target position in the first physical environment image where a spatial anchor point can be directly established according to preset rules, and output the first target position; a second determination module, used to overwrite the target material image on the second target position when it is determined that the second target position selected by the user is different from the first target position; a first execution module, used to establish a spatial anchor point at the second target position after being covered.

[0014] A third aspect provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of a method for establishing a spatial anchor point when executing the computer program.

[0015] A fourth aspect provides a storage medium, which stores a computer program that can be executed by one or more processors, and the computer program can be used to implement the steps of any one of the spatial anchor point establishment methods in the first aspect.

[0016] The beneficial effects created by the present invention are as follows: By changing the materials in the physical environment image, the present application enables spatial anchor points to be arranged in places where they cannot be arranged in the prior art, thereby improving the flexibility of spatial anchor point arrangement, making it more flexible to add virtual elements, and promoting the development of virtual reality technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings, which include:

[0018] Figure 1 An overall flow chart of a method for establishing a spatial anchor point provided in an embodiment of the present application;

[0019] Figure 2 This is a structural block diagram of a spatial anchor point establishment device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0022] If similar descriptions of "first\second\third" appear in the application documents, the following explanation will be added. In the following description, the terms "first\second\third" are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0024] Example 1:

[0025] In view of the problems existing in the background technology, such as Figure 1 As shown, the present application provides a method for establishing a spatial anchor point, which is applied to an electronic device, which can be a server, a mobile terminal, a computer, a cloud platform, etc. The functions implemented by the device data processing provided in the embodiments of the present application can be implemented by calling program code by the processor of the electronic device, wherein the program code can be stored in a computer storage medium. The method for establishing a spatial anchor point includes:

[0026] Step S11: Acquire a first physical environment image of the current physical environment.

[0027] The user images the physical environment through a camera or HMD (Head Mounted Display). The camera is a visible light camera (e.g., an RGB camera or a grayscale camera). Of course, two or more cameras can also be used to capture image data, including a visible light camera and a depth camera.

[0028] Step S12: determining a first target position in the first physical environment image where a spatial anchor point can be directly established according to a preset rule, and outputting the first target position.

[0029] Not all locations in the first physical environment image can directly establish spatial anchor points. For those areas with high reflectivity or small color difference from the surrounding area, spatial anchor points cannot be directly established, which is also a disadvantage of the existing technology.

[0030] In some embodiments, step S12 of “determining, according to a preset rule, a first target position in the first physical environment image where a spatial anchor point can be directly established, and outputting the first target position” includes:

[0031] Step S121: Obtain the reflectivity of each area in the first physical environment image and the color difference value between each area.

[0032] Step S122: determining a region whose reflectivity is less than or equal to a first reflectivity threshold and whose color difference value is greater than or equal to the first color difference threshold as a first target position, and outputting the first target position.

[0033] By determining the first target position, the positions where spatial anchor points can be directly established are marked, and the remaining positions are those where spatial anchor points cannot be directly established.

[0034] Step S13: When it is determined that the second target position selected by the user is different from the first target position, the target material picture is overlaid on the second target position.

[0035] Here, we first need to obtain the location where the user wants to establish a spatial anchor point. The location selected by the user to establish the spatial anchor point is set as the second target location. We then determine whether the second target location is within the first target location. If it is not, then the second target location is considered different from the first target location. In this case, the second target location cannot directly establish a spatial anchor point within the existing location, so it needs to be processed first.

[0036] During processing, the existing material in the material library can be selected to cover the second target position, so that the second target position covered by the material can meet the preset rules. That is, the reflectivity of the second target position is less than or equal to the first reflectivity threshold and the color difference between the second target position and the surrounding area is greater than or equal to the first color difference threshold. Of course, in this application, targeted target elements can also be designed based on the actual reflectivity of the second target position and the color difference with the surrounding area. Then the target element is covered to the second target position, so that the covered second target position can directly establish a spatial anchor point.

[0037] Step S14: establishing a spatial anchor point at the covered second target position.

[0038] When a spatial anchor point can be directly established at the second target location, a spatial anchor point is directly established at the covered second target location. A virtual identifier is associated with the spatial anchor point based on user needs. This virtual identifier can be a virtual item, a label, or a note.

[0039] After establishing a spatial anchor point for the current physical environment image and associating a virtual identifier with the spatial anchor point, the final setting result needs to be saved for continued use the next time the user arrives at the current physical environment. Therefore, in some embodiments, the method further includes:

[0040] Step S15: Generate spatial anchor point information by combining the spatial anchor point, the first spatial representation information of the current physical environment corresponding to the spatial anchor point, the modified second spatial representation information of the current physical environment, and the target material information.

[0041] Step S16: storing the spatial anchor point information.

[0042] The storage method can be local, server, cloud or cloud server, etc.

[0043] Of course, after reaching the current physical environment, in order to save the user's time, you can try to retrieve the spatial anchor point information generated in the current physical environment so that the user can view or modify it.

[0044] Therefore, in some embodiments, after step S11 of "obtaining a first physical environment image of the current physical environment", the method further includes:

[0045] Step 17: Determine whether the user arrives at the current physical environment for the first time based on the first physical environment image.

[0046] Before retrieving the spatial anchor point information generated by the user in the current physical environment, it is necessary to first determine whether the user has entered the current physical environment for the first time. If it is determined that this is the user's first time in the current physical environment, a first target location in the first physical environment image at which a spatial anchor point can be directly established is determined according to preset rules and the first target location is output.

[0047] In some embodiments, step S17 of “determining whether the user enters the current physical environment for the first time based on the first physical environment image” includes:

[0048] Step S21: Acquire first spatial representation information of the first physical environment image.

[0049] The spatial representation information is in the form of a sparse point cloud determined by the image data.

[0050] Step S22: determining whether spatial anchor point information having a similarity greater than a similarity threshold is stored according to the first spatial representation information.

[0051] The first spatial representation information is uploaded and compared with the spatial anchor information to determine the similarity between the first physical environment image and the spatial anchor information. When the similarity exceeds a similarity threshold, the spatial anchor information is considered similar to the first physical environment image. If no spatial anchor information with a similarity greater than the similarity threshold exists in the stored spatial anchor information, it is determined that the user has entered the current physical environment for the first time.

[0052] In order to reduce workload, power consumption and computing power usage. Therefore, in this application, the stored spatial anchor information is first searched for spatial anchor information similar to the first physical environment image. The reason for the similarity here is that although the user can go to the same physical environment, when making the first physical environment image, the first spatial representation information obtained from the first physical environment image will be different due to the different angles when making the first physical environment image, so it is necessary to first determine the similar spatial anchor information.

[0053] In some embodiments, step 22 "determine whether spatial anchor point information with a similarity greater than a similarity threshold is stored based on the first spatial representation information" is as follows: the first spatial representation information obtained through the first physical environment image is compared with the first spatial representation information in each stored spatial anchor point information. In order to distinguish the two first spatial representation information, the original physical environment spatial representation information is used here to replace the first spatial representation information in the spatial anchor point information. The similarity between the first spatial representation information and the spatial representation of each original physical environment is obtained. When the similarity is greater than the similarity threshold, it is considered that the first physical environment image is similar to the spatial anchor point information corresponding to the original physical environment spatial representation information. When the similarity is less than or equal to the similarity threshold, it is considered that the first physical environment image is not similar to the spatial anchor point information corresponding to the original physical environment spatial representation information.

[0054] In some embodiments, after step S22 of "determining whether spatial anchor point information having a similarity greater than a similarity threshold is stored according to the first spatial representation information", the method further includes:

[0055] Step S23: When there is spatial anchor point information with a similarity greater than a similarity threshold, it is searched whether there is stored spatial anchor point information corresponding to the current physical environment.

[0056] Step S24: When it is determined that the corresponding spatial anchor point information is stored, the spatial anchor point information is downloaded.

[0057] When spatial anchor information similar to the first physical environment image is found in the stored spatial anchor information, a further determination is made as to whether the similar spatial anchor information corresponds to the current physical environment. If corresponding spatial anchor information exists, the corresponding spatial anchor information is downloaded or loaded, and step S13 is executed. If no corresponding spatial anchor information exists, it is determined that the user has first arrived at the current physical environment, and step S12 is then executed.

[0058] In some embodiments, step S23 "when there is spatial anchor point information with a similarity greater than a similarity threshold, searching whether there is stored spatial anchor point information corresponding to the current physical environment" includes:

[0059] Step S251: when there is spatial anchor point information whose similarity is greater than the similarity threshold, obtain target spatial anchor point information whose similarity is greater than the similarity threshold.

[0060] The spatial anchor information stores the first spatial representation information, second spatial representation information, and target element information associated with the spatial anchor information. The first spatial representation information represents the original physical environment spatial information. The second spatial representation information represents the modified physical environment spatial information after being overlaid by the target element. The target element information represents the target element used to overlay the second target location.

[0061] Step S252: placing the target material in the target spatial anchor point information at a corresponding position in the first physical environment image to form temporary spatial anchor point information.

[0062] To determine whether the target spatial anchor information corresponds to the spatial anchor information of the current physical environment, the first physical environment image must be modified using the target element in the spatial anchor information so that the modified spatial representation of the first physical environment can be compared with the second spatial representation in the target anchor information. Therefore, the target material must be placed at the comparison position in the first physical environment image to form temporary spatial anchor information.

[0063] Step S253: temporary second space representation information in the temporary space anchor point information.

[0064] Step S254: Compare the temporary second space representation information with the second space representation information in the target space anchor point information to determine whether the target space anchor point information is the space anchor point information corresponding to the current physical environment.

[0065] The temporary second spatial representation information in the temporary spatial anchor information is obtained and compared with the second spatial representation information of the target spatial anchor to determine if they are identical. If they are identical, the target spatial anchor information corresponds to the spatial anchor information of the current physical environment. This spatial anchor information is then loaded, allowing the user to perform subsequent operations based on this spatial anchor information. If, after comparing all similar spatial anchor information, it is found that the current physical environment does not have corresponding spatial anchor information, it is still determined that the user has reached the current physical environment for the first time. At this point, step S12 is continued.

[0066] By modifying the material in the physical environment image, this application allows spatial anchor points to be placed in locations where they were previously unavailable. This improves the flexibility of spatial anchor point placement, making the addition of virtual elements more flexible and promoting the development of virtual reality technology. Furthermore, this application can also store the corresponding spatial anchor point information for user-established spatial anchor points, allowing the user to continue using the previous spatial anchor point information the next time they return to the current physical environment.

[0067] To save the user's time, when acquiring the first physical environment image, this application searches the stored spatial anchor information for spatial anchor information corresponding to the current physical environment to determine whether the user has reached the current physical environment for the first time. If this is not the first time for the user to reach the current physical environment, the existing spatial anchor information is loaded. When determining whether there is corresponding spatial anchor information, in order to reduce the power consumption and duration of the device, the existing spatial anchor information is first filtered based on its similarity to the first physical environment image, and then the filtered existing spatial anchor information is compared one by one to find the corresponding spatial anchor information.

[0068] Example 2:

[0069] Based on the foregoing embodiments, an embodiment of the present application provides a spatial anchor point establishment device, and the modules included in the device, as well as the units included in each module, can be implemented by a processor in a computer device; of course, they can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0070] like Figure 2 As shown, the second aspect provides a spatial anchor point establishment device, including: a first acquisition module 1, a first determination module 2, a second determination module 3 and a first execution module 4.

[0071] The first acquisition module 1 is used to acquire a first physical environment image of the current physical environment. The first determination module 2 is used to determine a first target position in the first physical environment image at which a spatial anchor point can be directly established according to preset rules, and output the first target position. The second determination module 3 is used to overlay a target material image on the second target position when it is determined that the second target position selected by the user is different from the first target position. The first execution module 4 is used to establish a spatial anchor point at the overlaid second target position.

[0072] In some embodiments, the spatial anchor point establishment device further includes: a second execution module and a storage module.

[0073] The second execution module is used to generate spatial anchor point information from the spatial anchor point, the first spatial representation information of the current physical environment corresponding to the spatial anchor point, the modified second spatial representation information of the current physical environment, and the target material information. The storage module is used to store the spatial anchor point information.

[0074] In some embodiments, the spatial anchor point establishment apparatus further includes: a third determination module configured to determine, based on the first physical environment image, whether the user enters the current physical environment for the first time.

[0075] In some embodiments, the third determination module further includes: a second acquisition module and a fourth determination module. The second acquisition module is configured to acquire first spatial representation information of the first physical environment image. The fourth determination module is configured to determine, based on the first spatial representation information, whether spatial anchor point information having a similarity greater than a similarity threshold is stored.

[0076] In some embodiments, the spatial anchor point establishment apparatus further includes: a third execution module and a fourth execution module. The third execution module is configured to, when spatial anchor point information having a similarity greater than a similarity threshold exists, search whether spatial anchor point information corresponding to the current physical environment is stored. The fourth execution module is configured to, when determining that corresponding spatial anchor point information is stored, download the spatial anchor point information.

[0077] In some embodiments, the third execution module includes: a third acquisition module, a fifth execution module, a fourth acquisition module and a sixth execution module.

[0078] The third acquisition module is used to obtain target spatial anchor information with a similarity greater than a similarity threshold when there is spatial anchor information with a similarity greater than a similarity threshold. The fifth execution module is used to place the target material in the target spatial anchor information to a corresponding position in the first physical environment image to form temporary spatial anchor information. The fourth acquisition module is used to obtain temporary second spatial representation information in the temporary spatial anchor information. The sixth execution module is used to compare the temporary second spatial representation information with the second spatial representation information in the target spatial anchor information to determine whether the target spatial anchor information is the spatial anchor information corresponding to the current physical environment.

[0079] In some embodiments, the first determination module 2 includes: a fifth acquisition module and a fifth determination module. The fifth acquisition module is configured to acquire the reflectivity of each region in the first physical environment image and the color difference between the regions. The fifth determination module is configured to determine a region having a reflectivity less than or equal to a first reflectivity threshold and a color difference greater than or equal to the first color difference threshold as a first target location, and output the first target location.

[0080] By modifying the material in the physical environment image, this application allows spatial anchor points to be placed in locations where they were previously unavailable. This improves the flexibility of spatial anchor point placement, making the addition of virtual elements more flexible and promoting the development of virtual reality technology. Furthermore, this application can also store the corresponding spatial anchor point information for user-established spatial anchor points, allowing the user to continue using the previous spatial anchor point information the next time they return to the current physical environment.

[0081] Each module in the above-mentioned spatial anchor point establishment device can be implemented in whole or in part by software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor of the device in hardware form, or can be stored in the memory of the processing device in software form, so that the processor can call and execute the operations corresponding to the above modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0082] Example 3:

[0083] The third aspect provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of a method for establishing a spatial anchor point are implemented.

[0084] Example 4:

[0085] The fourth aspect provides a storage medium, which stores a computer program that can be executed by one or more processors. The computer program can be used to implement the steps of any one of the spatial anchor point establishment methods in the first aspect.

[0086] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0087] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0088] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0090] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0091] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0092] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROMs), magnetic disks, optical disks, and other media that can store program codes.

[0093] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a controller to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0094] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for establishing a spatial anchor point, characterized in that: include: Acquire a first physical environment image of the current physical environment; Determine, according to a preset rule, a first target position in the first physical environment image where a spatial anchor point can be directly established, and output the first target position; When it is determined that the second target position selected by the user is different from the first target position, overlaying the target material picture on the second target position; A spatial anchor is established at the covered second target location.

2. A method for establishing a spatial anchor point according to claim 1, characterized in that: The method further comprises: Generate spatial anchor point information by using the spatial anchor point, first spatial representation information of the current physical environment corresponding to the spatial anchor point, modified second spatial representation information of the current physical environment, and target material information; The spatial anchor point information is stored.

3. A method for establishing a spatial anchor point according to claim 2, characterized in that: The method further comprises: determining, based on the first physical environment image, whether the user arrives at the current physical environment for the first time; When it is determined that the user arrives at the current physical environment for the first time, a first target position in the first physical environment image where a spatial anchor point can be directly established is determined according to a preset rule, and the first target position is output.

4. A method for establishing a spatial anchor point according to claim 3, characterized in that: The determining, based on the first physical environment image, whether the user arrives at the current physical environment for the first time includes: Acquire first spatial representation information of the first physical environment image; determining, according to the first spatial representation information, whether spatial anchor point information having a similarity greater than a similarity threshold is stored; When there is no spatial anchor point information with a similarity greater than a similarity threshold, it is determined that the user arrives at the current physical environment for the first time.

5. A method for establishing a spatial anchor point according to claim 4, characterized in that: The method further comprises: When there is spatial anchor point information with a similarity greater than a similarity threshold, searching whether there is spatial anchor point information corresponding to the current physical environment stored; When it is determined that the corresponding spatial anchor point information is stored, the spatial anchor point information is downloaded.

6. A method for establishing a spatial anchor point according to claim 5, characterized in that: When there is spatial anchor point information with a similarity greater than a similarity threshold, searching whether there is stored spatial anchor point information corresponding to the current physical environment includes: When there is spatial anchor point information whose similarity is greater than the similarity threshold, obtaining target spatial anchor point information whose similarity is greater than the similarity threshold; Placing the target material in the target spatial anchor point information at a corresponding position in the first physical environment image to form temporary spatial anchor point information; Acquire temporary second space representation information in the temporary space anchor point information; The temporary second space representation information is compared with the second space representation information in the target space anchor point information to determine whether the target space anchor point information is the space anchor point information corresponding to the current physical environment.

7. A method for establishing a spatial anchor point according to claim 1, characterized in that: The determining, according to a preset rule, a first target position in the first physical environment image where a spatial anchor point can be directly established, and outputting the first target position includes: Obtaining the reflectivity of each area in the first physical environment image and the color difference value between each area; An area whose reflectivity is less than or equal to a first reflectivity threshold and whose color difference value is greater than or equal to the first color difference threshold is determined as a first target position, and the first target position is output.

8. A spatial anchor point establishment device, characterized in that: include: A first acquisition module, configured to acquire a first physical environment image of the current physical environment; a first determining module, configured to determine, according to a preset rule, a first target position in the first physical environment image at which a spatial anchor point can be directly established, and output the first target position; a second determining module, configured to overlay the target material image on the second target position when it is determined that the second target position selected by the user is different from the first target position; The first execution module is used to establish a spatial anchor point at the covered second target position.

9. An electronic device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, a method for establishing a spatial anchor point as described in any one of claims 1 to 7 is executed.

10. A storage medium, characterized in that: The computer program stored in the storage medium can be executed by one or more processors, and the computer program can be used to implement the steps of the method for establishing a spatial anchor point as described in any one of claims 1 to 7.

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