Simulation configuration evaluation device and method

Abstract

A simulation configuration evaluation device is used for executing the following operations: generating a virtual three-dimensional object placed in a first simulation posture based on a virtual three-dimensional object model in a virtual space, the virtual three-dimensional object comprises a plurality of emitters, the plurality of emitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of emitters are arranged on the virtual three-dimensional object in a second configuration; the plurality of transmitters are used for transmitting a plurality of first signals; receiving a plurality of second signals from the plurality of transmitters based on a perspective in the virtual space; calculating a first estimated attitude of the virtual three-dimensional object in the virtual space based on the plurality of second signals; and comparing the first estimated attitude with the first simulated attitude to generate a first evaluation score corresponding to the first configuration. According to the invention, the tracking effectiveness of the transmitter configuration is evaluated by simulating the signal received by the transmitter configuration on the object at a certain visual angle.

Description

Technical Field

[0001] The present disclosure relates to a simulation configuration evaluation device and method, and more particularly to a simulation configuration evaluation device and method for signal source configuration on a traceable object. Background Art

[0002] When designing a trackable object, multiple signal sources can be configured on the trackable object, such as an infrared transmitter, an ultrasonic transmitter, a light-emitting diode, etc., and the tracking system can determine the posture (e.g., position and orientation) of the trackable object after receiving the signal from the receiver.

[0003] However, when configuring the signal source, it is difficult to determine how to place the signal source to ensure that the tracking system can determine the posture of the trackable object through the position combination of the signal. At the same time, it is also necessary to avoid the situation where trackable objects with different postures present the same signal position combination, or the signal source is blocked in certain postures.

[0004] In addition, when the distance between multiple signal sources increases, the cost of tracking operations will also increase; conversely, when the distance between signal sources decreases, it is more likely to cause interference between signals.

[0005] In view of this, how to simulate the signal combination received by the tracking system under different postures of a specific signal source configuration on a trackable object and further evaluate the tracking effectiveness of the signal source configuration is a goal that the industry urgently needs to work on. Summary of the invention

[0006] In order to solve the above problems, the present disclosure proposes a simulation configuration evaluation device, comprising a memory and a processor. The processor is electrically connected to the memory. The memory is used to store a virtual three-dimensional object model. The processor is used to perform the following operations: in a virtual space, based on the virtual three-dimensional object model, a virtual three-dimensional object placed in a first simulation posture is generated, wherein the virtual three-dimensional object includes a plurality of transmitters, the plurality of transmitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of transmitters are used to transmit a plurality of first signals; based on a viewing angle in the virtual space, a plurality of second signals are received from the plurality of transmitters; based on the plurality of second signals, a first estimated posture of the virtual three-dimensional object in the virtual space is calculated; and the first estimated posture and the first simulation posture are compared to generate a first evaluation score corresponding to the first configuration.

[0007] In one embodiment of the present invention, the operation of calculating the first estimated posture further includes: calculating a relative position relationship of the multiple transmitters based on multiple receiving positions of the multiple second signals; and calculating the first estimated posture based on the relative position relationship.

[0008] In one embodiment of the present invention, the operation of calculating the first estimated posture further includes: calculating a relative position relationship of the multiple transmitters based on multiple reception times of the multiple second signals; and calculating the first estimated posture based on the relative position relationship.

[0009] In one embodiment of the present invention, the operation of comparing the first estimated posture and the first simulated posture to generate the first evaluation score further includes: in response to the difference between the first estimated posture and the first simulated posture being lower than a threshold, increasing the first evaluation score; and in response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, not increasing the first evaluation score.

[0010] In one embodiment of the present invention, the processor is further used to perform the following operations: based on the viewing angle in the virtual space, receiving multiple third signals from the multiple transmitters, wherein the multiple third signals are generated by the virtual three-dimensional object placed in a second simulated posture; based on the multiple third signals, calculating a second estimated posture of the virtual three-dimensional object in the virtual space; and comparing the second estimated posture and the second simulated posture to adjust the first evaluation score.

[0011] In one embodiment of the present invention, the operation of comparing the second estimated posture and the second simulated posture to adjust the first evaluation score further includes: in response to the difference between the second estimated posture and the second simulated posture being lower than a threshold, increasing the first evaluation score; and in response to the difference between the second estimated posture and the second simulated posture being higher than the threshold, not increasing the first evaluation score.

[0012] In one embodiment of the present invention, the processor is further used to perform the following operations: based on the viewing angle in the virtual space, receiving multiple fourth signals from the multiple transmitters arranged in a second configuration on the virtual three-dimensional object; based on the multiple fourth signals, calculating a third estimated posture of the virtual three-dimensional object in the virtual space; and comparing the third estimated posture and the first simulated posture to generate a second evaluation score corresponding to the second configuration.

[0013] In one embodiment of the present invention, the processor is further configured to perform the following operations: selecting one of the first configuration and the second configuration based on the first evaluation score and the second evaluation score.

[0014] In one embodiment of the present invention, the processor is further used to perform the following operations: using a reinforcement learning model to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture.

[0015] In one embodiment of the present invention, the operation of receiving the multiple second signals from the multiple transmitters further includes: generating an obstacle in the virtual space, wherein the obstacle blocks one of the multiple first signals emitted by the multiple transmitters; and based on the viewing angle in the virtual space, receiving the multiple second signals from the multiple transmitters, wherein the multiple second signals are part of the multiple first signals.

[0016] The present disclosure also provides a simulation configuration evaluation method applicable to an electronic device, the steps of which include: in a virtual space, generating a virtual three-dimensional object placed in a first simulation posture based on a virtual three-dimensional object model, wherein the virtual three-dimensional object includes a plurality of transmitters, the plurality of transmitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of transmitters are used to transmit a plurality of first signals; based on a viewing angle in the virtual space, receiving a plurality of second signals from the plurality of transmitters; based on the plurality of second signals, calculating a first estimated posture of the virtual three-dimensional object in the virtual space; and comparing the first estimated posture and the first simulation posture to generate a first evaluation score corresponding to the first configuration.

[0017] In one embodiment of the present invention, the step of calculating the first estimated posture further includes: calculating a relative position relationship of the multiple transmitters based on multiple receiving positions of the multiple second signals; and calculating the first estimated posture based on the relative position relationship.

[0018] In one embodiment of the present invention, the step of calculating the first estimated posture further includes: calculating a relative position relationship of the multiple transmitters based on multiple reception times of the multiple second signals; and calculating the first estimated posture based on the relative position relationship.

[0019] In one embodiment of the present invention, the step of comparing the first estimated posture and the first simulated posture to generate the first evaluation score further includes: in response to the difference between the first estimated posture and the first simulated posture being lower than a threshold, increasing the first evaluation score; and in response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, not increasing the first evaluation score.

[0020] In one embodiment of the present invention, the simulation configuration evaluation method further includes: based on the viewing angle in the virtual space, receiving multiple third signals from the multiple transmitters, wherein the multiple third signals are generated by the virtual three-dimensional object placed in a second simulated posture; based on the multiple third signals, calculating a second estimated posture of the virtual three-dimensional object in the virtual space; and comparing the second estimated posture and the second simulated posture to adjust the first evaluation score.

[0021] In one embodiment of the present invention, the step of comparing the second estimated posture and the second simulated posture to adjust the first evaluation score further includes: in response to the difference between the second estimated posture and the second simulated posture being lower than a threshold, increasing the first evaluation score; and in response to the difference between the second estimated posture and the second simulated posture being higher than the threshold, not increasing the first evaluation score.

[0022] In one embodiment of the present invention, the simulation configuration evaluation method further includes: based on the viewing angle in the virtual space, receiving multiple fourth signals from the multiple transmitters arranged in a second configuration on the virtual three-dimensional object; based on the multiple fourth signals, calculating a third estimated posture of the virtual three-dimensional object in the virtual space; and comparing the third estimated posture and the first simulation posture to generate a second evaluation score corresponding to the second configuration.

[0023] In one embodiment of the present invention, the simulation configuration evaluation method further includes: selecting one of the first configuration and the second configuration based on the first evaluation score and the second evaluation score.

[0024] In one embodiment of the present invention, the simulation configuration evaluation method further includes: using a reinforcement learning model to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture.

[0025] In one embodiment of the present invention, the step of receiving the multiple second signals from the multiple transmitters further includes: generating an obstacle in the virtual space, wherein the obstacle blocks one of the multiple first signals emitted by the multiple transmitters; and based on the viewing angle in the virtual space, receiving the multiple second signals from the multiple transmitters, wherein the multiple second signals are part of the multiple first signals.

[0026] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are intended to provide further explanation of the disclosure as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the above and other purposes, features, advantages and embodiments of the present disclosure more clearly understood, the accompanying drawings are described as follows:

[0028] Figure 1 It is a schematic diagram of a simulated configuration evaluation device in the first embodiment of the present disclosure;

[0029] Figure 2 is a schematic diagram of a virtual three-dimensional object in some embodiments of the present disclosure;

[0030] Figure 3 A schematic diagram of observing a virtual three-dimensional object in a virtual space from a viewing angle in some embodiments of the present disclosure;

[0031] Figure 4 A schematic diagram of generating an image after a viewing angle receives a second signal in some embodiments of the present disclosure; and

[0032] Figure 5 This is a flowchart of a simulation configuration evaluation method in the second embodiment of the present disclosure.

[0033] Explanation of symbols:

[0034] 1: Simulation configuration evaluation device

[0035] 12: Processor

[0036] 14: Memory

[0037] OBJ: virtual three-dimensional object

[0038] T1~T5: Transmitter

[0039] VP: Perspective

[0040] IMG: Image

[0041] S1, S4, S5: Signal

[0042] 200: Simulation Configuration Evaluation Method

[0043] S21~S24: Steps DETAILED DESCRIPTION

[0044] In order to make the description of the present disclosure more detailed and complete, reference may be made to the attached drawings and various embodiments described below, in which the same numbers in the drawings represent the same or similar elements.

[0045] Please refer to Figure 1 , which is a schematic diagram of a simulation configuration evaluation device 1 in the first embodiment of the present disclosure. The simulation configuration evaluation device 1 includes a processor 12 and a memory 14, and the processor 12 is electrically connected to the memory 14. The memory 14 is used to store a virtual three-dimensional object model, wherein the virtual three-dimensional object model can be a three-dimensional model file of a trackable object, for example: a computer-aided design (CAD) file of a user's handle in a virtual reality system. In some embodiments, the memory 14 can also store multiple virtual three-dimensional object models to provide users with simulations of trackable objects of different shapes.

[0046] For example, see Figure 2 , which is a schematic diagram of a virtual three-dimensional object OBJ in some embodiments of the present disclosure. The virtual three-dimensional object OBJ is a virtual three-dimensional object generated according to the virtual three-dimensional object model. The virtual three-dimensional object OBJ is roughly in the shape of a truncated cone, and five transmitters T1 to T5 are provided on the curved surface of the virtual three-dimensional object OBJ. The transmitters T1 to T5 are used to send signals for other devices (e.g., a head-mounted display in a virtual reality system) to receive the signals and further track the pose of the virtual three-dimensional object OBJ.

[0047] It should be noted that Figure 2 The shape of the virtual three-dimensional object OBJ shown is only used as an example, and the present disclosure is not limited thereto. In actual application, the simulation configuration evaluation device 1 can adjust the shape of the virtual three-dimensional object OBJ based on needs.

[0048] Transmitters T1 to T5 can be implemented in many ways, such as infrared light emitting diodes, ultrasonic sounders, sonar (sound navigation and ranging; SONAR) sounders, electromagnetic (electromagnetic) transmitters, etc. It should be noted that although the virtual three-dimensional object OBJ is a simulated model, the types of signals emitted by transmitters T1 to T5 are different, and the subsequent simulation methods are also different. The details of the signal simulation will be explained in the subsequent paragraphs.

[0049] In some embodiments, the transmitters T1 to T5 may emit the same signal (eg, light of the same frequency) or different signals (eg, light of different frequencies) to allow the tracking system to distinguish each transmitter through the signal.

[0050] In some embodiments, the processor 12 may include a central processing unit (CPU), a graphics processing unit (GPU), a multi-processor, a distributed processing system, an application specific integrated circuit (ASIC) and / or a suitable computing unit.

[0051] In some embodiments, the memory 14 may include semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), hard disk, and / or optical disk.

[0052] The simulation configuration evaluation device 1 is used to simulate the operation conditions of different emitter configurations on the virtual three-dimensional object OBJ, and further evaluate the tracking effect of the emitter configuration. Specifically, the simulation configuration evaluation device 1 can be used to perform the following operations.

[0053] First, the processor 12 of the simulation configuration evaluation device 1 generates a virtual three-dimensional object OBJ placed in a first simulation posture in a virtual space based on the virtual three-dimensional object model stored in the memory 14, wherein the transmitters T1 to T5 of the virtual three-dimensional object OBJ are used to transmit multiple first signals.

[0054] Next, the processor 12 of the simulation configuration evaluation device 1 receives a plurality of second signals from the transmitters T1 to T5 based on a viewing angle in the virtual space.

[0055] Next, the processor 12 of the simulation configuration evaluation device 1 calculates a first estimated posture of the virtual three-dimensional object OBJ in the virtual space based on the plurality of second signals.

[0056] Finally, the processor 12 of the simulated configuration evaluation device 1 compares the first estimated posture and the first simulated posture to generate a first evaluation score corresponding to the first configuration.

[0057] For specific operations, see Figure 3 , which is a schematic diagram of observing a virtual three-dimensional object OBJ in a virtual space from a perspective VP in some embodiments of the present disclosure. Figure 3As shown, in the virtual space generated by the processor 12 , there is a virtual three-dimensional object OBJ placed in a first simulation posture, and there is a distance between the perspective VP and the virtual three-dimensional object OBJ in the virtual space.

[0058] In addition, the simulation configuration evaluation device 1 further simulates the first signal emitted by the transmitters T1 to T5. Specifically, the simulation configuration evaluation device 1 simulates the transmission direction, transmission range, transmission speed, etc. of the signal according to the types of the transmitters T1 to T5. For example, assuming that the transmitters T1 to T5 are infrared light emitting diodes, the first signal has the characteristics of light wave speed, straightness, scattering, interference, etc.; assuming that the transmitters T1 to T5 are ultrasonic sounders, the first signal has the characteristics of sound wave speed, scattering, interference, etc. For the convenience of explanation, the transmitters T1 to T5 of the virtual three-dimensional object OBJ in this embodiment are infrared light emitting diodes as an example, but the present disclosure is not limited to this.

[0059] In some embodiments, the processor 12 can simulate setting a receiver such as a camera, a microphone, a sensor, etc. at the viewing angle VP to receive signals sent by the transmitters T1 to T5 of the virtual three-dimensional object OBJ. In this embodiment, the processor 12 simulates setting an infrared camera at the viewing angle VP to receive infrared signals sent by the transmitters T1 to T5.

[0060] The processor 12 simulates receiving the signals from the transmitters T1 to T5 at the viewing angle VP, and further generates an image IMG according to the signal. Figure 4 .like Figure 4 As shown, since the infrared signals (i.e., the first signals) emitted by the emitters T1 to T5 are straight, only three infrared signals S1, S4, and S5 (i.e., the second signals) are received in the image IMG, which correspond to the emitters T1, T4, and T5 whose emission directions are relatively toward the viewing angle VP. On the other hand, since the emitters T2 and T3 are disposed on the arc surface of the virtual three-dimensional object OBJ, the infrared signals emitted by them cannot be emitted toward the viewing angle VP and can be received at the viewing angle VP and displayed on the image IMG.

[0061] Furthermore, the processor 12 can estimate the posture of the virtual three-dimensional object OBJ based on the image IMG. Specifically, since the configuration positions of the transmitters T1 to T5 on the virtual three-dimensional object OBJ are known, the processor 12 can calculate the relative position relationship of the transmitters T1 to T5 in the virtual space through the second signal in the image IMG, and then infer the posture of the virtual three-dimensional object OBJ in the virtual space based on the relative position relationship, wherein the posture includes the coordinates and orientation of the virtual three-dimensional object OBJ in the virtual space.

[0062] When the processor 12 determines the position of the transmitters T1 to T5, it can use a corresponding calculation method according to the properties of the second signal. For example, if the transmitters T1 to T5 are infrared light emitting diodes, the processor 12 can use the perspective-n-point (PnP) algorithm to make an estimate; if the transmitters T1 to T5 are ultrasonic transmitters, the processor 12 can use the characteristics of the sound wave transmission speed to make an estimate based on the reception time of the second signal using the time difference of arrival (TDoA) algorithm; if the transmitters T1 to T5 are sonar transmitters, the processor 12 can also use the characteristics of the sound wave transmission speed to make an estimate based on the reception time of the second signal using the time of flight (ToF) algorithm; if the transmitters T1 to T5 are electromagnetic transmitters, the processor 12 can simulate a magnetometer at the perspective VP, calculate the strength of the magnetic field to locate the position of the transmitters T1 to T5, and then estimate the posture of the virtual three-dimensional object OBJ from the position of the transmitters T1 to T5.

[0063] In some embodiments, based on different transmitter types and configurations, the simulation configuration evaluation device 1 can consider interference between multiple signals emitted by the transmitter, such as interference between sound waves and / or light waves. In this way, the simulation configuration evaluation device 1 can simulate a tracking system operation that is closer to the actual scenario.

[0064] Finally, the processor 12 compares the estimated pose of the virtual three-dimensional object OBJ with the simulated pose of the virtual three-dimensional object OBJ. If the estimated pose is closer to the simulated pose of the virtual three-dimensional object OBJ, it means that the tracking effectiveness of the configuration of the transmitters T1 to T5 on the virtual three-dimensional object OBJ is higher. In other words, the tracking system determines the pose of the virtual three-dimensional object OBJ based on the configuration. The higher the accuracy, the higher the first evaluation score generated by the processor 12. Conversely, if the difference between the estimated pose and the simulated pose of the virtual three-dimensional object OBJ is, the lower the tracking effectiveness of the configuration of the transmitters T1 to T5 on the virtual three-dimensional object OBJ is, and the lower the first evaluation score generated by the processor 12 is.

[0065] In some embodiments, in response to the difference between the first estimated posture and the first simulated posture being lower than a threshold, the processor 12 increases the first evaluation score; and in response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, the processor 12 does not increase the first evaluation score.

[0066] In some embodiments, the simulation configuration evaluation device 1 can further simulate the virtual three-dimensional object OBJ in multiple different postures, and then evaluate the tracking effectiveness of the transmitter T1 to T5 configuration through similar operations as described in the above paragraph. In this way, the simulation configuration evaluation device 1 can evaluate the tracking effectiveness of the transmitter T1 to T5 configuration when the virtual three-dimensional object OBJ simulates different postures.

[0067] Specifically, the simulation configuration evaluation device 1 can achieve the above-mentioned purpose through the following operations: after the processor 12 adjusts the virtual three-dimensional object OBJ to be placed in a second simulation posture, based on the viewing angle, multiple third signals are received from the transmitters T1 to T5, wherein the multiple third signals are generated by the virtual three-dimensional object OBJ placed in a second simulation posture; the processor 12 calculates a second estimated posture of the virtual three-dimensional object OBJ in the virtual space based on the multiple third signals; and the processor 12 compares the second estimated posture and the second simulation posture to adjust the first evaluation score.

[0068] For example, the simulation configuration evaluation device 1 can simulate the postures of the virtual three-dimensional object OBJ at multiple different rotation angles on the three coordinate axes in the three-dimensional space. For example, the simulation configuration evaluation device 1 can simulate the postures of the virtual three-dimensional object OBJ with rotation angles of 0, 30, 60, 90, 120, 150, 180, 210, 240, 270, 300 and 330 degrees on the three axes. In this way, the simulation configuration evaluation device 1 can simulate 12*12*12, a total of 1728 postures.

[0069] Furthermore, the simulation configuration evaluation device 1 evaluates the tracking effectiveness of the configuration of the transmitters T1 to T5 through the aforementioned operations, wherein when comparing the estimated posture and the simulated posture, if the difference between the estimated posture and the simulated posture is less than a threshold value (for example, the angle difference of the three axes is less than 20 degrees), the evaluation score increases by 1 point; otherwise, if the difference is not less than the threshold value, the score does not increase. Based on the aforementioned operations, the simulation configuration evaluation device 1 can generate the evaluation score of the configuration of the transmitters T1 to T5 on the corresponding virtual three-dimensional object OBJ.

[0070] In some embodiments, the simulation configuration evaluation device 1 may further set transmitters in different quantities and / or positions on the virtual three-dimensional object OBJ, and then generate evaluation scores through the above operations to evaluate the tracking effectiveness of different transmitter configurations on the virtual three-dimensional object OBJ.

[0071] Specifically, the simulation configuration evaluation device 1 can achieve the above-mentioned purpose through the following operations: after the processor 12 adjusts the positions of the transmitters T1 to T5 on the virtual three-dimensional object OBJ based on a second configuration, the processor 12 receives multiple fourth signals from the transmitters T1 to T5 set on the virtual three-dimensional object OBJ in a second configuration based on the perspective VP in the virtual space; the processor 12 calculates a third estimated posture of the virtual three-dimensional object OBJ in the virtual space based on the multiple fourth signals; and the processor 12 compares the third estimated posture and the first simulation posture to generate a second evaluation score corresponding to the second configuration.

[0072] Furthermore, the simulation configuration evaluation device 1 can select the transmitter configuration with a higher evaluation score by comparing the first evaluation score and the second evaluation score.

[0073] In some embodiments, the simulation configuration evaluation device 1 can also use a reinforcement learning model to generate an optimized transmitter configuration based on the estimated posture and the simulated posture. By using the characteristics of repeated trial and error learning of the reinforcement learning model, a transmitter configuration with higher tracking effectiveness is generated after multiple iterations (epochs).

[0074] Specifically, the simulation configuration evaluation device 1 can achieve the above purpose through the following operations: the processor 12 uses a reinforcement learning model to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture. In other words, the estimated posture corresponding to the transmitter configuration generated by the reinforcement learning model can be closer to the simulated posture than the estimated posture corresponding to the original transmitter configuration.

[0075] In some embodiments, the simulation configuration evaluation device 1 can also simulate obstacles that block the transmitter signal in the virtual space. For example, when the user operates the handle of the virtual reality system, the fingers or other parts may block the transmitter signal, so the simulation configuration evaluation device 1 can generate obstacles at the position where obstacles may appear to simulate the operation scenario (for example: the position where the user's fingers are placed when holding the handle). Furthermore, the simulation configuration evaluation device 1 can track the signal of the aforementioned operation simulation signal being blocked, and further evaluate the transmitter configuration.

[0076] Specifically, in the operation of receiving the multiple second signals from the multiple transmitters, the simulation configuration evaluation device 1 can further achieve the above-mentioned purpose through the following operations: the processor 12 generates an obstacle in a virtual space, wherein the obstacle blocks one of the multiple first signals emitted by transmitters T1 to T5; and based on the viewing angle in the virtual space, receives the multiple second signals from transmitters T1 to T5, wherein the multiple second signals are part of the multiple first signals.

[0077] In summary, the simulation configuration evaluation device 1 proposed in the present disclosure can simulate the tracking situation of a specific transmitter configured on a trackable object in a specific posture, and further evaluate the transmitter configuration according to the tracking result. Furthermore, by simulating trackable objects in different postures, the simulation configuration evaluation device 1 can adjust the configuration of the transmitter for configurations and / or tracking situations that are prone to misjudgment. In addition, the simulation configuration evaluation device 1 can also simulate obstacles in space to make the simulation operation closer to the actual usage scenario. In some examples, the simulation configuration evaluation device 1 can also optimize the configuration of the transmitter after multiple iterations using a reinforcement learning model.

[0078] Please refer to Figure 5 , which is a flow chart of the simulation configuration evaluation method 200 in the second embodiment of the present disclosure. The simulation configuration evaluation method 200 includes steps S21 to S24. The simulation configuration evaluation method 200 is used to simulate the operation of different transmitter configurations on the virtual three-dimensional object, and further evaluate the tracking effectiveness of the transmitter configuration. The simulation configuration evaluation method 200 can be executed by an electronic device (for example: Figure 1 The simulation configuration evaluation device 1 is shown.

[0079] First, in step S21, the electronic device generates a virtual three-dimensional object placed in a first simulated posture in a virtual space based on a virtual three-dimensional object model, wherein the virtual three-dimensional object includes a plurality of transmitters, the plurality of transmitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of transmitters are used to transmit a plurality of first signals.

[0080] Next, in step S22, the electronic device receives a plurality of second signals from the plurality of transmitters based on a viewing angle in the virtual space.

[0081] Next, in step S23, the electronic device calculates a first estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of second signals.

[0082] Finally, in step S24 , the electronic device compares the first estimated posture and the first simulated posture to generate a first evaluation score corresponding to the first configuration.

[0083] In some embodiments, step S23 further includes the electronic device calculating a relative position relationship between the multiple transmitters based on the multiple receiving positions of the multiple second signals; and the electronic device calculating the first estimated posture based on the relative position relationship.

[0084] In some embodiments, step S23 further includes the electronic device calculating a relative position relationship of the multiple transmitters based on multiple reception times of the multiple second signals; and the electronic device calculating the first estimated posture based on the relative position relationship.

[0085] In some embodiments, step S24 further includes, in response to the difference between the first estimated posture and the first simulated posture being lower than a threshold, the electronic device increasing the first evaluation score; and in response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, the electronic device not increasing the first evaluation score.

[0086] In some embodiments, the simulation configuration evaluation method 200 further includes the electronic device receiving multiple third signals from the multiple transmitters based on the viewing angle in the virtual space, wherein the multiple third signals are generated by the virtual three-dimensional object placed in a second simulated posture; the electronic device calculates a second estimated posture of the virtual three-dimensional object in the virtual space based on the multiple third signals; and the electronic device compares the second estimated posture and the second simulated posture to adjust the first evaluation score.

[0087] In some embodiments, the step of comparing the second estimated posture and the second simulated posture to adjust the first evaluation score further includes the electronic device increasing the first evaluation score in response to the difference between the second estimated posture and the second simulated posture being lower than a threshold; and the electronic device not increasing the first evaluation score in response to the difference between the second estimated posture and the second simulated posture being higher than the threshold.

[0088] In some embodiments, the simulation configuration evaluation method 200 further includes the electronic device receiving multiple fourth signals from the multiple transmitters arranged in a second configuration on the virtual three-dimensional object based on the viewing angle in the virtual space; the electronic device calculating a third estimated posture of the virtual three-dimensional object in the virtual space based on the multiple fourth signals; and the electronic device comparing the third estimated posture and the first simulation posture to generate a second evaluation score corresponding to the second configuration.

[0089] In some embodiments, the simulation configuration evaluation method 200 further includes the electronic device selecting one of the first configuration and the second configuration based on the first evaluation score and the second evaluation score.

[0090] In some embodiments, the simulation configuration evaluation method 200 further includes the electronic device using a reinforcement learning model to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture.

[0091] In some embodiments, step S22 further includes the electronic device generating an obstacle in the virtual space, wherein the obstacle blocks one of the multiple first signals emitted by the multiple transmitters; and the electronic device receiving the multiple second signals from the multiple transmitters based on the viewing angle in the virtual space, wherein the multiple second signals are part of the multiple first signals.

[0092] In summary, the simulation configuration evaluation method 200 proposed in the present disclosure can simulate the tracking situation of a specific transmitter configuration on a trackable object in a specific posture, and further evaluate the transmitter configuration according to the tracking result. Furthermore, by simulating trackable objects in different postures, the simulation configuration evaluation method 200 can adjust the configuration of the transmitter for configurations and / or tracking situations that are prone to misjudgment. In addition, the simulation configuration evaluation method 200 can also simulate obstacles in space to make the simulation operation closer to the actual usage scenario. In some examples, the simulation configuration evaluation method 200 can also optimize the configuration of the transmitter after multiple iterations using a reinforcement learning model.

[0093] Although several embodiments are described in detail above as examples, the simulation configuration evaluation device and method proposed in the present disclosure can also be implemented by other systems, hardware, software, storage media or their combination. Therefore, the protection scope of the present disclosure should not be limited to the specific implementation described in the embodiments of the present disclosure, but should be defined by the attached claims.

[0094] It is obvious to those with ordinary knowledge in the technical field to which the present disclosure belongs that various modifications and changes can be made to the structure of the present disclosure without departing from the scope or spirit of the present disclosure. In view of the foregoing, the scope of protection of the present disclosure also covers the modifications and changes made within the appended claims.

Claims

1. A simulation configuration evaluation device, characterized in that: Include: A memory for storing a virtual three-dimensional object model; and A processor, electrically connected to the memory, configured to perform the following operations: In a virtual space, a virtual three-dimensional object placed in a first simulated posture is generated based on the virtual three-dimensional object model, wherein the virtual three-dimensional object includes a plurality of transmitters, the plurality of transmitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of transmitters are used to transmit a plurality of first signals; receiving a plurality of second signals from the plurality of transmitters based on a viewing angle in the virtual space; Calculating a first estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of second signals; as well as The first estimated posture and the first simulated posture are compared to generate a first evaluation score corresponding to the first configuration.

2. The simulation configuration evaluation device according to claim 1, characterized in that: The operation of calculating the first estimated posture further comprises: Calculating a relative position relationship of the plurality of transmitters based on the plurality of receiving positions of the plurality of second signals; and Based on the relative position relationship, the first estimated posture is calculated.

3. The simulation configuration evaluation device according to claim 1, characterized in that: The operation of calculating the first estimated posture further comprises: Calculating a relative position relationship of the plurality of transmitters based on a plurality of reception times of the plurality of second signals; and Based on the relative position relationship, the first estimated posture is calculated.

4. The simulation configuration evaluation device according to claim 1, wherein: The operation of comparing the first estimated posture and the first simulated posture to generate the first evaluation score further includes: In response to a difference between the first estimated posture and the first simulated posture being lower than a threshold, increasing the first evaluation score; and In response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, the first evaluation score is not increased.

5. The simulation configuration evaluation device according to claim 1, characterized in that: The processor is further configured to perform the following operations: Based on the viewing angle in the virtual space, receiving a plurality of third signals from the plurality of transmitters, wherein the plurality of third signals are generated by the virtual three-dimensional object placed in a second simulated posture; Calculating a second estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of third signals; as well as The second estimated posture and the second simulated posture are compared to adjust the first evaluation score.

6. The simulation configuration evaluation device according to claim 5, characterized in that: The operation of comparing the second estimated posture and the second simulated posture to adjust the first evaluation score further includes: In response to a difference between the second estimated posture and the second simulated posture being lower than a threshold, increasing the first evaluation score; and In response to the difference between the second estimated posture and the second simulated posture being higher than the threshold, the first evaluation score is not increased.

7. The simulation configuration evaluation device according to claim 1, wherein: The processor is further configured to perform the following operations: receiving a plurality of fourth signals from the plurality of transmitters disposed in a second configuration on the virtual three-dimensional object based on the viewing angle in the virtual space; Calculating a third estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of fourth signals; as well as The third estimated posture and the first simulated posture are compared to generate a second evaluation score corresponding to the second configuration.

8. The simulation configuration evaluation device according to claim 7, characterized in that: The processor is further configured to perform the following operations: One of the first configuration and the second configuration is selected based on the first evaluation score and the second evaluation score.

9. The simulation configuration evaluation device according to claim 1, wherein: The processor is further configured to perform the following operations: A reinforcement learning model is used to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture.

10. The simulation configuration evaluation device according to claim 1, wherein: The operation of receiving the plurality of second signals from the plurality of transmitters further comprises: generating an obstacle in the virtual space, wherein the obstacle blocks one of the plurality of first signals emitted by the plurality of transmitters; and Based on the viewing angle in the virtual space, the plurality of second signals are received from the plurality of transmitters, wherein the plurality of second signals are a portion of the plurality of first signals.

11. A simulation configuration evaluation method, characterized in that: Applicable to an electronic device, the steps include: In a virtual space, a virtual three-dimensional object is generated in a first simulated posture based on a virtual three-dimensional object model, wherein the virtual three-dimensional object includes a plurality of transmitters, the plurality of transmitters are arranged on the virtual three-dimensional object in a first configuration, and the plurality of transmitters are used to transmit a plurality of first signals; receiving a plurality of second signals from the plurality of transmitters based on a viewing angle in the virtual space; Calculating a first estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of second signals; as well as The first estimated posture and the first simulated posture are compared to generate a first evaluation score corresponding to the first configuration.

12. The simulation configuration evaluation method according to claim 11, characterized in that: The step of calculating the first estimated posture further comprises: Calculating a relative position relationship of the plurality of transmitters based on the plurality of receiving positions of the plurality of second signals; and Based on the relative position relationship, the first estimated posture is calculated.

13. The simulation configuration evaluation method according to claim 11, characterized in that: The step of calculating the first estimated posture further comprises: Calculating a relative position relationship of the plurality of transmitters based on a plurality of reception times of the plurality of second signals; and Based on the relative position relationship, the first estimated posture is calculated.

14. The simulation configuration evaluation method according to claim 11, characterized in that: The step of comparing the first estimated posture and the first simulated posture to generate the first evaluation score further comprises: In response to a difference between the first estimated posture and the first simulated posture being lower than a threshold, increasing the first evaluation score; and In response to the difference between the first estimated posture and the first simulated posture being higher than the threshold, the first evaluation score is not increased.

15. The simulation configuration evaluation method according to claim 11, characterized in that: Further including: Based on the viewing angle in the virtual space, receiving a plurality of third signals from the plurality of transmitters, wherein the plurality of third signals are generated by the virtual three-dimensional object placed in a second simulated posture; Calculating a second estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of third signals; as well as The second estimated posture and the second simulated posture are compared to adjust the first evaluation score.

16. The simulation configuration evaluation method according to claim 15, characterized in that: The step of comparing the second estimated posture and the second simulated posture to adjust the first evaluation score further comprises: In response to a difference between the second estimated posture and the second simulated posture being lower than a threshold, increasing the first evaluation score; and In response to the difference between the second estimated posture and the second simulated posture being higher than the threshold, the first evaluation score is not increased.

17. The simulation configuration evaluation method according to claim 11, characterized in that: Further including: receiving a plurality of fourth signals from the plurality of transmitters disposed in a second configuration on the virtual three-dimensional object based on the viewing angle in the virtual space; Calculating a third estimated posture of the virtual three-dimensional object in the virtual space based on the plurality of fourth signals; as well as The third estimated posture and the first simulated posture are compared to generate a second evaluation score corresponding to the second configuration.

18. The simulation configuration evaluation method according to claim 17, characterized in that: Further including: One of the first configuration and the second configuration is selected based on the first evaluation score and the second evaluation score.

19. The simulation configuration evaluation method according to claim 11, characterized in that: Further including: A reinforcement learning model is used to generate a third configuration based on the first estimated posture and the first simulated posture, wherein the difference between a fourth estimated posture corresponding to the first simulated posture of the third configuration and the first simulated posture is smaller than the difference between the first estimated posture and the first simulated posture.

20. The simulation configuration evaluation method according to claim 11, characterized in that: The step of receiving the plurality of second signals from the plurality of transmitters further comprises: generating an obstacle in the virtual space, wherein the obstacle blocks one of the plurality of first signals emitted by the plurality of transmitters; and Based on the viewing angle in the virtual space, the plurality of second signals are received from the plurality of transmitters, wherein the plurality of second signals are a portion of the plurality of first signals.

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