A method, apparatus, and medium for determining motion imaging time delay

Abstract

The purpose of this application is to provide a method, device, and medium for determining motion imaging time delay. The method includes: acquiring first image information captured by a shooting device on the display screen of an augmented reality device; acquiring multiple image information captured by the shooting device on the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device; and determining the motion imaging time delay of the augmented reality device from stationary to moving based on the number of frames between the second and third image information in the multiple image information and the shooting frequency.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a technique for determining motion imaging time delay. Background Technology

[0002] In the field of augmented reality (AR), motion-to-photon latency (MTP or M2P) refers to the time interval between a user performing an action (such as head rotation) and the corresponding change becoming visible on the display device. MTP is a critical performance metric in AR devices, playing a significant role in user experience and device functionality. MTP is particularly important for AR devices, as latency introduces "lag." Sources of latency in AR devices include tracking, rendering, and audio, and this latency affects the subjective experience and presence of virtual reality scenes, as well as task performance during physical interactions or collaborative tasks. Therefore, accurately measuring and analyzing MTP latency in AR systems is crucial. Summary of the Invention

[0003] One object of this application is to provide a method, apparatus, and medium for determining motion imaging time delay.

[0004] According to one aspect of this application, a method for determining motion imaging time delay is provided, the method comprising:

[0005] The first image information is obtained by the shooting device shooting at the display screen of the augmented reality device, wherein the first image information includes at least one physical reference target and virtual presentation information, the augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen, and the shooting device and the augmented reality device are in a stationary state;

[0006] The shooting device captures multiple images of the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image includes a second physical reference target and the virtual presentation information.

[0007] Based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, the motion imaging delay of the augmented reality device from stationary to moving is determined, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

[0008] According to one aspect of this application, a computer device for determining motion imaging time delay is provided, the device comprising:

[0009] Processor; and

[0010] A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the following operations:

[0011] The first image information is obtained by the shooting device shooting at the display screen of the augmented reality device, wherein the first image information includes at least one physical reference target and virtual presentation information, the augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen, and the shooting device and the augmented reality device are in a stationary state;

[0012] The shooting device captures multiple images of the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image includes a second physical reference target and the virtual presentation information.

[0013] Based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, the motion imaging delay of the augmented reality device from stationary to moving is determined, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

[0014] According to one aspect of this application, a computer-readable medium is provided for storing instructions that, when executed, cause a system to perform the following operations:

[0015] The first image information is obtained by the shooting device shooting at the display screen of the augmented reality device, wherein the first image information includes at least one physical reference target and virtual presentation information, the augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen, and the shooting device and the augmented reality device are in a stationary state;

[0016] The shooting device captures multiple images of the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image includes a second physical reference target and the virtual presentation information.

[0017] Based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, the motion imaging delay of the augmented reality device from stationary to moving is determined, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

[0018] According to one aspect of this application, a computer device for determining motion imaging time delay is provided, the device comprising:

[0019] A module is used to acquire first image information captured by the shooting device on the display screen of the augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen. The shooting device and the augmented reality device are in a stationary state.

[0020] The first and second modules are used to acquire multiple image information captured by the shooting device on the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual presentation information.

[0021] The first and third modules are used to determine the motion imaging delay of the augmented reality device from static to dynamic based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

[0022] Compared with existing technologies, this application acquires first image information captured by a shooting device on the display screen of an augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device positions the first physical reference target and overlays the virtual presentation information on the display screen. The shooting device and the augmented reality device are stationary. The application also acquires multiple image information captured by the shooting device on the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual presentation information. Based on the multiple image information... The number of frames between the second and third image information and the shooting frequency are used to determine the motion imaging delay of the augmented reality device from stationary to moving. In the second image, the second physical reference target changes position for the first time relative to the first image information, and in the third image, the virtual presentation information changes position for the first time relative to the first image information. This supports MTP measurement of the AR device from stationary to moving and enables automated calculation of MTP under single-camera observation based on image analysis. The requirements for equipment are low. For MTP measurement from stationary to moving, only a high-speed camera is needed to record the display screen content of the AR device. The measurement system is easy to build, and the measurement accuracy is only limited by the shooting frame rate of the high-speed camera and is not affected by the rendering frame rate of the AR device under test. Attached Figure Description

[0023] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0024] Figure 1 This diagram illustrates a method for determining motion imaging time delay according to an embodiment of the present application.

[0025] Figure 2 This diagram illustrates a computer device structure for determining motion imaging delay according to an embodiment of this application.

[0026] Figure 3 This illustration shows a schematic diagram of a method for determining motion imaging time delay according to an embodiment of this application;

[0027] Figure 4 This illustration shows a schematic diagram of a method for determining motion imaging time delay according to an embodiment of this application;

[0028] Figure 5 This illustration shows a schematic diagram of a method for determining motion imaging time delay according to an embodiment of this application;

[0029] Figure 6 Exemplary systems that can be used to implement the various embodiments described in this application are shown.

[0030] The same or similar reference numerals in the accompanying drawings represent the same or similar parts. Detailed Implementation

[0031] The present application will now be described in further detail with reference to the accompanying drawings.

[0032] In a typical configuration of this application, the terminal, the device of the service network, and the trusted party all include one or more processors (e.g., a central processing unit (CPU)), input / output interfaces, network interfaces, and memory.

[0033] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory. Memory is an example of computer-readable media.

[0034] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PCM), programmable random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0035] The devices referred to in this application include, but are not limited to, user equipment, network equipment, or devices composed of user equipment and network equipment integrated through a network. The user equipment includes, but is not limited to, any mobile electronic product capable of human-computer interaction (e.g., via a touchpad), such as smartphones, tablets, and smart glasses. These mobile electronic products can use any operating system, such as Android or iOS. The network equipment includes an electronic device capable of automatically performing numerical calculations and information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), and embedded devices. The network equipment includes, but is not limited to, computers, network hosts, single network servers, multiple network server clusters, or a cloud composed of multiple servers. Here, the cloud consists of a large number of computers or network servers based on cloud computing, where cloud computing is a type of distributed computing, consisting of a virtual supercomputer composed of a group of loosely coupled computer clusters. The network includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, VPN network, wireless ad hoc network, etc. Preferably, the device can also be a program running on the user equipment, network device, or a device formed by integrating user equipment and network device, network device, touch terminal, or network device and touch terminal through a network.

[0036] Of course, those skilled in the art should understand that the above-described devices are merely examples, and other existing or future devices that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0037] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0038] Figure 1The flowchart illustrates a method for determining motion imaging time delay according to an embodiment of the present application, the method including steps S11, S12 and S13. In step S11, the computer device acquires first image information captured by the shooting device onto the display screen of the augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device positions the first physical reference target and overlays the virtual presentation information onto the display screen. The shooting device and the augmented reality device are stationary. In step S12, the computer device acquires multiple image information captured by the shooting device onto the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual presentation information. In step S13, the computer device determines the motion imaging delay of the augmented reality device from stationary to moving based on the number of frames between the second and third image information in the multiple image information and the shooting frequency. In the second image, the second physical reference target undergoes its first positional change relative to the first image information. In the third image, the virtual presentation information undergoes its first positional change relative to the first image information.

[0039] In step S11, the computer device acquires first image information captured by the camera device onto the display screen of the augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device positions the first physical reference target and overlays the virtual presentation information onto the display screen. The camera device and the augmented reality device are in a stationary state. In some embodiments, the camera device can be any device with a camera; preferably, it can be an industrial camera or a high-speed camera. The augmented reality device can be any AR (Augmented Reality) device with a camera and a display screen (optical-mechanical screen), such as monocular AR smart glasses or binocular AR smart glasses. In some embodiments, the augmented reality device can be in Video See-Through (VST) mode, where the augmented reality device displays the real-world scene captured by the camera on the display screen. Alternatively, the augmented reality device can be in Optical See-Through (OST) mode, where the user can see the real-world scene through the display screen of the augmented reality device, and the augmented reality device does not display the real-world scene captured by the camera on the display screen. In some embodiments, when the shooting device and the augmented reality device are stationary, first image information is acquired by the shooting device (the shooting device and the display screen of the augmented reality device need to be aligned) capturing the display screen of the augmented reality device. The first image information includes virtual presentation information (i.e., virtual scene content) displayed on the display screen of the augmented reality device and at least one physical reference target in the real scene (physical space) in front (there may be only one physical reference target, or there may be multiple physical reference targets, in which case the style, pattern, etc. of each physical reference target may be the same or different). The physical reference target can be any object in the real scene, as long as it has visually recognizable characteristics. For example, physical reference targets include, but are not limited to, QR codes, barcodes, and visual reference system codes (AprilTag). Alternatively, physical reference targets can also be objects containing multiple geometric shapes, multiple different gray levels, multiple different colors, patterns, or textures.In some embodiments, if the augmented reality device is in VST mode, the display screen of the augmented reality device simultaneously displays the real-world content captured by the camera and the virtual rendering information displayed in the optical engine of the augmented reality device. In this case, the capturing device can obtain first image information containing the virtual rendering information and at least one physical reference target in the current real-world scene by capturing the display screen of the augmented reality device. In other embodiments, if the augmented reality device is in OST mode, the display screen of the augmented reality device only displays the virtual rendering information displayed in the optical engine of the augmented reality device. In this case, the capturing device captures the real-world content in front of it through the display screen when capturing the display screen of the augmented reality device, thereby obtaining first image information containing the virtual rendering information and at least one physical reference target in the current real-world scene. In some embodiments, the virtual rendering information displayed on the display screen of the augmented reality device has the ability to locate physical reference targets in the real-world scene. The localization method can be SLAM correlation algorithm, 2D recognition and tracking algorithm, 3D recognition and tracking algorithm, etc., which are only examples and are not limited. In some embodiments, the augmented reality device will locate one of the at least one physical reference targets in the current real scene, namely the first physical reference target, in real time, and overlay the corresponding virtual presentation information in the current frame according to the real-time current position of the first physical reference target in the current frame of the display screen. For example, the corresponding virtual presentation information can be overlaid and displayed at the real-time current position, or at a position with a preset direction and a preset distance from the real-time current position.

[0040] In step S12, the computer device acquires multiple image information captured by the shooting device at a preset shooting frequency on the display screen of the augmented reality device during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual rendering information. In some embodiments, at least one physical reference target in the real scene (physical space) remains stationary, allowing the shooting device and the augmented reality device to move from a stationary state at the same speed and direction, i.e., they remain relatively stationary during the movement. The shooting device captures multiple image information corresponding to multiple different moments during the movement at a preset shooting frequency. Each image information includes a second physical reference target among the at least one physical reference target and virtual rendering information. The second physical reference target and the first physical reference target can be the same physical reference target or two different physical reference targets. In some embodiments, each image information also includes all or part of the first physical reference target, only requiring the augmented reality device to be able to locate it (for overlaying virtual rendering information). In some embodiments, for example, the capturing device continuously captures images as it transitions from a stationary state to a moving state with the augmented reality device, thereby obtaining first image information and multiple images during the movement. Alternatively, the capturing device captures images to obtain the first image information while the capturing device and the augmented reality device are stationary, and then captures images again when the capturing device and the augmented reality device begin to move, obtaining multiple images during the movement. The method of obtaining the first image information and multiple images during the movement is not limited in this application. In some embodiments, each image may further include one or more other physical reference targets besides the first physical reference target and the second physical reference target. In some embodiments, each image may further include one or more other newly appearing physical reference targets in the foreground real-world scene besides the at least one physical reference target. In some embodiments, preferably, the capturing device and the augmented reality device move at the same speed and direction of motion.

[0041] In step S13, the computer device determines the motion imaging delay of the augmented reality device from stationary to moving based on the number of frames between the second and third image information in the multiple image information and the shooting frequency. In the second image, the second physical reference target changes position for the first time relative to the first image information, and in the third image, the virtual presentation information changes position for the first time relative to the first image information. In some embodiments, based on the image detection algorithm, if the position of the second physical reference target in one of the multiple image information (i.e., its position in the image coordinate system) changes for the first time compared to its position in the first image information (i.e., its position in the image coordinate system), the first change in the position of the second physical reference target is the start of the physical motion of the augmented reality device, i.e., the start of MTP. This image information is taken as the second image information. That is, in each of the multiple image information whose corresponding shooting time is before the second image information, the position of the second physical reference target relative to the first image information has not changed. Similarly, based on the image detection algorithm, if the position of the virtual presentation information in one of the multiple image information (i.e., its position in the image coordinate system) changes for the first time compared to its position in the first image information (i.e., its position in the image coordinate system), the first change in the position of the virtual presentation information is the moment when the augmented reality device displays the response motion, i.e., the end of MTP. This image information is taken as the third image information. That is, in each of the multiple image information whose corresponding shooting time is before the third image information, the position of the virtual presentation information relative to the first image information has not changed. In some embodiments, subtracting the frame number of the second image information from the frame number corresponding to the third image information yields the number of frames (i.e., how many frames) between them. Multiplying this number of frames by the inter-frame time interval of the capturing device provides the motion imaging delay (MTP) of the augmented reality device from stationary to moving states. The inter-frame time interval of the capturing device can be determined based on the shooting frequency. For example, the image frame corresponding to the second image information is F... start The image frame corresponding to the third image information is F. end Then the MTP time mt The output is:

[0042] Time mtp =(F end -F start )*T

[0043] Where T is the inter-frame time interval of the shooting device. This application supports MTP measurement of AR devices from stationary to moving states, and realizes automated calculation of MTP under single-camera observation based on image analysis. The requirements for equipment are low. For MTP measurement from stationary to moving states, only a high-speed camera device is needed to record the display screen content of the AR device, and the measurement accuracy is only limited by the shooting frame rate of the high-speed camera, and is not affected by the rendering frame rate of the AR device under test.

[0044] In some embodiments, the first physical reference target and the second physical reference target belong to the same physical reference target. In some embodiments, to simplify the measurement system, only one physical reference target can be set. The augmented reality device will locate the physical reference target in real time and overlay the corresponding virtual rendering information in the current frame according to the real-time current position of the physical reference target in the current frame of the display screen. As an example, such as Figure 3 As shown, the augmented reality device and the shooting device are in a stationary state. The upper square is the first physical reference target in the real scene in front (the first physical reference target and the second physical reference target are the same physical reference target). The middle square is the screen reference target on the display screen (which can be omitted). The lower square is the virtual presentation information on the display screen. The augmented reality device and the shooting device (high-speed camera) are mounted on a fixture, which is mounted on the end of the robotic arm. The first physical reference target is placed in the physical space in front of the fixture.

[0045] In some embodiments, the method further includes: obtaining first position information of the second physical reference target in the first image information and second position information of the virtual rendering information in the first image information; wherein, the method further includes: if the first current position information of the second physical reference target in the second image is different from the first position information for the first time, determining that the second physical reference target has undergone a position change relative to the first image information for the first time in the second image; if the second current position information of the virtual rendering information in the third image is different from the second position information for the first time, determining that the virtual rendering information has undergone a position change relative to the first image information for the first time in the third image. In some embodiments, the first position information of the second physical reference target in the first image information (e.g., its position in the image coordinate system) and the second position information of the virtual rendering information in the first image information (e.g., its position in the image coordinate system) can be obtained by an image detection algorithm. In some embodiments, if the first current position information (e.g., its current position in the image coordinate system) of the second physical reference target in the second image information is different from the first position information for the first time, that is, the first current position information of the second physical reference target in each of the multiple image information whose corresponding shooting time is before the second image information is the first position information, it can be determined that the second physical reference target has changed position relative to the first image information for the first time in the second image. If the second current position information (e.g., its current position in the image coordinate system) of the virtual presentation information in the third image information is different from the second position information for the first time, that is, the second current position information of the virtual presentation information in each of the multiple image information whose corresponding shooting time is before the third image information is the second position information, it can be determined that the virtual presentation information has changed position relative to the first image information for the first time in the third image.

[0046] In some embodiments, the augmented reality device presents a screen reference target at a fixed position on the display screen. The first position information includes a first relative position information of the second physical reference target relative to the screen reference target in the first image information; the second position information includes a second relative position information of the virtual rendering information relative to the screen reference target in the first image information; the first current position information includes a third relative position information of the second physical reference target relative to the screen reference target in the second image; and the second current position information includes a fourth relative position information of the virtual rendering information relative to the screen reference target in the third image. In some embodiments, the augmented reality device presents a screen reference target at a certain position on the display screen (e.g., a preset position on the screen, such as the center of the screen, or the position corresponding to the first or second physical reference target on the screen). The screen reference target can be any display object, and its size and shape are not limited. In some embodiments, the first position information mentioned above may be the first relative position information of the second physical reference target in the first image information relative to the screen reference target (i.e., the relative position of the second physical reference target relative to the screen reference target in the image coordinate system), and the second position information mentioned above may be the second relative position information of the virtual rendering information in the first image information relative to the screen reference target (i.e., the relative position of the virtual rendering information relative to the screen reference target in the image coordinate system). The first current position information mentioned above may be the third relative position information of the second physical reference target in the second image relative to the screen reference target (i.e., the relative position of the second physical reference target relative to the screen reference target in the image coordinate system), and the second current position information mentioned above may be the fourth relative position information of the virtual rendering information in the third image relative to the screen reference target (i.e., the relative position of the virtual rendering information relative to the screen reference target in the image coordinate system). Therefore, if the third relative position information is different from the first relative position information for the first time, it is determined that the second physical reference target has undergone its first position change relative to the first image information in the second image; if the fourth relative position information is different from the second relative position information for the first time, it is determined that the virtual rendering information has undergone its first position change relative to the first image information in the third image. As an example, such as Figure 4As shown, during the synchronized rightward movement of the augmented reality device and the camera, the upper square represents the first physical reference target in the foreground (the first and second physical reference targets are the same physical reference target). The middle square represents the screen reference target on the display screen, which moves relative to the first physical reference target but remains stationary relative to the camera (industrial camera). The lower square represents the virtual presentation information on the display screen. The positioning algorithm responds to the movement of the augmented reality device and outputs attitude information. The virtual presentation information receives this attitude information and updates its position in response to the movement of the augmented reality device. Due to latency, the virtual presentation information deviates somewhat from the first physical reference target. As an example, such as... Figure 5 As shown, the augmented reality device and the camera continue to move to the right in sync. The positioning algorithm responds to the movement of the augmented reality device and outputs pose information, causing the virtual presentation information to move to the left. The virtual presentation information remains aligned with the first physical reference target and is unaffected by the movement of the augmented reality device.

[0047] In some embodiments, the augmented reality device presents a screen reference target at a fixed position on the display screen, and the screen reference target, the second physical reference target, and the virtual rendering information are aligned in the first image information; wherein, the method further includes: if the second physical reference target shifts for the first time relative to the screen reference target in the second image, determining that the second physical reference target has undergone its first positional change relative to the first image information in the second image; if the virtual rendering information shifts for the first time relative to the screen reference target in the third image, determining that the virtual rendering information has undergone its first positional change relative to the first image information in the third image. The first physical reference target may be the same as the second physical reference target, or they may be different physical reference targets. In some embodiments, the augmented reality device presents a screen reference target and virtual rendering information on the display screen. For example, the screen reference target is displayed at the center of the screen, and a second physical reference target is moved to the corresponding real-world location of the screen reference target. Alternatively, the screen reference target is displayed at the location corresponding to the second physical reference target on the screen, and the position of the first physical reference target or the relative position information between the virtual rendering information and the first physical reference target is further adjusted. This ensures that when the shooting device and the augmented reality device are stationary, the screen reference target, the second physical reference target, and the virtual rendering information in the first image information captured by the shooting device on the display screen of the augmented reality device are aligned. Here, alignment can mean that the three correspond to the same rendering position in the first image information (e.g., the center point positions of the three are the same, and the positions of at least one corner point of each of the three are the same). The outer edges of the three objects overlap, or their bounding rectangles overlap, etc. In some embodiments, if the image detection algorithm determines that the second physical reference target shifts for the first time relative to the screen reference target in the second image, that is, the second physical reference target and the screen reference target remain aligned in each image before the second image in the plurality of image information, then it can be determined that the second physical reference target has changed position for the first time relative to the first image information in the second image. If the image detection algorithm determines that the virtual presentation information shifts for the first time relative to the screen reference target in the third image, that is, the virtual presentation information and the screen reference target remain aligned in each image before the third image in the plurality of image information, then it can be determined that the virtual presentation information has changed position for the first time relative to the first image information in the third image.

[0048] In some embodiments, the augmented reality device locates the first physical reference target and, based on the real-time current position of the first physical reference target in the current frame of the display screen, overlays the virtual presentation information onto the current frame. In some embodiments, the virtual presentation information displayed on the display screen of the augmented reality device has the ability to locate physical reference targets in the real scene. The location method can be SLAM-related algorithms, 2D recognition and tracking algorithms, 3D recognition and tracking algorithms, etc., which are only examples and are not limited. In some embodiments, the augmented reality device will locate one of the at least one physical reference targets in the current real scene, namely the first physical reference target, in real time, and, based on the real-time current position of the first physical reference target in the current frame of the display screen (for example, the position of the first physical reference target obtained by the camera on the display screen of the augmented reality device in VST mode, or the position of the first physical reference target through the display screen in OST mode), overlays the corresponding virtual presentation information onto the current frame. For example, the corresponding virtual presentation information is overlaid at the real-time current position, or the corresponding virtual presentation information is overlaid at a position with a preset direction and a preset distance from the real-time current position (i.e., the virtual presentation information and the first physical reference target may not be aligned in the first image information).

[0049] In some embodiments, the augmented reality device overlays the virtual presentation information at the real-time current position on the current frame, so that the virtual presentation information and the first physical reference target are aligned in the first image information. In some embodiments, the augmented reality device locates one of the at least one physical reference targets in the current real scene, namely the first physical reference target, in real time, and overlays the corresponding virtual presentation information at the real-time current position of the first physical reference target in the current frame of the display screen, so that when the shooting device and the augmented reality device are in a stationary state, the first physical reference target and the virtual presentation information are aligned in the first image information captured by the shooting device on the display screen of the augmented reality device, wherein alignment means that the two correspond to the same presentation position in the first image information.

[0050] In some embodiments, the shooting frequency is greater than the refresh rate of the display screen. In some embodiments, the refresh rate of the display screen is typically 60Hz, 90Hz, 120Hz, etc., and the shooting frequency of the shooting device needs to be greater than the refresh rate of the display screen of the augmented reality device. For example, the shooting frequency is 1000Hz, that is, one image is captured every 1ms.

[0051] In some embodiments, the imaging device and the augmented reality device are fixed to the end of a robotic arm, and the imaging device and the augmented reality device move synchronously by driving the robotic arm. In some embodiments, the robotic arm can move in a certain direction, such as left and right or up and down. In some embodiments, the imaging device (such as an industrial camera, high-speed camera, etc.) and the augmented reality device are fixed to the robotic arm, and the imaging device and the augmented reality device can move synchronously by driving the robotic arm. In some embodiments, the imaging device and the augmented reality device are mounted on a fixture, which is mounted on the end of the robotic arm, and a physical reference target is located in the physical space in front of the fixture. Preferably, the robotic arm can be driven to move at a constant speed so that the imaging device and the augmented reality device move synchronously at a constant speed.

[0052] In some embodiments, the movement of the imaging device and the augmented reality device can be linear motion or rotational arcuate motion, without limitation.

[0053] Figure 2 The diagram illustrates a computer device structure for determining motion imaging delay according to an embodiment of this application. The device includes a first module 11, a second module 12, and a third module 13. Module 11 is used to acquire first image information captured by the shooting device on the display screen of the augmented reality device, wherein the first image information includes at least one physical reference target and virtual presentation information, the augmented reality device positions the first physical reference target and overlays the virtual presentation information on the display screen, and the shooting device and the augmented reality device are in a stationary state; Module 12 is used to acquire multiple image information captured by the shooting device on the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device, wherein the shooting device and the augmented reality device move at the same speed and direction of movement, and each image information includes a second physical reference target and the virtual presentation information; Module 13 is used to determine the motion imaging delay of the augmented reality device from stationary to moving based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

[0054] Module 11 is used to acquire first image information captured by a shooting device on the display screen of an augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device positions the first physical reference target and overlays the virtual presentation information on the display screen. The shooting device and the augmented reality device are in a stationary state. In some embodiments, the shooting device can be any device with a camera; preferably, it can be an industrial camera or a high-speed camera. The augmented reality device can be any AR (Augmented Reality) device with a camera and a display screen (optical-mechanical screen), such as monocular AR smart glasses or binocular AR smart glasses. In some embodiments, the augmented reality device can be in Video See-Through (VST) mode, where the augmented reality device displays the real-world scene captured by the camera on the display screen. Alternatively, the augmented reality device can be in Optical See-Through (OST) mode, where the user can see the real-world scene through the display screen of the augmented reality device, and the augmented reality device does not display the real-world scene captured by the camera on the display screen. In some embodiments, when the shooting device and the augmented reality device are stationary, first image information is acquired by the shooting device (the shooting device and the display screen of the augmented reality device need to be aligned) capturing the display screen of the augmented reality device. The first image information includes virtual presentation information (i.e., virtual scene content) displayed on the display screen of the augmented reality device and at least one physical reference target in the real scene (physical space) in front (there may be only one physical reference target, or there may be multiple physical reference targets, in which case the style, pattern, etc. of each physical reference target may be the same or different). The physical reference target can be any object in the real scene, as long as it has visually recognizable characteristics. For example, physical reference targets include, but are not limited to, QR codes, barcodes, and visual reference system codes (AprilTag). Alternatively, physical reference targets can also be objects containing multiple geometric shapes, multiple different gray levels, multiple different colors, patterns, or textures.In some embodiments, if the augmented reality device is in VST mode, the display screen of the augmented reality device simultaneously displays the real-world content captured by the camera and the virtual rendering information displayed in the optical engine of the augmented reality device. In this case, the capturing device can obtain first image information containing the virtual rendering information and at least one physical reference target in the current real-world scene by capturing the display screen of the augmented reality device. In other embodiments, if the augmented reality device is in OST mode, the display screen of the augmented reality device only displays the virtual rendering information displayed in the optical engine of the augmented reality device. In this case, the capturing device captures the real-world content in front of it through the display screen when capturing the display screen of the augmented reality device, thereby obtaining first image information containing the virtual rendering information and at least one physical reference target in the current real-world scene. In some embodiments, the virtual rendering information displayed on the display screen of the augmented reality device has the ability to locate physical reference targets in the real-world scene. The localization method can be SLAM correlation algorithm, 2D recognition and tracking algorithm, 3D recognition and tracking algorithm, etc., which are only examples and are not limited. In some embodiments, the augmented reality device will locate one of the at least one physical reference targets in the current real scene, namely the first physical reference target, in real time, and overlay the corresponding virtual presentation information in the current frame according to the real-time current position of the first physical reference target in the current frame of the display screen. For example, the corresponding virtual presentation information can be overlaid and displayed at the real-time current position, or at a position with a preset direction and a preset distance from the real-time current position.

[0055] Module 12 is used to acquire multiple image information captured by the shooting device at a preset shooting frequency on the display screen of the augmented reality device during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual presentation information. In some embodiments, at least one physical reference target in the real scene (physical space) remains stationary, allowing the shooting device and the augmented reality device to start moving from a stationary state at the same speed and direction. That is, they remain relatively stationary during the movement. The shooting device captures multiple image information corresponding to multiple moments during the movement at a preset shooting frequency. Each image information includes a second physical reference target among the at least one physical reference target and virtual presentation information. The second physical reference target and the first physical reference target can be the same physical reference target or two different physical reference targets. In some embodiments, each image information also includes all or part of the first physical reference target, as long as it allows the augmented reality device to locate it (for overlaying virtual presentation information). In some embodiments, for example, the capturing device continuously captures images as it transitions from a stationary state to a moving state with the augmented reality device, thereby obtaining first image information and multiple images during the movement. Alternatively, the capturing device captures images to obtain the first image information while the capturing device and the augmented reality device are stationary, and then captures images again when the capturing device and the augmented reality device begin to move, obtaining multiple images during the movement. The method of obtaining the first image information and multiple images during the movement is not limited in this application. In some embodiments, each image may further include one or more other physical reference targets besides the first physical reference target and the second physical reference target. In some embodiments, each image may further include one or more other newly appearing physical reference targets in the foreground real-world scene besides the at least one physical reference target. In some embodiments, preferably, the capturing device and the augmented reality device move at the same speed and direction of motion.

[0056] Module 13 is used to determine the motion imaging delay of the augmented reality device from stationary to moving based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image. In some embodiments, based on the image detection algorithm, if the position of the second physical reference target in one of the multiple image information (i.e., its position in the image coordinate system) changes for the first time compared to its position in the first image information (i.e., its position in the image coordinate system), the first change in the position of the second physical reference target is the start of the physical motion of the augmented reality device, i.e., the start of MTP. This image information is taken as the second image information. That is, in each of the multiple image information whose corresponding shooting time is before the second image information, the position of the second physical reference target relative to the first image information has not changed. Similarly, based on the image detection algorithm, if the position of the virtual presentation information in one of the multiple image information (i.e., its position in the image coordinate system) changes for the first time compared to its position in the first image information (i.e., its position in the image coordinate system), the first change in the position of the virtual presentation information is the moment when the augmented reality device displays the response motion, i.e., the end of MTP. This image information is taken as the third image information. That is, in each of the multiple image information whose corresponding shooting time is before the third image information, the position of the virtual presentation information relative to the first image information has not changed. In some embodiments, subtracting the frame number of the second image information from the frame number corresponding to the third image information yields the number of frames (i.e., how many frames) between them. Multiplying this number of frames by the inter-frame time interval of the capturing device provides the motion imaging delay (MTP) of the augmented reality device from stationary to moving states. The inter-frame time interval of the capturing device can be determined based on the shooting frequency. For example, the image frame corresponding to the second image information is F... start The image frame corresponding to the third image information is F. end Then the MTP time mtp The output is:

[0057] Time mtp =(F end -F start )*T

[0058] Where T is the inter-frame time interval of the shooting device. This application supports MTP measurement of AR devices from stationary to moving states, and realizes automated calculation of MTP under single-camera observation based on image analysis. The requirements for equipment are low. For MTP measurement from stationary to moving states, only a high-speed camera device is needed to record the display screen content of the AR device, and the measurement accuracy is only limited by the shooting frame rate of the high-speed camera, and is not affected by the rendering frame rate of the AR device under test.

[0059] In some embodiments, the first physical reference target and the second physical reference target belong to the same physical reference target. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0060] In some embodiments, the device is further configured to: obtain first position information of the second physical reference target in the first image information and second position information of the virtual rendering information in the first image information; wherein, the device is further configured to: if the first current position information of the second physical reference target in the second image is different from the first position information for the first time, determine that the second physical reference target has undergone a position change relative to the first image information for the first time in the second image; if the second current position information of the virtual rendering information in the third image is different from the second position information for the first time, determine that the virtual rendering information has undergone a position change relative to the first image information for the first time in the third image. Here, the related operations are similar to... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0061] In some embodiments, the augmented reality device presents a screen reference target at a fixed position on the display screen. The first position information includes a first relative position information of the second physical reference target relative to the screen reference target in the first image information; the second position information includes a second relative position information of the virtual rendering information relative to the screen reference target in the first image information; the first current position information includes a third relative position information of the second physical reference target relative to the screen reference target in the second image; and the second current position information includes a fourth relative position information of the virtual rendering information relative to the screen reference target in the third image. Here, related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0062] In some embodiments, the augmented reality device presents a screen reference target at a fixed position on the display screen, and the screen reference target, the second physical reference target, and the virtual rendering information are aligned in the first image information; wherein, the device is further configured to: if the second physical reference target is first offset relative to the screen reference target in the second image, determine that the second physical reference target has first changed position relative to the first image information in the second image; if the virtual rendering information is first offset relative to the screen reference target in the third image, determine that the virtual rendering information has first changed position relative to the first image information in the third image. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0063] In some embodiments, the augmented reality device tracks and locates the first physical reference target, and overlays the virtual presentation information onto the current frame based on the real-time current position of the first physical reference target in the current frame of the display screen. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0064] In some embodiments, the augmented reality device overlays the virtual rendering information at the real-time current position on the current frame, such that the virtual rendering information and the first physical reference target are aligned in the first image information. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0065] In some embodiments, the shooting frequency is greater than the refresh rate corresponding to the display screen. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0066] In some embodiments, the shooting device and the augmented reality device are fixed to the end of a robotic arm, and the shooting device and the augmented reality device move synchronously by driving the robotic arm. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0067] In some embodiments, the direction of motion corresponding to the uniform motion process involves only a two-dimensional plane. Here, the related operations are... Figure 1 The embodiments shown are the same or similar, so they will not be described again, but are included here by reference.

[0068] In addition to the methods and devices described in the above embodiments, this application also provides a computer-readable storage medium storing computer code that, when executed, performs the method described in any of the preceding embodiments.

[0069] This application also provides a computer program product that, when executed by a computer device, performs the method described in any of the preceding claims.

[0070] This application also provides a computer device, the computer device comprising:

[0071] One or more processors;

[0072] Memory, used to store one or more computer programs;

[0073] When the one or more computer programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method as described in any of the preceding methods.

[0074] Figure 6 Exemplary systems that can be used to implement the various embodiments described in this application are shown;

[0075] like Figure 6 As shown in some embodiments, system 300 can function as any of the devices described in each of the embodiments. In some embodiments, system 300 may include one or more computer-readable media having instructions (e.g., system memory or NVM / storage device 320) and one or more processors (e.g., one or more processors 305) coupled to the one or more computer-readable media and configured to execute the instructions to implement the module and thus perform the actions described in this application.

[0076] In one embodiment, the system control module 310 may include any suitable interface controller to provide any suitable interface to at least one of the processors 305 and / or any suitable device or component communicating with the system control module 310.

[0077] The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. The memory controller module 330 may be a hardware module, a software module, and / or a firmware module.

[0078] System memory 315 can be used, for example, to load and store data and / or instructions for system 300. In one embodiment, system memory 315 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, system memory 315 may include double data rate type quad synchronous dynamic random access memory (DDR4 SDRAM).

[0079] In one embodiment, the system control module 310 may include one or more input / output (I / O) controllers to provide interfaces to the NVM / storage device 320 and (one or more) communication interfaces 325.

[0080] For example, NVM / storage device 320 may be used to store data and / or instructions. NVM / storage device 320 may include any suitable non-volatile memory (e.g., flash memory) and / or may include any suitable (one or more) non-volatile storage devices (e.g., one or more hard disk drives (HDDs), one or more optical disc drives (CDs), and / or one or more digital universal optical disc (DVD) drives).

[0081] NVM / storage device 320 may include storage resources that are physically part of a device on which system 300 is mounted, or that can be accessed by the device without necessarily being part of it. For example, NVM / storage device 320 may be accessed via a network through one or more communication interfaces 325.

[0082] One or more communication interfaces 325 may provide the system 300 with an interface to communicate over one or more networks and / or with any other suitable device. The system 300 may wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and / or protocols.

[0083] In one embodiment, at least one of the processors 305 may be logically packaged with one or more controllers of the system control module 310 (e.g., memory controller module 330). In one embodiment, at least one of the processors 305 may be logically packaged with one or more controllers of the system control module 310 to form a system-in-package (SiP). In one embodiment, at least one of the processors 305 may be integrated with the logic of one or more controllers of the system control module 310 on the same die. In one embodiment, at least one of the processors 305 may be integrated with the logic of one or more controllers of the system control module 310 on the same die to form a system-on-a-chip (SoC).

[0084] In various embodiments, system 300 may be, but is not limited to, a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet computer, netbook, etc.). In various embodiments, system 300 may have more or fewer components and / or different architectures. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touchscreen display), a non-volatile memory port, multiple antennas, a graphics chip, an application-specific integrated circuit (ASIC), and a speaker.

[0085] In addition to the methods and devices described in the above embodiments, this application also provides a computer-readable storage medium storing computer code that, when executed, performs the method described in any of the preceding embodiments.

[0086] This application also provides a computer program product that, when executed by a computer device, performs the method described in any of the preceding claims.

[0087] This application also provides a computer device, the computer device comprising:

[0088] One or more processors;

[0089] Memory, used to store one or more computer programs;

[0090] When the one or more computer programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method as described in any of the preceding methods.

[0091] It should be noted that this application can be implemented in software and / or a combination of software and hardware, for example, using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In one embodiment, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, magnetic or optical drives, floppy disks, and similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0092] Furthermore, a portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0093] Communication media include media through which communication signals containing, for example, computer-readable instructions, data structures, program modules, or other data are transmitted from one system to another. Communication media can include guided transmission media (such as cables and wires (e.g., optical fibers, coaxial cables, etc.)) and wireless (unguided transmission) media capable of propagating energy waves, such as sound, electromagnetic, RF, microwave, and infrared. Computer-readable instructions, data structures, program modules, or other data can be embodied as modulated data signals in, for example, wireless media (such as carrier waves or similar mechanisms embodied as part of spread spectrum technology). The term "modulated data signal" refers to a signal whose one or more characteristics are altered or set in a manner that encodes information in the signal. Modulation can be analog, digital, or a hybrid modulation technique.

[0094] By way of example and not limitation, computer-readable storage media may include volatile and non-volatile, removable and non-removable media implemented by any method or technique for storing information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memories such as random access memory (RAM, DRAM, SRAM); and non-volatile memories such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic / ferroelectric memories (MRAM, FeRAM); and magnetic and optical storage devices (hard disks, magnetic tapes, CDs, DVDs); or other media now known or hereafter developed capable of storing computer-readable information / data for use by a computer system.

[0095] Herein, one embodiment of this application includes an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the apparatus is triggered to run a method and / or technical solution based on the foregoing embodiments of this application.

[0096] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

Claims

1. A method for determining motion imaging time delay, wherein, The method includes: The first image information is obtained by the shooting device shooting at the display screen of the augmented reality device, wherein the first image information includes at least one physical reference target and virtual presentation information, the augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen, and the shooting device and the augmented reality device are in a stationary state; The shooting device captures multiple images of the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image includes a second physical reference target and the virtual presentation information. Based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, the motion imaging delay of the augmented reality device from stationary to moving is determined, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

2. The method according to claim 1, wherein, The first physical reference target and the second physical reference target belong to the same physical reference target.

3. The method according to claim 1 or 2, wherein, The method further includes: Obtain the first position information of the second physical reference target in the first image information and the second position information of the virtual rendering information in the first image information; The method further includes: If the first current position information of the second physical reference target differs from the first position information for the first time in the second image, it is determined that the position of the second physical reference target relative to the first image information has changed for the first time in the second image. If the second current position information of the virtual presentation information in the third image is different from the second position information for the first time, it is determined that the virtual presentation information in the third image has undergone a position change relative to the first image information for the first time.

4. The method according to claim 3, wherein, The augmented reality device presents a screen reference target at a fixed position on the display screen. The first position information includes a first relative position information of the second physical reference target relative to the screen reference target in the first image information. The second position information includes a second relative position information of the virtual presentation information relative to the screen reference target in the first image information. The first current position information includes a third relative position information of the second physical reference target relative to the screen reference target in the second image. The second current position information includes a fourth relative position information of the virtual presentation information relative to the screen reference target in the third image.

5. The method according to claim 1 or 2, wherein, The augmented reality device presents a screen reference target at a fixed position on the display screen, and the screen reference target, the second physical reference target, and the virtual presentation information are aligned in the first image information; The method further includes: If the second physical reference target shifts relative to the screen reference target for the first time in the second image, it is determined that the second physical reference target has undergone its first positional change relative to the first image information in the second image. If the virtual presentation information in the third image is offset from the screen reference target for the first time, it is determined that the virtual presentation information in the third image has changed position relative to the first image information for the first time.

6. The method according to claim 1 or 2, wherein, The augmented reality device tracks and locates the first physical reference target, and overlays the virtual presentation information onto the current frame based on the real-time current position of the first physical reference target in the current frame of the display screen.

7. The method according to claim 6, wherein, The augmented reality device overlays the virtual presentation information at the real-time current position on the current frame, so that the virtual presentation information and the first physical reference target are aligned in the first image information.

8. The method according to claim 1, wherein, The shooting frequency is greater than the refresh rate of the display screen.

9. The method according to claim 1, wherein, The shooting device and the augmented reality device are fixed to the end of the robotic arm, and the shooting device and the augmented reality device move synchronously by driving the robotic arm to move.

10. A computer device for determining motion imaging time delay, wherein, The device includes: A module is used to acquire first image information captured by the shooting device on the display screen of the augmented reality device. The first image information includes at least one physical reference target and virtual presentation information. The augmented reality device locates the first physical reference target and overlays the virtual presentation information on the display screen. The shooting device and the augmented reality device are in a stationary state. The first and second modules are used to acquire multiple image information captured by the shooting device on the display screen of the augmented reality device at a preset shooting frequency during the movement of the shooting device and the augmented reality device. The shooting device and the augmented reality device move at the same speed and direction. Each image information includes a second physical reference target and the virtual presentation information. The first and third modules are used to determine the motion imaging delay of the augmented reality device from static to dynamic based on the number of frames between the second and third image information in the multiple image information and the shooting frequency, wherein the second physical reference target undergoes its first position change relative to the first image information in the second image, and the virtual presentation information undergoes its first position change relative to the first image information in the third image.

11. A computer device for determining motion imaging time delay, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method as described in any one of claims 1 to 9.

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