Virtual reality reorientation walking method and system with virtual point of interest awareness

Abstract

The application provides a virtual reality reorientation walking method and system with virtual interest point sensing, comprising: acquiring a user pose, a specified physical target point and curvature gain data, and calculating a deflection direction change point; changing the deflection direction of the user by deflection reset through the deflection direction change point, and walking along a curve in a physical space according to the curvature gain after the deflection direction; calculating the maximum walking distance from the deflection reset to a virtual interest point during the curve walking in the physical space; and walking according to the maximum walking distance to reach the specified physical target point through the virtual interest point. The application solves the problem that the existing virtual reality device reorientation walking method cannot specify a physical path point, reduces the reset frequency, and prolongs the walking distance between the reset occurrence position and the virtual interest point.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of virtual reality, and particularly relates to a virtual reality redirected walking method and system for virtual point of interest perception. BACKGROUND

[0002] Virtual Reality (VR) is a new media representation technology that simulates a three-dimensional virtual world using a computer and provides immersive and interactive audio-visual experience for users. This technology combines visual media computing, human-computer interaction, applied mathematics and other fields, and has the potential to provide new approaches and possibilities for solving many practical problems such as patient rehabilitation, elderly companionship, virtual tours, etc.

[0003] Free interaction is one of the important differences between virtual reality and traditional media. Compared with hardware devices such as handsets and omnidirectional treadmills, real walking is the most immersive way of perception in virtual reality. Users wearing VR glasses can freely walk in the real physical space and control the virtual avatar to freely roam in the virtual scene according to their subjective will. However, since the size of the physical space where the user is located is usually smaller than the virtual space, the user's immersive experience is often interrupted by physical obstacles and walls. At this time, the VR application has to pause the virtual experience and wait for the user to reset (Reset) his own orientation or position. "Reset" means the process of pausing the user's virtual experience and then continuing the virtual experience after the user adjusts his own physical pose. Resetting interrupts the user's experience, and reducing the number of resets during the user's immersive walking is an important problem in VR. Redirected Walking (RDW) is a method that uses the inaccuracy of human interaction perception in virtual environments to reduce the number of resets in a limited physical space through path bending, motion scaling, etc.

[0004] Redirected Walking mainly relies on three kinds of motion gains, namely translation gain, rotation gain and curvature gain. Translation gain is used to scale the actual walking distance of the user. Rotation gain is used to scale the actual turning angle of the user. Curvature gain is used to bend the path, so that the user walks in a straight line in the virtual space, but actually walks in an arc in the physical space. As long as the above three gains meet the reasonable threshold, the modification of the path cannot be perceived by the user, so that the physical space can be better utilized.

[0005] Resetting not only interrupts the user, but the negative experience varies depending on the stage of the journey. Virtual spaces often contain many important points of interest, such as "portals" and NPC characters. In real VR applications, once a user has identified their point of interest, they are often drawn towards it in a straight line. Sometimes, people don't want to reset when they are close to the point of interest, as the sudden reset while their attention is already drawn to it can create a stronger negative experience. An ideal redirection method needs to reduce the number of resets while considering the distance from the reset point to the point of interest, making the distance as far as possible or as close as possible to a specified value to provide a more user-friendly experience.

[0006] Several redirection walking methods already exist: heuristic-based methods include turning center, turning track, multi-target turning, and turning multi-target and center. Artificial potential energy functions are used to construct artificial potential energy fields for arbitrary physical scenes, pushing users away from obstacles and pulling them towards open space. Reinforcement learning-based methods recommend turning targets or motion gain values ​​to users through neural networks; alignment-based methods guide users by maximizing the overlap between physical and virtual obstacles.

[0007] However, existing methods still have some shortcomings, including: inflexible physical waypoints. Current methods do not support redirecting users to designated physical waypoints by curving the path while they are moving in a straight line in virtual space, thus hindering the targeted redirection of users to optimal physical locations. Existing methods only focus on reducing the number of resets, but cannot humanely adjust the timing of resets based on the user's distance to virtual points of interest, and cannot prevent users from being interrupted just before reaching a key location of a virtual point of interest, severely disrupting the user's immersive experience. Summary of the Invention

[0008] This invention provides a virtual reality redirection walking method and system with virtual point of interest perception, which solves the problem that existing virtual reality device redirection walking methods cannot specify physical path points, thereby reducing the number of resets and extending the walking distance between the reset location and the virtual point of interest.

[0009] This invention provides a virtual reality redirection walking method based on virtual point of interest perception, comprising:

[0010] Acquire user pose, specified physical target point, and curvature gain data, and calculate the deflection direction change point;

[0011] The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0012] During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated;

[0013] Walk the maximum walking distance described above, passing through virtual points of interest to reach the designated physical target point.

[0014] According to the present invention, a virtual reality redirection walking method based on virtual point of interest perception, wherein acquiring user pose, specified physical target point, and curvature gain data, and calculating the deflection direction change point specifically includes:

[0015] Determine whether there is a point of change in deflection direction based on the user pose, the specified physical target point, and the curvature gain data;

[0016] After identifying the point where the deflection direction changes, calculate the walking route and walking length required for the user to reach the specified physical target point;

[0017] Based on the walking route, the user starts from the current pose and moves towards the point where the deflection direction changes by deflection through curvature gain.

[0018] According to the present invention, a virtual reality redirection walking method based on virtual point of interest perception is provided, which resets the user's deflection direction by means of the deflection direction change point, and then walks along a curve in physical space according to the curvature gain after the deflection direction is changed. Specifically, it includes:

[0019] After the user reaches the deflection direction change point, the user's walking direction will be deflected in the opposite direction.

[0020] After deflecting the user's walking direction, the user continues to walk towards the physical target point according to the walking route based on the curvature gain.

[0021] According to the present invention, a virtual reality redirection walking method for perceiving virtual points of interest is provided, wherein the maximum walking distance to the virtual point of interest after deflection reset is calculated during the curved walking process in physical space, specifically including:

[0022] The physical space is preprocessed, and the positions of all unobstructed objects in the physical space are discretely sampled.

[0023] During the discrete sampling process, all sampling directions are traversed, and the walking distance to the sampling position is calculated for any reset pose. The maximum walking distance is selected as the maximum walking distance to the virtual point of interest after reset.

[0024] When determining the maximum walking distance to the virtual point of interest after the reset, calculate the general safety after free turning and complete the preprocessing of the physical space.

[0025] According to the present invention, a virtual reality redirection walking method based on virtual point of interest perception, which walks according to the maximum walking distance, passes through virtual points of interest, and reaches a designated physical target point, specifically includes:

[0026] After completing the physical space preprocessing, redirect the user according to the user's status;

[0027] After being redirected, users walk the maximum walking distance to the virtual point of interest until they reach the designated physical target point.

[0028] According to the present invention, a virtual reality redirection walking method based on virtual point of interest perception is provided, wherein after completing physical space preprocessing, the user is redirected according to the user's state, specifically including:

[0029] When a user starts walking in a straight line in the virtual space and can directly reach the current virtual point of interest, there is no need to reset the orientation.

[0030] When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation, they can select a reset location from the reachable physical locations so that the reset location is the furthest from the virtual point of interest or at a specified distance.

[0031] When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation multiple times, the location farthest from the user's pose is selected as the reset location, and the user's status is reassessed and the orientation is reset again.

[0032] The present invention also provides a virtual reality redirection walking system with virtual point of interest awareness, the system comprising:

[0033] The deflection direction acquisition module is used to acquire user pose, specified physical target point and curvature gain data, and calculate the deflection direction change point;

[0034] The deflection reset module resets the deflection direction by changing the deflection direction at the deflection direction change point, and then moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0035] The maximum walking distance confirmation module is used to calculate the maximum walking distance to the virtual point of interest after deflection reset during the process of walking along a curve in physical space.

[0036] A walking module is provided for walking according to the maximum walking distance, passing virtual points of interest to reach a designated physical target point. The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements a virtual reality redirection walking method for virtual point of interest perception as described above.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a virtual reality redirection walking method for virtual interest point perception as described above.

[0038] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements a virtual reality redirection walking method for virtual interest point perception as described above.

[0039] This invention provides a virtual reality redirection walking method and system with virtual point of interest perception. By using curvature gain, the user can reach any specified physical path point within a certain range while walking along a virtual straight line. The method only needs to change the deflection direction once before the user reaches the specified physical path point. The walking path structure is simple and does not easily cause discomfort to the user. Furthermore, the physical path point can be specified and the walking distance can be pre-calculated, improving the user's comfort. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is one of the flowcharts of a virtual reality redirection walking method for virtual interest point perception provided by the present invention;

[0042] Figure 2 This is the second flowchart of a virtual reality redirection walking method for virtual interest point perception provided by the present invention;

[0043] Figure 3 This is the third flowchart of a virtual reality redirection walking method for virtual interest point perception provided by the present invention;

[0044] Figure 4 This is the fourth flowchart of a virtual reality redirection walking method for virtual interest point perception provided by the present invention;

[0045] Figure 5 This is a schematic diagram of the module connection of a virtual reality redirection walking system for virtual interest point perception provided by the present invention;

[0046] Figure 6 This is a schematic diagram of the user pose feature region of a virtual reality redirection walking method for virtual interest point perception provided by the present invention.

[0047] Figure 7 This is a schematic diagram of the pose feature region change of a virtual reality redirection walking method for virtual interest point perception provided by the present invention.

[0048] Figure 8 This is a schematic diagram illustrating the determination of the deflection direction change point in a virtual reality redirection walking method for virtual interest point perception provided by the present invention.

[0049] Figure 9 This is a schematic diagram illustrating the determination of another deflection direction change point in a virtual reality redirection walking method for virtual interest point perception provided by the present invention.

[0050] Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0051] Figure label:

[0052] 110: Deflection direction acquisition module; 120: Deflection reset module; 130: Maximum walking distance confirmation module; 140: Walking module;

[0053] 1010: Processor; 1020: Communication interface; 1030: Memory; 1040: Communication bus. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0055] The following is combined Figures 1-4 A virtual reality redirection walking method based on virtual point of interest perception according to the present invention includes:

[0056] Acquire user pose, specified physical target point, and curvature gain data, and calculate the deflection direction change point;

[0057] The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0058] During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated;

[0059] Walk the maximum walking distance described above, passing through virtual points of interest to reach the designated physical target point.

[0060] This invention utilizes curvature gain to implement a redirection walking algorithm that satisfies the flexibility of physical path points. That is, while the user walks in a straight line in the virtual space, the user can be guided to any specified physical location within a certain range without being perceived. Given the distance between the user and the virtual point of interest, the location of the reset is reasonably allocated so that while reducing the number of resets, the walking distance between the reset location and the virtual scene point of interest is as far as possible or meets the set value.

[0061] When using the flexible redirection of walking paths via pathpoints with curvature gain, let the user's current physical location coordinates be (x... s ,y s The physical orientation is θ. s Define the user's physical pose P. s =(x s ,y s ,θ s The curvature gain is used to uniformly refer to the user's physical location and orientation. The curvature gain is expressed in the form of the radius of curvature, denoted as R, which guides the user to walk along a circular arc path with radius R in physical space when the user walks in a straight line in virtual space. To make it imperceptible to the user, R can be 7.5 meters, but any other reasonable value can also be used. The goal of the method is to use the curvature gain R to deflect the path and change the path deflection direction only once, so that from P... s Users who start walking along a virtual straight line are redirected to a specified physical location (x). e ,y e The method can also provide the destination (x). e ,y e The required path length L(P) s ,(x e ,y e Since the path deflection direction needs to be changed once during the walking process, the physical location where the path deflection direction is changed is called the deflection direction change point.

[0062] Acquire user pose, specified physical target point, and curvature gain data; calculate deflection direction change point, specifically including:

[0063] Determine whether there is a point of change in deflection direction based on the user pose, the specified physical target point, and the curvature gain data;

[0064] After identifying the point where the deflection direction changes, calculate the walking route and walking length required for the user to reach the specified physical target point;

[0065] Based on the walking route, the user starts from the current pose and moves towards the point where the deflection direction changes by deflection through curvature gain.

[0066] The specific calculation method for the deflection direction change point in this invention is as follows:

[0067] like Figure 6 As shown, the user's pose P s You can use a from (x) s ,y s Starting point, direction angle θ s The vector is used to represent the pose, and the circular regions with radius R on both the left and right sides of the vector are marked as pose P. s The characteristic region is denoted as φ(P). s Its equation is:

[0068]

[0069] Position P s The significance of the feature region is that it represents the user's physical pose P. s When starting and walking in a straight line in virtual space, if a curvature gain with a constant direction and a curvature radius R is always used to bend the physical path, then the area enclosed by the user's physical trajectory is...

[0070] Suppose the user arrives at the physical target point (x) e ,y e The orientation at time θ e Then the user arrives at their physical pose at the target point. The user's physical pose P at the target point. e =(x e ,y e ,θ e It also has its characteristic region φ(P) e Its equation is:

[0071]

[0072] θ e It is not fixed, it varies with θ e Take different values ​​φ(P) e The area represented by ) will also change accordingly, such as Figure 7 As shown. When φ(P) s The left circle of ) and φ(P) e When the right side circle is tangent to (e.g.) Figure 8 ), or φ(P s The right circle of ) and φ(P) e When the left side circle is tangent to (e.g.) Figure 9 ), by φ(P s ) and φ(P e The boundary of a given point can generate two physical paths, such as... Figure 8 and Figure 9 The bolded curve in the middle is shown above. These two paths represent two ways to reach the physical target point (x). e ,y eThe path schemes are "first deflect the user to the left, then deflect the user to the right" and "first deflect the user to the right, then deflect the user to the left." The characteristic of these two path schemes is that the user is first continuously deflected in either the left or right direction while maintaining a constant curvature gain during the user's movement; after the user has walked a certain distance, the curvature gain is maintained while the user is deflected in the opposite direction. This allows the user to controllably reach the designated physical location (x) while maintaining virtual straight-line movement. e ,y e Both of these path schemes consist of two phases. The first phase is undertaken by entities subordinate to φ(P). s The second stage consists of arcs belonging to φ(P). e The path is composed of arcs. The two paths deflect in opposite directions, and the dividing point between the two paths is the "deflection direction change point". Specify the physical location (x... e ,y e ) needs to fall within a single-point area, if a physical location (x) is specified e ,y e ) make regardless of θ e How to determine the value of φ(P) s ) and φ(P e If none of the tangent relationships exist, then the "point of change of deflection direction" is said to be non-existent.

[0073] Due to reaching the physical target point (x) e ,y e There are two possible path schemes: "first deflect the user to the left, then deflect the user to the right" and "first deflect the user to the right, then deflect the user to the left". To avoid describing the two cases separately, "±" and "+" will be used in the expression below. To distinguish between these two path schemes: "±" and Taking the upper half of both characters indicates a path scheme that "first veers left, then veers right", with "±" and Taking the lower half of the formula represents a path scheme of "first turning right, then turning left", which allows for a convenient use of a unified formula to represent both schemes simultaneously.

[0074] The existence and specific location of the "deflection direction change point" are explained below. For simplicity, the global coordinate system is transformed to (x... s ,y s ( ) as the origin, with θ s A local coordinate system with the positive x-axis as its direction. Coordinate system transformation simplifies the formula but does not affect the essence of the "point of change in deflection direction". The user's initial pose P. s In the local coordinate system, it is represented as P′ s = (0,0,0), while the physical target point (x) e ,ye In the local coordinate system, it is represented as follows:

[0075]

[0076] φ(P s In the local coordinate system, the two center points are (0, ±R), where (0, +R) represents the center of the circular region to the left of the user, and (0, -R) represents the center of the circular region to the right of the user. Based on the aforementioned description, the algorithm first deflects the user in either the left or right direction; (0, ±R) is the center of the circle in the first stage path. Let the physical target point (x′) be... e ,y′ e If the distance from the center of the first-stage path circle is D, then:

[0077]

[0078] To ensure users accurately reach the physical target point (x′) e ,y′ e The center of the second-stage path arc (O′) x ,O′ y )for:

[0079]

[0080] Where Δ=(D 2 -R 2 (9R) 2 -D 2 ) is the discriminant for the existence of the "point of change of deflection direction", and the physical target point (x) e ,y e The selection should ensure that Δ ≥ 0. If Δ ≤ 0 is checked when calculating the "Yaw Direction Change Point", a "Does Not Exist" message is returned. The coordinates of the "Yaw Direction Change Point" in the local coordinate system (T′) x ,T′ y )for:

[0081]

[0082] When the user arrives at (x) e ,y e When ), the length of the path it travels is:

[0083]

[0084] To determine whether the user has reached the "yaw direction change point" in the global coordinate system, (T′) x ,T′ y Restored to coordinates in the global coordinate system (T) x ,T y ):

[0085]

[0086] After calculating the change in deflection direction, and determining the point of change in deflection direction, it is possible to determine where the user should make the appropriate turn.

[0087] The user's deflection direction is changed by resetting the deflection direction at the aforementioned deflection direction change point. After the deflection direction is changed, the user moves along a curve in physical space according to the curvature gain. Specifically, this includes:

[0088] After the user reaches the deflection direction change point, the user's walking direction will be deflected in the opposite direction.

[0089] After deflecting the user's walking direction, the user continues to walk towards the physical target point according to the walking route based on the curvature gain.

[0090] It enables users to reach any specified physical path point within a certain range while traveling along a virtual straight line, based on actual conditions and using curvature gain.

[0091] During the physical space curve walking process, the maximum walking distance to the virtual point of interest after deflection reset is calculated, specifically including:

[0092] The physical space is preprocessed, and the positions of all unobstructed objects in the physical space are discretely sampled.

[0093] During the discrete sampling process, all sampling directions are traversed, and the walking distance to the sampling position is calculated for any reset pose. The maximum walking distance is selected as the maximum walking distance to the virtual point of interest after reset.

[0094] When determining the maximum walking distance to the virtual point of interest after the reset, calculate the general safety after free turning and complete the preprocessing of the physical space.

[0095] The point-of-interest (POI)-aware redirection walking strategy in this invention relies on the aforementioned flexible pathpoint redirection walking method. This flexible pathpoint redirection walking method is denoted as module L. The function of module L is: given the user's current physical position a = (x1, y1) and physical orientation θ, and a specified physical pathpoint b = (x2, y2), it returns the redirection process from the current pose (a, θ) to pathpoint b when the user walks along a virtual straight line, and the path length L((a, θ), b, R) required in this process; if there is no path from (a, θ) to b, module L returns the corresponding "path does not exist" message. Module L can use the aforementioned flexible pathpoint redirection walking method of this invention, or it can use other methods to achieve the same function.

[0096] The strategy requires knowledge of the physical space layout and, during operation, the user's physical location and orientation. To ensure the reset distance to the virtual point of interest is as far as possible or close to a preset value, the strategy should know the preset reset distance to the virtual point of interest desired by the VR application. And the remaining distance l from the user to the virtual point of interest in the virtual space; if the distance from the user to the current virtual target point is unknown, the strategy can still work, but it can only reduce the number of resets.

[0097] The physical space is preprocessed. Let A(E) be the set of all locations in the physical space E that are not within obstacles. Essentially, when a user resets their physical location, they will have a longer walking distance than before. For any physical location a∈A(E), the maximum distance a user can walk after resetting at a (assuming the user always walks in a straight line in the virtual space) is an inherent property of that location a, depending only on the specific layout of the physical space. Let F(a) be the maximum allowed walking distance after resetting at a. Since the locations in A(E) are continuous, and the possible orientations after a user reset are also continuous, it is not conducive to calculating F(a). Therefore, the physical space preprocessing first includes discretizing A(E), and the set of sampled locations in A(E) is denoted as χ(E). The sampling method can be arbitrary; one possible method is to tile the physical space E with a square grid and use the vertices of the grid as sampling locations. Directions are also discretized and sampled, and the set of sampled directions is denoted as Θ. The angle sampling method is also arbitrary. One possible approach is to divide the circumferential angle into λ parts and use λ uniformly distributed directions as the set of sampling directions {2πi / λ|i=1,2,…,λ}.

[0098] For a sampling position a∈χ(E), traversing all sampling directions θ∈Θ, we can obtain a series of possible poses {(a,θ)|θ∈Θ} after the user resets at a. For any reset pose P=(a,θ), traverse the sampling positions b in χ(E) and calculate the walking distance L((a,θ),b,R) from P to that position. R is the magnitude of the curvature gain used by the method, expressed in the form of the radius of curvature. If the choice of b makes there no path from (a,θ) to b, then denote L((a,θ),b,R)=-1. Among the calculated L, the maximum value is selected as the maximum allowed walking distance F(a) after resetting at a:

[0099]

[0100] F(a) reflects the maximum distance a user can walk when turning in the most advantageous direction at position a, considering only the sampling position χ(E) and sampling orientation Θ. However, if the user is standing at physical position a and can turn freely in virtual space, F(a) cannot reflect the user's general safety after turning freely, since the user may face any direction after turning freely. On the contrary, the farthest distance that can be walked in the most unfavorable direction at a represents the general safety at a. Therefore, the minimum maximum walking distance in the sampling orientation Θ is used to measure the general safety after turning freely at a, denoted as M(a):

[0101]

[0102] Calculate F(a) and M(a) for all sampling locations a∈χ(E). Complete the preprocessing of the physical space.

[0103] Walking according to the maximum walking distance, passing through virtual points of interest to reach the designated physical target point, specifically includes:

[0104] After completing the physical space preprocessing, redirect the user according to the user's status;

[0105] After being redirected, users walk the maximum walking distance to the virtual point of interest until they reach the designated physical target point.

[0106] After physical space preprocessing, the strategy proceeds by categorizing the user's state into three non-overlapping scenarios during their movement. Based on the user's current state, the strategy redirects them accordingly, minimizing resets before reaching virtual points of interest and ensuring the user moves as far away from the point of interest as possible during their final reset. The specific solution is as follows:

[0107] Let the user's current physical pose be P. s = (a, θ), where l is the distance from the user to the virtual point of interest. For the physical pose P s = (a, θ), define Υ(P) s )={b|b∈χ((E),L((a,θ),c,R)≠-1}, Υ(P s ) indicates from P s The set of sampling locations that can be reached in physical space by walking along a straight line in virtual space.

[0108] Case (1): If

[0109] Scenario (1) indicates that there exists a subset of sampling locations U such that redirecting the user to these locations allows the user to directly reach the current virtual point of interest without resetting. In this case, a sampling location is selected from U. Use module L to redirect users to That's fine. Since the user's next goal after reaching the point of interest is unknown, the position with the highest safety factor M(c) in U can be selected as the [position name / location].

[0110]

[0111] Once a user reaches a virtual point of interest, they can freely turn and move towards the next virtual point of interest. At that time, the user's position and distance to the virtual point of interest are taken as P. s And l, reassess the user's state and continue redirecting the user. If the user's next virtual point of interest is unknown, the distance l to the virtual point of interest can be set to +∞.

[0112] Case (2): If it is not case (1), and

[0113]

[0114] Scenario (2) indicates that it is impossible for a user to reach the virtual target without resetting. However, there are some [problems] from P s The reachable physical locations V allow users to reach virtual points of interest by resetting only once at these locations. The goal is to ensure that the distance between the reset point and the virtual point of interest is as far as possible, or as close as possible, to a specified value. A suitable position needs to be selected in V. and redirect users to A reset occurs at this location to ensure the reset point is as far away from the virtual point of interest as possible:

[0115]

[0116] Or make the distance to the virtual point of interest closer.

[0117]

[0118] When the waypoints are obtained Then, module L is used to redirect the user to Once the user arrives Then reset the user to the direction where they can travel the furthest. Up, and use module L to redirect the user to the corresponding farthest physical location. This ensures that users are on the right track. During the process, you can definitely reach the virtual point of interest without resetting again:

[0119]

[0120] Once a user reaches a virtual point of interest, they can freely turn and move towards the next virtual point of interest. At that time, the user's position and distance to the virtual point of interest are taken as P. s And l, reassess the user's state and continue redirecting the user. If the user's next virtual point of interest is unknown, the distance l to the virtual point of interest can be set to +∞.

[0121] Case (3): If neither case (1) nor (2) applies.

[0122] Scenario (3) indicates that the user needs to reset more than once to achieve the goal. At this time, the user's pose P... s Among the reachable locations, select the one furthest from P. s The farthest place to walk As a redirection point, and to make the user... Reset at the point, increase the walking distance between resets, and reduce the number of resets while keeping the total distance l constant:

[0123]

[0124] Use module L to redirect the user to When users reach Subsequently, since the user needs one or more resets to reach the virtual point of interest, the user is reset to the direction with the maximum walking distance. The solution is the same as the formula in case 2. Once the user completes the reset, since the actual number of resets remaining before reaching the virtual point of interest is unknown, the user's pose at that time and the distance to the virtual point of interest are taken as P. s And l, reassess the user's status and continue redirecting the user.

[0125] For all three scenarios above, if the user changes their walking intention and turns to a new virtual point of interest before reaching the current virtual point of interest, the current redirection is stopped and the user's state is immediately redefined, and the user is redirected according to the new state. If the distance from the user to the virtual point of interest is temporarily unknown, the distance l to the virtual point of interest can be set to +∞. In this case, scenario (3) can still work to reduce the number of resets.

[0126] This invention can be applied to many VR scenarios involving user movement, such as VR games, VR tourism, and VR elderly care. It reduces the number of times users reset during VR movement and increases the distance from the user to the current virtual point of interest when resetting. For example, it effectively avoids resetting when users are about to reach a "portal" or NPC character, improving the usability and user-friendliness of VR applications and providing users with a more immersive and enjoyable VR experience.

[0127] The flexible redirection walking method included in this invention solves the problem that existing redirection walking methods cannot specify physical path points. It can guide users to any specified physical path point within a certain range while they are walking along a virtual straight line through curvature gain. The method only needs to change the deflection direction once before the user reaches the specified physical path point. The walking path structure is simple and does not easily cause discomfort to the user. Furthermore, the walking distance can be pre-calculated.

[0128] refer to Figure 5 The present invention also discloses a virtual reality redirection walking system with virtual point of interest perception, the system comprising:

[0129] The deflection direction acquisition module 110 is used to acquire user pose, specified physical target point and curvature gain data, and calculate the deflection direction change point.

[0130] The deflection reset module 120 resets the deflection direction by changing the deflection direction at the deflection direction change point, and then moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0131] The maximum walking distance confirmation module 130 is used to calculate the maximum walking distance to the virtual point of interest after deflection reset during the process of walking along a curve in physical space.

[0132] The walking module 140 is used to walk according to the maximum walking distance and reach the designated physical target point by passing virtual points of interest.

[0133] The deflection direction acquisition module 110 determines whether there is a deflection direction change point based on the user pose, the specified physical target point and the curvature gain data.

[0134] After identifying the point where the deflection direction changes, calculate the walking route and walking length required for the user to reach the specified physical target point;

[0135] Based on the walking route, the user starts from the current pose and moves towards the point where the deflection direction changes by deflection through curvature gain.

[0136] The deflection reset module 120 deflects the user's walking direction in the opposite direction after the user reaches the deflection direction change point.

[0137] After deflecting the user's walking direction, the user continues to walk towards the physical target point according to the walking route based on the curvature gain.

[0138] The maximum walking distance confirmation module 130 preprocesses the physical space and discretely samples the positions of all unobstructed objects in the physical space.

[0139] During the discrete sampling process, all sampling directions are traversed, and the walking distance to the sampling position is calculated for any reset pose. The maximum walking distance is selected as the maximum walking distance to the virtual point of interest after reset.

[0140] The walking module 140 redirects the user based on the user's status after completing the physical space preprocessing.

[0141] After being redirected, users walk the maximum walking distance to the virtual point of interest until they reach the designated physical target point.

[0142] When a user starts walking in a straight line in the virtual space and can directly reach the current virtual point of interest, there is no need to reset the orientation.

[0143] When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation, they can select a reset location from the reachable physical locations so that the reset location is the furthest from the virtual point of interest or at a specified distance.

[0144] When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation multiple times, the location farthest from the user's pose is selected as the reset location, and the user's status is reassessed and the orientation is reset again.

[0145] This invention provides a virtual reality redirection walking system with virtual point of interest perception. By using curvature gain, the system guides the user to any specified physical path point within a certain range while the user walks along a virtual straight line. The system only requires the user to change the deflection direction once before reaching the specified physical path point. The walking path structure is simple and does not easily cause discomfort to the user. Furthermore, the system allows for the specification of physical path points and the pre-calculation of walking distance, thus improving user comfort.

[0146] Figure 10 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 10 As shown, the electronic device may include a processor 1010, a communications interface 1020, a memory 1030, and a communication bus 1040. The processor 1010, communications interface 1020, and memory 1030 communicate with each other via the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a virtual reality redirection walking method with virtual interest point awareness. This method includes: acquiring the user's pose, specifying a physical target point and curvature gain data, and calculating the deflection direction change point.

[0147] The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0148] During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated;

[0149] Walk the maximum walking distance described above, passing through virtual points of interest to reach the designated physical target point.

[0150] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0151] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, the computer program being executed by a processor, the computer being able to execute a virtual reality redirection walking method for virtual interest point perception provided by the above methods, the method including: acquiring user pose, specifying physical target point and curvature gain data, and calculating deflection direction change point;

[0152] The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0153] During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated;

[0154] Walk the maximum walking distance described above, passing through virtual points of interest to reach the designated physical target point.

[0155] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a virtual reality redirection walking method for virtual interest point perception provided by the above methods, the method comprising: acquiring user pose, specifying physical target point and curvature gain data, and calculating deflection direction change point;

[0156] The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed.

[0157] During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated;

[0158] Walk the maximum walking distance described above, passing through virtual points of interest to reach the designated physical target point.

[0159] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A virtual reality redirection walking method based on virtual point of interest perception, characterized in that, include: Acquire user pose, specified physical target point, and curvature gain data, and calculate the deflection direction change point; The deflection direction change point is determined by judging whether there is a tangent relationship between the feature region of the user's initial pose and the feature region of the pose when reaching the specified physical target point. The user's deflection direction is changed by resetting the deflection direction at the deflection direction change point, and then the user moves along a curve in physical space according to the curvature gain after the deflection direction is changed. During the physical space curve walking process, the maximum walking distance to reach the virtual point of interest after deflection reset is calculated; Walking according to the maximum walking distance ensures that the user passes through the virtual point of interest with the fewest number of resets and stays as far away from the virtual point of interest as possible during the last reset, and eventually reaches the designated physical target point.

2. The virtual reality redirection walking method based on virtual point of interest perception according to claim 1, characterized in that, The process of acquiring user pose, specified physical target point, and curvature gain data, and calculating the deflection direction change point specifically includes: Determine whether there is a point of change in deflection direction based on the user pose, the specified physical target point, and the curvature gain data; After identifying the point where the deflection direction changes, calculate the walking route and walking length required for the user to reach the specified physical target point; Based on the walking route, the user starts from the current pose and moves towards the point where the deflection direction changes by deflecting the curvature gain.

3. The virtual reality redirection walking method based on virtual point of interest perception according to claim 1, characterized in that, The user's deflection direction is changed by resetting the deflection direction at the aforementioned deflection direction change point. After the deflection direction is changed, the user moves along a curve in physical space according to the curvature gain. Specifically, this includes: After the user reaches the deflection direction change point, the user's walking direction will be deflected in the opposite direction. After deflecting the user's walking direction, the user continues to walk towards the physical target point according to the walking route based on the curvature gain.

4. The virtual reality redirection walking method based on virtual point of interest perception according to claim 1, characterized in that, The calculation of the maximum walking distance to the virtual point of interest after deflection reset during the physical space curve walking process specifically includes: The physical space is preprocessed, and the positions of all unobstructed objects in the physical space are discretely sampled. During the discrete sampling process, all sampling directions are traversed, and the walking distance to the sampling position is calculated for any reset pose. The maximum walking distance is selected as the maximum walking distance to the virtual point of interest after reset. When determining the maximum walking distance to the virtual point of interest after the reset, calculate the general safety after free turning and complete the preprocessing of the physical space.

5. The virtual reality redirection walking method based on virtual point of interest perception according to claim 1, characterized in that, Walking according to the maximum walking distance, passing through virtual points of interest to reach the designated physical target point, specifically includes: After completing the physical space preprocessing, redirect the user according to the user's status; After being redirected, users walk the maximum walking distance to the virtual point of interest until they reach the designated physical target point.

6. The virtual reality redirection walking method based on virtual point of interest perception according to claim 5, characterized in that, The process of redirecting the user based on their state after completing physical space preprocessing specifically includes: When a user starts walking in a straight line in the virtual space and can directly reach the current virtual point of interest, there is no need to reset the orientation. When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation, they can select a reset location from the reachable physical locations so that the reset location is the furthest from the virtual point of interest or at a specified distance. When a user cannot directly reach the current virtual point of interest in the virtual space and needs to reset the orientation multiple times, the location farthest from the user's pose is selected as the reset location, and the user's status is reassessed and the orientation is reset again.

7. A virtual reality redirection walking system with virtual point-of-interest perception, characterized in that, The system includes: The deflection direction acquisition module is used to acquire user pose, specified physical target point and curvature gain data, and calculate the deflection direction change point; the deflection direction change point is determined by judging whether there is a tangent relationship between the feature region of the user's initial pose and the pose feature region when reaching the specified physical target point. The deflection reset module resets the deflection direction by changing the deflection direction at the deflection direction change point, and then moves along a curve in physical space according to the curvature gain after the deflection direction is changed. The maximum walking distance confirmation module is used to calculate the maximum walking distance to the virtual point of interest after deflection reset during the process of walking along a curve in physical space. The walking module is used to walk according to the maximum walking distance, ensuring that the user passes through the virtual point of interest with the fewest number of resets and stays as far away from the virtual point of interest as possible during the last reset, and finally reaches the designated physical target point.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the virtual reality redirection walking method for virtual point of interest perception as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the virtual reality redirection walking method for virtual point of interest perception as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the virtual reality redirection walking method for virtual point of interest perception as described in any one of claims 1 to 6.

Images