Offline rendering method and device for AR video data

Abstract

The disclosed embodiment discloses an offline rendering method and device for AR video data. The method includes: collecting trajectory data of a mobile device and image data of a real environment captured by the mobile device; synchronizing the trajectory data to a corresponding virtual map, and saving the trajectory data to a cloud server; sending the trajectory data, the image data, AR content, and the virtual map to a 3D rendering engine; playing the trajectory data sequentially on a plug-in of the 3D rendering engine; rendering the image data and AR content, and recording the rendering process on the 3D rendering engine. The method can fuse the image data of the real environment and the 3D virtual content and record the fusion process in the 3D rendering engine, realize offline rendering of AR video data, have a better experience effect than on-site experience rendering, visualize inaccurate positioning and positioning error problems, reduce development costs, and improve development efficiency.

Description

Technical Field

[0001] The present disclosure relates to the field of augmented reality technology, and in particular to an offline rendering method and device for AR video data. Background Art

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

[0003] AR spatial visual positioning technology is a technology that estimates the camera's pose (position and direction) in the constructed map based on the matching relationship between the real-space image obtained by the current device and the constructed map. When producing AR content, it is necessary to consider the positioning accuracy of the corresponding area to set appropriate virtual content. For example, if occlusion, real-virtual content interaction and other content with high precision requirements are set in a low-precision positioning map, it is likely to affect the experience of the AR content. Therefore, the production of AR content requires map-related accuracy information to assist in production, or to perform map supplementation and reconstruction to improve the fit of virtual content.

[0004] In related technologies, images acquired in real space are passed through algorithms to obtain the location and orientation of the image in the constructed map space, as well as to align the real and virtual spaces. However, the algorithm in this process has errors, and the accuracy of the results cannot be evaluated. There are problems such as positioning errors, i.e. positioning to incorrect locations, inaccurate positioning, and inability to locate certain areas. In addition, the surrounding environment will also affect the results returned by the AR positioning algorithm, and thus affect the fit of the AR content, increasing development time and costs, and reducing development efficiency. Summary of the invention

[0005] In view of this, the embodiments of the present disclosure provide a method and device for offline rendering of AR video data, which can fuse the image data of the real environment and the 3D virtual content and record the fusion process in the 3D rendering engine, so as to realize offline rendering of AR video data, which has a better experience effect than the on-site experience rendering, and visualizes the inaccurate positioning and positioning error problems by calculating the fit between the real environment and the virtual content, thereby reducing the development time and development cost and improving the development efficiency.

[0006] In a first aspect, the embodiments of the present disclosure provide an offline rendering method for AR video data, which adopts the following technical solutions:

[0007] Collecting trajectory data of a mobile device and image data of a real environment captured by the mobile device;

[0008] Synchronizing the track data to the corresponding virtual map, and saving the track data to a cloud server;

[0009] Sending the trajectory data, the image data, the AR content, and the virtual map to a 3D rendering engine;

[0010] Playing the trajectory data sequentially on a plug-in of the 3D rendering engine;

[0011] The image data and the AR content are rendered, and the rendering process is recorded on the 3D rendering engine.

[0012] In some embodiments, the method further comprises:

[0013] Acquiring depth information of the image data;

[0014] Perform cloud positioning on the area where the target object in the image data is located according to the depth information, and output a positioning result;

[0015] Recording the positioning result on the 3D rendering engine;

[0016] The positioning result is matched with the trajectory data to obtain the positioning accuracy of the trajectory data.

[0017] In some embodiments, matching the positioning result with the trajectory data to obtain the positioning accuracy of the trajectory data includes:

[0018] Obtaining the degree of fit between the positioning result and the trajectory data;

[0019] When the fit degree is less than a preset fit degree threshold, confirming that the positioning accuracy of the trajectory data does not reach a preset accuracy;

[0020] When the fit degree is greater than or equal to a preset fit degree threshold, it is confirmed that the positioning accuracy of the trajectory data has reached a preset accuracy.

[0021] In some embodiments, the method further comprises:

[0022] When the positioning accuracy of the trajectory data does not reach a preset accuracy, collecting a point set including a plurality of points in the trajectory data that do not meet the positioning requirements;

[0023] Supplementary sampling is performed on a plurality of points in the point set to obtain supplementary sampling trajectory data;

[0024] The supplementary mining trajectory data is updated into the virtual map.

[0025] In some embodiments, the method further comprises:

[0026] When the positioning accuracy of the trajectory data does not reach a preset accuracy, determining a target display position of the AR content in the area to be displayed;

[0027] The AR content is adjusted from the current display position to the target display position for display.

[0028] In some embodiments, collecting the trajectory data of the mobile device and the image data of the real environment captured by the mobile device includes:

[0029] Generating the trajectory data according to visual inertial information collected by the visual inertial odometer of the mobile device;

[0030] Acquire image data obtained by photographing the real environment through a camera device on the mobile device;

[0031] Combining the visual inertial information and the image data to obtain a data volume;

[0032] The data body is sent to the cloud server.

[0033] In a second aspect, the embodiments of the present disclosure further provide an offline rendering device for AR video data, which adopts the following technical solution:

[0034] An input module, configured to collect trajectory data of a mobile device and image data of a real environment captured by the mobile device;

[0035] A data processing and storage module is configured to synchronize the track data to a corresponding virtual map and save the track data to a cloud server;

[0036] A data presentation module, configured to send the trajectory data, the image data, the AR content and the virtual map to a 3D rendering engine;

[0037] A data playback module, configured to sequentially play the trajectory data on a plug-in of the 3D rendering engine;

[0038] The data fusion module is configured to render the image data and the AR content and record the rendering process on the 3D rendering engine.

[0039] In some embodiments, the apparatus further comprises:

[0040] An acquisition module, configured to acquire depth information of the image data;

[0041] A positioning module is configured to perform cloud positioning on the area where the target object in the image data is located according to the depth information, and output a positioning result;

[0042] A recording module, configured to record the positioning result on the 3D rendering engine;

[0043] The matching module is configured to match the positioning result with the trajectory data to obtain the positioning accuracy of the trajectory data.

[0044] In a third aspect, the present disclosure also provides an electronic device, which adopts the following technical solution:

[0045] The electronic device comprises:

[0046] at least one processor; and,

[0047] a memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the above-mentioned offline rendering methods for AR video data.

[0049] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute any of the above-mentioned offline rendering methods of AR video data.

[0050] The disclosed embodiment provides an offline rendering method and device for AR video data, which collects trajectory data of a mobile device and captures image data of a real environment through the mobile device; synchronizes the trajectory data to a corresponding virtual map, and saves the trajectory data to a cloud server; sends the trajectory data, the image data, AR content, and the virtual map to a 3D rendering engine; plays the trajectory data sequentially on a plug-in of the 3D rendering engine; renders the image data and AR content, and records the rendering process on the 3D rendering engine. The disclosed embodiment can fuse the image data of the real environment and the 3D virtual content and record the fusion process in the 3D rendering engine, thereby realizing offline rendering of AR video data, which has a better experience effect than on-site experience rendering, and visualizes inaccurate positioning and positioning error problems by calculating the fit between the real environment and the virtual content, thereby reducing development time and development costs and improving development efficiency.

[0051] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 A flowchart of an offline rendering method for AR video data provided by an embodiment of the present disclosure;

[0054] Figure 2 A schematic diagram of rendering AR video data provided by an embodiment of the present disclosure;

[0055] Figure 3 A schematic diagram of the structure of an offline rendering device for AR video data provided by an embodiment of the present disclosure;

[0056] Figure 4 A functional block diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0058] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0059] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0060] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0061] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0062] like Figure 1 As shown, the embodiment of the present disclosure provides an offline rendering method for AR video data, including:

[0063] S101, collecting trajectory data of a mobile device and image data of a real environment captured by the mobile device.

[0064] Optionally, the VIO information (i.e., visual inertial information) of the mobile device is collected by a visual inertial odometer on a mobile device such as a mobile phone; the image data of the real environment is captured by a shooting device such as a camera set on the mobile device. The visual inertial information and the image data are merged and uploaded to the cloud server.

[0065] It should be noted that the user can set the mobile device and the shooting device according to actual needs, and the embodiments of the present disclosure are not limited to this.

[0066] S102: Synchronize the track data to the corresponding virtual map, and save the track data to the cloud server.

[0067] Optionally, the trajectory data formed according to the VIO information is matched to the corresponding constructed virtual map, and a mapping relationship between the trajectory data and the virtual map is established, and the mapping relationship is saved to a cloud server.

[0068] S103: Send the trajectory data, image data, AR content, and virtual map to a 3D rendering engine.

[0069] S104, playing the trajectory data sequentially on a plug-in of a 3D rendering engine.

[0070] Optionally, the trajectory data is played on a plug-in developed on the 3D rendering engine in the time sequence in which the trajectory data is recorded.

[0071] S105: Render the image data and the AR content, and record the rendering process on a 3D rendering engine.

[0072] Alternatively, if Figure 2 As shown, it is a rendering schematic diagram of AR video data provided by an embodiment of the present disclosure. The embodiment of the present disclosure integrates image data and AR content, records the rendering process on a 3D rendering engine, and realizes offline rendering of AR video data. Compared with on-site experience rendering, this offline rendering method adopts desktop-level computing and rendering unit processing to obtain AR video data with better quality.

[0073] The disclosed embodiments can fuse the image data of the real environment and the 3D virtual content and record the fusion process in the 3D rendering engine, thereby realizing offline rendering of AR video data, which has a better experience effect than on-site experience rendering, and visualizes inaccurate positioning and positioning error problems by calculating the fit between the real environment and the virtual content, thereby reducing development time and development costs and improving development efficiency.

[0074] In some embodiments, the method further comprises:

[0075] Obtaining depth information of image data;

[0076] Perform cloud positioning of the target object area in the image data based on the depth information and output the positioning result;

[0077] Record the positioning results on the 3D rendering engine;

[0078] The positioning result is matched with the trajectory data to obtain the positioning accuracy of the trajectory data.

[0079] Optionally, by judging whether the positioning result of cloud positioning is consistent with the trajectory data, it can be judged whether there is an inaccurate or wrong positioning of the trajectory data in the current actual AR experience process, which paves the way for solving the inaccurate or wrong positioning in the future.

[0080] In some embodiments, matching the positioning result with the trajectory data to obtain the positioning accuracy of the trajectory data includes:

[0081] Get the fit between the positioning result and the trajectory data;

[0082] When the fit degree is less than a preset fit degree threshold, it is confirmed that the positioning accuracy of the trajectory data does not reach the preset accuracy;

[0083] When the fit degree is greater than or equal to a preset fit degree threshold, it is confirmed that the positioning accuracy of the trajectory data has reached the preset accuracy.

[0084] For example, the fit threshold can be set to 90%. When the fit is greater than or equal to 90%, it is confirmed that the positioning accuracy has reached the preset accuracy; when the fit is less than 90%, it is confirmed that the positioning accuracy has not reached the preset accuracy. It should be noted that the fit threshold can be set according to the actual needs of the user, and the embodiments of the present disclosure do not limit this.

[0085] In some embodiments, the method further comprises:

[0086] When the positioning accuracy of the trajectory data does not reach the preset accuracy, a point set containing several points in the trajectory data that do not meet the positioning requirements is collected;

[0087] Supplementary sampling is performed on several points in the point set to obtain supplementary sampling trajectory data;

[0088] Update the supplementary mining trajectory data to the virtual map.

[0089] Optionally, when there are incorrectly located points, inaccurately located points, or points that cannot be located in some areas in the trajectory data, it is determined that these points do not meet the positioning requirements. If the positioning accuracy of the trajectory data does not reach the preset accuracy, the areas where these points are located can be supplemented in the constructed virtual map.

[0090] In some embodiments, the method further comprises:

[0091] When the positioning accuracy of the trajectory data does not reach a preset accuracy, determining a target display position of the AR content in the area to be displayed;

[0092] Adjust the AR content from the current display position to the target display position for display.

[0093] Optionally, for example, by adjusting the placement of AR content, you can avoid AR experience in certain special scenes to avoid poor AR experience in special scenes. For example, when creating content in front of a floor-length mirror, due to visual problems, the scene on the mirror is recognized, resulting in positioning on the opposite side, which is inconsistent with the expected effect. If you recommend in advance to avoid creating AR content in front of glass, you can save development time and improve development efficiency.

[0094] In some embodiments, collecting the trajectory data of the mobile device and the image data of the real environment captured by the mobile device includes:

[0095] Generate trajectory data based on visual-inertial information collected by the visual-inertial odometry of the mobile device;

[0096] Acquire image data obtained by photographing a real environment through a camera device on a mobile device;

[0097] The visual inertial information and the image data are combined and processed to obtain a data volume;

[0098] Send the data body to the cloud server.

[0099] like Figure 3 As shown, the embodiment of the present disclosure also provides an offline rendering device for AR video data, including:

[0100] An input module 31 is configured to collect trajectory data of a mobile device and image data of a real environment captured by the mobile device;

[0101] The data processing and storage module 32 is configured to synchronize the trajectory data to the corresponding virtual map and save the trajectory data to the cloud server;

[0102] A data presentation module 33 is configured to send the trajectory data, image data, AR content and virtual map to a 3D rendering engine;

[0103] The data playing module 34 is configured to play the trajectory data sequentially on the plug-in of the 3D rendering engine;

[0104] The data fusion module 35 is configured to fuse the image data and the AR content and record the fusion process on the 3D rendering engine.

[0105] In some embodiments, the apparatus further comprises:

[0106] An acquisition module, configured to acquire depth information of the image data;

[0107] A positioning module is configured to perform cloud positioning of the area where the target object is located in the image data according to the depth information and output a positioning result;

[0108] A recording module, configured to record the positioning result on the 3D rendering engine;

[0109] The matching module is configured to match the positioning result with the trajectory data to obtain the positioning accuracy of the trajectory data.

[0110] The electronic device according to an embodiment of the present disclosure includes a memory and a processor. The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may, for example, include a read-only memory (ROM), a hard disk, a flash memory, etc.

[0111] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory, so that the electronic device performs all or part of the steps of the offline rendering method of AR video data of the aforementioned embodiments of the present disclosure.

[0112] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0113] like Figure 4 The present invention provides a schematic diagram of the structure of an electronic device according to an embodiment of the present invention, which is suitable for implementing the electronic device in the embodiment of the present invention. Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0114] like Figure 4 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0115] Typically, the following devices can be connected to the I / O interface: input devices such as sensors or visual information acquisition devices; output devices such as display screens; storage devices such as magnetic tapes and hard disks; and communication devices. The communication device can allow the electronic device to communicate with other devices (such as edge computing devices) wirelessly or by wire to exchange data. Figure 4An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0116] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, all or part of the steps of the offline rendering method of AR video data of an embodiment of the present disclosure are executed.

[0117] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0118] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the offline rendering method of AR video data of the aforementioned embodiments of the present disclosure are executed.

[0119] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0120] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0121] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0122] In the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0123] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0124] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0125] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0126] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0127] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. An offline rendering method for AR video data, characterized in that: include: Collecting trajectory data of a mobile device and image data of a real environment captured by the mobile device; Synchronizing the track data to the corresponding virtual map, and saving the track data to a cloud server; Sending the trajectory data, the image data, the AR content, and the virtual map to a 3D rendering engine; Playing the trajectory data sequentially on a plug-in of the 3D rendering engine; Rendering the image data and the AR content, and recording the rendering process on the 3D rendering engine; Acquiring depth information of the image data; Perform cloud positioning on the area where the target object in the image data is located according to the depth information, and output a positioning result; Recording the positioning result on the 3D rendering engine; Matching the positioning result with the trajectory data to obtain the positioning accuracy of the trajectory data; comprising: Obtaining the degree of fit between the positioning result and the trajectory data; When the fit degree is less than a preset fit degree threshold, confirming that the positioning accuracy of the trajectory data does not reach a preset accuracy; When the fit degree is greater than or equal to a preset fit degree threshold, confirming that the positioning accuracy of the trajectory data has reached a preset accuracy; The method further comprises: When the positioning accuracy of the trajectory data does not reach a preset accuracy, collecting a point set including a plurality of points in the trajectory data that do not meet the positioning requirements; Supplementary sampling is performed on a plurality of points in the point set to obtain supplementary sampling trajectory data; Updating the supplementary mining trajectory data into the virtual map; The method further comprises: When the positioning accuracy of the trajectory data does not reach a preset accuracy, determining a target display position of the AR content in the area to be displayed; Adjusting the AR content from the current display position to the target display position for display; Collecting trajectory data of a mobile device and image data of a real environment captured by the mobile device includes: Generating the trajectory data according to visual inertial information collected by the visual inertial odometer of the mobile device; Acquire image data obtained by photographing the real environment through a camera device on the mobile device; Combining the visual inertial information and the image data to obtain a data volume; The data body is sent to the cloud server.

2. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the offline rendering method of AR video data according to claim 1.

3. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which are used to enable a computer to execute the offline rendering method of AR video data according to claim 1.

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