Object tracking method and device, equipment and storage medium

Abstract

The embodiment of the invention provides an object tracking method and device, equipment and a storage medium. The method comprises determining an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light emitting element, the optical configuration for controlling light emission of the at least one light emitting element; and setting the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light emitting element and / or according to sensing data of the motion sensor. Therefore, different configurations can be carried out according to different working modes. In this way, different tracking requirements can be met, and the tracking device with good expandability can be achieved.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to methods, devices, apparatuses, and computer-readable storage media for object tracking. Background Art

[0002] Extended Reality (XR) technology includes Virtual Reality (VR), Augmented Reality (AR) and Mixed Reality (MR). With the development of XR technology, the experience content of XR devices is becoming more and more abundant. For example, VR all-in-one machines that support 6 degrees of freedom (DoF) are rapidly improving in game content and user experience. Summary of the invention

[0003] In a first aspect of the present disclosure, a method for object tracking is provided. The method comprises: determining an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light emitting element, the optical configuration being used to control light emission of the at least one light emitting element; and setting the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light emitting element and / or based on sensor data of the motion sensor.

[0004] In a second aspect of the present disclosure, a device for object tracking is provided. The device comprises: an optical configuration determination module configured to determine an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light-emitting element, the optical configuration being used to control light emission of the at least one light-emitting element; and a device setting module configured to set the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light-emitting element and / or according to sensor data of the motion sensor.

[0005] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect.

[0006] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.

[0007] It should be understood that the contents described in this content section are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0009] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0010] FIG. 2A to FIG. 2C Schematic diagrams showing various example structures of a first device according to some embodiments of the present disclosure;

[0011] Figure 3A A schematic diagram showing an example of an attachment method of a first device according to some embodiments of the present disclosure;

[0012] Figure 3B A schematic diagram showing an example of a wearing method of a first device according to some embodiments of the present disclosure;

[0013] Figure 4 A schematic diagram showing a light emission timing of a light emitting element according to some embodiments of the present disclosure;

[0014] Figure 5 A flowchart illustrating an example process of identifying a tracker according to some embodiments of the present disclosure;

[0015] Figure 6 A flowchart illustrating an example process of connecting multiple trackers according to some embodiments of the present disclosure;

[0016] Figure 7 A schematic diagram showing the communication timing between multiple trackers and a head-mounted device according to some embodiments of the present disclosure;

[0017] Figure 8 A schematic diagram showing an example signaling diagram of a back-connection and frequency hopping configuration of a tracker and a headset according to some embodiments of the present disclosure;

[0018] Fig. 9 A flowchart showing a process for object tracking according to some embodiments of the present disclosure is shown;

[0019] Fig.10 A block diagram showing an apparatus for object tracking according to some embodiments of the present disclosure; and

[0020] Fig.11 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0021] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0022] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0023] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0024] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0025] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0026] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0027] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this article, and any type of embodiment may be included under any section / subsection. In addition, the embodiments described in any section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0028] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.

[0029] As briefly mentioned above, with the development of XR technology, some gaming applications, sports applications, and medical rehabilitation applications have begun to support XR devices. For example, some VR 6DoF games and applications mainly rely on the 6DoF function of head-mounted display devices and handles. The basic actions of game and application interaction can be completed through head-mounted display devices and handles. However, some body movements cannot be realized, such as walking, running, sitting, squatting, dancing, kicking a ball, yoga, etc. The inability to track body movements will greatly affect the user experience.

[0030] Some tracking solutions include outside-in tracking technology, which can rely on external cameras and locators to capture and track body movements. For example, by arranging laser light towers externally, the position information of body parts can be located. Such position information is then transmitted to a PC or all-in-one machine via USB or wirelessly to achieve tracking of body movements. However, this implementation method has some obvious disadvantages. First, the installation process is complicated, and multiple locators (at least two) are required to form 360° coverage to establish three-dimensional position information. Second, it is complicated to use, especially for all-in-one machines, the positional relationship between the all-in-one machine and the locator needs to be corrected. Third, the position data transmission delay is large. Fourth, if the tracked object is far away from the scanning range of the locator or is blocked by an object, the accurate position cannot be obtained.

[0031] There are also some tracking solutions that wear multiple trackers that contain both light-emitting elements and inertial measurement units (IMUs) on the body, based on the combination of optical tracking and inertial tracking technology, to jointly identify the position of each tracker to infer body movements or perform other operations. However, in different XR application scenarios, the inputs related to body movements and postures that need to be obtained are different. For example, in dance or fitness applications, more attention may be paid to how to obtain the movement posture of the user's lower limbs. For another example, in ball or shooting game applications, more attention is paid to how to obtain the movement posture of the user's arm or the position of a handheld object (such as a rod or handle). There are significant differences in the wearing or installation method of the tracker in each scenario, the communication method with the head-mounted display, the control method of the light-emitting element, and the processing logic of the image data and IMU data. In view of this, it is impossible to use a set of system solutions for multiple scenarios. However, designing corresponding optical tracking and IMU trackers for each scenario and each purpose will have many problems such as high cost, poor scalability, and inconvenience for users.

[0032] Embodiments of the present disclosure propose a scheme for object tracking. According to various embodiments of the present disclosure, an optical configuration associated with an operating mode of a first device is determined. The first device includes a motion sensor and at least one light-emitting element. The optical configuration is used to control the light emission of the at least one light-emitting element. The first device is set based at least on the determined optical configuration to perform object tracking by tracking the light emitted by the at least one light-emitting element and / or according to the sensing data of the motion sensor, such as tracking a person wearing the first device or tracking the first device itself. Thus, by controlling the light emission of the light-emitting element in association with the operating mode, different configurations can be made for different operating modes. In this way, different tracking requirements can be met to achieve a highly scalable tracking device.

[0033] Example Environment

[0034] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In the environment 100, an object 130 (also referred to as a user) wears a second device 120. The second device 120 may be a head-mounted or wearable display device, such as a head-mounted display, smart glasses, etc., supporting technologies such as VR, AR, and MR. The second device 120 may communicate with a remote device (not shown) to reconstruct a virtual scene for the object 130 or merge virtual content with a real scene. In some embodiments, the second device 120 may be designed to be integrated with the remote device.

[0035] The environment 100 also involves a first device 110. In some embodiments, the first device 110 can be worn by the subject 130. For example, the first device 110 can be worn by the subject 130 on a wrist, an arm, a waist, a knee, a foot, or an ankle. The environment 100 may include multiple first devices 110. For example, multiple first devices 110 are worn by the subject 140 on the left wrist, the right wrist, the left ankle, and the right ankle, respectively. In this case, the first device 110 can be in the form of a bracelet, a handle, a belt, an anklet, or the like.

[0036] In some embodiments, the first device 110 can be attached to the object 130 in any suitable manner. For example, the first device 110 can be held by the object 130 or set on a fixed or movable object near the object 130. In this case, the object 130 can be an object to which the first device 110 can be attached, such as a club, a handle, a robot dog, etc.

[0037] The first device 110 may establish communication with the second device 120 via a wired link or a wireless link. The second device 120 may track the object 130 based on the sensor data collected by the second device 120 and / or the data uploaded by the first device 120.

[0038] It should be understood that the structure and function of the environment 100 are described for exemplary purposes only, and do not imply any limitation on the scope of the present disclosure. In addition, it should be understood that the above description of the first device 110 and the second device 120 is merely exemplary and not restrictive. The first device 110 and the second device 120 can be implemented as devices of various forms, structures or categories, and the embodiments of the present disclosure are not limited in this respect.

[0039] Some example embodiments of the present disclosure will be described below with continued reference to the accompanying drawings.

[0040] Example structure of the first device

[0041] In the environment 100, the first device 110 may include a motion sensor and at least one light-emitting element. The light-emitting element may include an active light-emitting element and / or a passive light-emitting element. The active light-emitting element may include, for example, a visible light-emitting diode, an infrared light-emitting diode, etc. The passive light-emitting element may include, for example, a marker formed of a reflective material. The second device 120 may include an image sensor (e.g., a camera). The second device 120 may perform object tracking by tracking the light emitted by the light-emitting element on the first device 110 and / or according to the sensing data of the motion sensor. For example, the first device 110 itself may be tracked and / or the object 130 wearing the first device 110 may be further tracked. Exemplarily, the second device 120 may determine the position of the first device 110 relative to the second device 120 based on the light emitted by the light-emitting element on the first device 110 and / or according to the sensing data of the motion sensor. Further, the second device 120 may determine the position of the first device 110 in space based on its own position in space. Thus, the first device 110 may be tracked. Furthermore, the object may be tracked based on the connection relationship between the first device 110 and the object wearing or attached with the first device 110. The tracked object may include but is not limited to a human body, a human body part, an object (such as a racket, a handle, etc.).

[0042] In order to more clearly understand the object tracking solution according to the embodiment of the present disclosure, the following reference will be made to FIG. 2A to FIG. 2C An example structure of the first device 110 is described below.

[0043] exist Figure 2A In the example of the embodiment, the first device 110 includes at least a main body 210 (also referred to as a body). In some embodiments, the first device 110 can be attached to a base 220 (also referred to as a bracket), for example, attached to the base 220 through the main body 210. Alternatively, in some embodiments, the base 220 can be a part of the first device 110. The main body 210 includes at least one light-emitting element 212, a communication interface 214, and a wireless communication module (not shown). For the convenience of subsequent description only, the light-emitting element on the main body is also referred to as a first light-emitting element. Such a first light-emitting element is arranged on a side of the main body 210 facing the second device 120, so that the first device 120 can track the light emitted by the first light-emitting element. In some embodiments, the number of first light-emitting elements exceeds a preset number, for example, 2. Multiple first light-emitting elements can be arranged staggered with each other to facilitate identification by the second device 120. The communication interface 214 is arranged on the side or bottom facing the base 220. The main body 210 can establish a wireless communication connection with the second device 120 through the wireless communication module for transmitting various data, such as sensor data, configuration data, etc.

[0044] exist Figure 2AIn the example, the main body 210 and the base 220 are detachable. Thus, the same main body can be adapted to different bases, and the same base can be adapted to different main bodies. In this way, the split design can flexibly adapt to the needs of different scenarios. The installation methods of the main body 210 and the base 220 include but are not limited to elastic buckles, magnetic suction, rotation buckles, press-lock and then press-pop-up, etc. Figure 2A The left figure in the figure shows a schematic diagram of the body 210 and the base 220 being separated, and the right figure shows a schematic diagram of the body 210 being installed on the base 220. Based on different wearing positions, the base 220 may include a rigid material (such as PVC or metal), a flexible material (such as an elastic band), or a combination thereof to improve wearing comfort.

[0045] In some embodiments, the base 220 may include at least one light-emitting element 222. For the convenience of subsequent description only, the light-emitting element on the base is also referred to as a second light-emitting element. At least one second light-emitting element is mounted on a side of the base 220 facing the second device 120 so that the second device 120 can track the light emitted by the second light-emitting element. In some embodiments, the number of second light-emitting elements exceeds a preset number, such as 2. Multiple second light-emitting elements are arranged at both ends of the base 220 or staggered with the first light-emitting element to facilitate identification by the second device 120.

[0046] The base 220 may also include a communication interface 224 and a wireless communication module (not shown). When the main body 210 is installed on the base 220, the communication interface 224 and the communication interface 214 may be connected to each other. The connection between the communication interface 224 and the communication interface 214 may be any suitable form of connection, including a wired connection (e.g., a hard-wired connection, a slot connection) and / or a wireless connection (e.g., near-field communication, radio frequency identification technology). Thus, the base 220 establishes a communication connection with the first device 110. The base 220 may send signals, transmit data, etc. to the first device 110 (e.g., the main body 210). In some embodiments, the base 220 may also establish a wireless communication connection with the second device 120 through the wireless communication module for transmitting sensor data, configuration data, etc.

[0047] The base 220 may also include a vibration motor 226. The vibration motor 226 is used to provide vibration feedback. For example, in a game, when the arm wearing the first device 110 performs a striking action, the vibration motor 226 can provide strong vibration feedback to enhance the immersion of the game. For another example, when a reminder is needed or an abnormal situation occurs, the vibration motor 226 can vibrate slightly to remind the user.

[0048] The first device 110 may also include a motion sensor (not shown) for collecting sensor data related to the movement of the first device 110. In some embodiments, the motion sensor may include a three-axis gyroscope for detecting rotation angles such as pitch, roll, and heading, so that the first device 110 supports 3DoF. Additionally or alternatively, the motion sensor may include a three-axis accelerometer so that the first device 110 supports 6DoF. Additionally or alternatively, the motion sensor may include a magnetometer for detecting directions such as east, west, south, and north relative to the earth's magnetic field. Additionally or alternatively, the motion sensor may include an IMU.

[0049] The base 220 may further include a battery 228. The battery 228 may be used to power the second light emitting element, the vibration motor 226, and the wireless communication module. In some embodiments, the battery 228 may be used to power the body 210 via the communication interface 224 and the communication interface 214 to drive the first light emitting element to emit light, etc.

[0050] exist Figure 2B In the example of , the first device 110 generally includes a body 230, and is attached to a base 240 through the body 230. In some embodiments, the first device 110 may include a body 230 and a base 240. The body 230 includes at least one light emitting element 232, a communication interface 234, and a wireless communication module (not shown). Alternatively, the base 240 may include at least one light emitting element 242, a communication interface 244, a wireless communication module (not shown), and a motion sensor (not shown). Figure 2A The difference between the examples is the installation positions of the vibration motor 236 and the battery 238. The main body 230 can establish a wireless communication connection with the second device 120 through the wireless communication module to transmit various data, such as sensor data, configuration data, etc.

[0051] In some embodiments, reference Figure 2B The main body 230 may further include a vibration motor 236 and a battery 238. The battery 238 may be used to supply power to the light emitting element 232, and may also be used to supply power to the base 240 via the communication interface 234 and the communication interface 244. That is, the first device 110 may supply power to the base 220. The power supplied by the first device 110 may be used to drive the light emitting element 242 to emit light.

[0052] exist Figure 2A and Figure 2B In the example of , the first device 110 may be worn by the subject 130. Figure 2CIn the example of , the first device 110 can be set on an object near the object 130. For example, the first device 110 includes a body 250 and is attached to a base 260, or the first device 110 can include a base 260. The base 260 is generally annular and includes two light-emitting elements 262. The body 250 is generally cylindrical and includes one light-emitting element 252.

[0053] Above through FIG. 2A to FIG. 2C The structure of the first device 110 is described by way of example. It should be understood that this is merely exemplary and does not constitute a limitation to the present disclosure.

[0054] Example working mode

[0055] The object tracking method according to the embodiment of the present disclosure may be executed by the first device 110, or by the second device 120, or by both. Alternatively or additionally, the object tracking method according to the embodiment of the present disclosure may also be executed by a remote device. As an example only and without any limitation, the following describes various embodiments by taking the execution of the first device 110 as an example.

[0056] The optical configuration is used to control the light emission of at least one light-emitting element in the first device 110. In an embodiment of the present disclosure, the optical configuration is associated with an operating mode of the first device 110. In some embodiments, the operating mode may be related to the scene of object tracking. The scene may depend on the application or specific part of the application in which the object is tracked. For example, different applications may correspond to different scenes. For another example, different types of games, game scenes, or game levels in the same application may correspond to different scenes. Exemplarily, the corresponding operating mode may be determined based on an indication of the scene from the application layer. For example, in Figure 3A In the example of , the first device 110 can be applied to a shooting game. Figure 3B In the example of FIG. 1 , the first device 110 may be applied to a running application.

[0057] Alternatively or additionally, in some embodiments, the operating mode may be related to the base to which the first device 110 is attached or included. In such an embodiment, the attached or included base may be determined based on an identification signal from the base. After the main body of the first device 110 is paired and connected with the base, the signal from the base may be used as the basis for the operating mode. Such a signal may indicate information corresponding to the wearing position or attachment position of the base. Thus, the first device 110 may determine its operating mode.

[0058] In the presence of the second device 120, the second device 120 is typically worn at a predetermined position of the object 130, also referred to as a wearing position, such as the head. In view of this, the operating mode may be related to the position of the base relative to the second device 120. In some embodiments, the operating mode corresponding to the first base located at the first preset position is a close distance mode, and the operating mode corresponding to the second base located at the second preset position is a long distance mode. The first preset position and the second preset position are associated with the object 130 wearing the second device 120, and the second preset position is farther away from the wearing position of the second device 120 on the object 130, such as the head, than the first preset position.

[0059] The first preset position is a position associated with the object 130. In some embodiments, the first preset position includes a wearing position of the base in the first device 110 or a base attached thereto. Figure 2A , the first device 110 is worn on the wrist of the subject 130 via the base 220, then the first preset position may refer to the wrist. In some embodiments, the first preset position includes a position in the first device 110 corresponding to the attachment position of the base. For example, Figure 3A In the example of FIG. 3 , the first device 110 includes a main body 310 and a base 320 . When such a first device 110 is held by the object 130 , the first preset position may refer to the position of the main body 310 .

[0060] The second preset position is a position associated with the object 130. In some embodiments, the second preset position includes a wearing position of the base in the first device 110 or a base attached thereto. Figure 3B , the first device 110 includes a main body 330 and a base 340. The first device 110 is worn at the ankle of the subject 130 through the base 340, and the second preset position may refer to the ankle.

[0061] When the first device 110 is located at the first preset position and / or the second preset position, the second device 120 can track the object 130 (for example, track the body part of the object 130 or the device associated therewith) by tracking the light emitted by the light-emitting element installed on the first device 110 (for example, collecting the light spot image through the image sensor). Such a mode may also be called an optical tracking mode.

[0062] Additionally, in some embodiments, a sensing configuration for a motion sensor (e.g., IMU) associated with the working mode may also be determined, and the first device 110 may be set based on the sensing configuration and the optical configuration. In such an embodiment, the second device 120 may receive the sensing data of the motion sensor sent by the first device 110, and perform object tracking based on the light emitted by the light-emitting element and the sensing data, such as tracking the object 130. In this way, the combination of light tracking and motion sensing data may improve the accuracy of tracking.

[0063] In some embodiments, if the working mode indicates that the first device 110 is beyond the optical tracking range of the object tracking, for example, when the first device 110 is located at a third preset position beyond the optical tracking range, at least one light emitting element in the first device 110 may be disabled. That is, in this case, the first device 110 works in the non-optical tracking mode. For example, the first device 110 is worn at the back waist of the object 130, thereby exceeding the field of view of the image sensor. In this case, the second device 120 may receive the sensing data of the motion sensor sent by the first device 110, and track the object 130 based only on the sensing data. In this way, the working scene of the first device 110 may be distinguished by the optical tracking range relative to the second device 120. In addition, in this embodiment, since the first device 110 is no longer within the optical tracking range of the second device 120, continuing to enable the light emitting element in the first device 110 does not improve the tracking accuracy, but increases the energy consumption of the first device 110. Therefore, in this embodiment, by controlling the first device 110 to be in the non-optical tracking mode, the energy consumption of the first device 110 may be reduced.

[0064] In some embodiments, after the first device 110 and the base are paired and connected, the base to which the device 110 is attached can be determined based on an identification signal from the base, thereby determining its working mode. Such an identification signal can specifically indicate that the base is a leg base, a waist base, or a hand base.

[0065] The working modes of the first device 110 are described above through various embodiments. Multiple working modes are determined by the scene relative to the object tracking, the light tracking range relative to the second device 120, and the identification signal from the base. Further, the first device 110 can determine the optical configuration associated with the working mode. Such an optical configuration can control the light emission of multiple light-emitting elements installed on the first device 110, thereby achieving the effect of saving power and improving battery life while ensuring stable tracking.

[0066] In an embodiment of the present disclosure, determining the optical configuration according to the base is a hardware-based implementation. In this case, no matter what base is connected to, the first device can be properly configured, thereby achieving convenient configuration. In addition, the hardware-based implementation is fast and reliable. Determining the optical configuration according to the scene is a software-based implementation. This approach can adapt the first device to any application scenario and is therefore more flexible. Determining the optical configuration according to the base and the scene can combine the hardware and software implementations, further improving flexibility and scalability.

[0067] Example Optical Configuration

[0068] The second device 120 collects light (e.g., visible light) emitted by the light-emitting element through an image sensor. The light emitted by each light-emitting element forms a light spot. The distance between the light spots determines the distance. If these light spots are too far from the predetermined position of the second device 120, it may be difficult to identify them because the light spots are too dense. In order to adapt to different working modes, for example, all or part of the light-emitting elements can be selectively enabled or disabled. Controlling the light emission of the light-emitting element can be called optical configuration.

[0069] The optical configuration may include corresponding enabled states of the plurality of light emitting elements. In some embodiments, if the first device 110 is located at the first preset position, the first device 110 may disable some of the light emitting elements. In this way, the density of the light spot may be reduced.

[0070] exist Figure 2A In the example of , the main body 210 includes a plurality of light-emitting elements 212. The base 220 includes a plurality of light-emitting elements 222. The arrangement of the plurality of light-emitting elements 212 is relatively dense relative to the arrangement of the plurality of light-emitting elements 222. If such a first device 110 is located at a first preset position, such as being worn on the ankle of the object 130, the first device 110 may disable some or all of the plurality of light-emitting elements 212 on the main body 210, and enable the plurality of light-emitting elements 222 on the base 220. In this way, the distance between the light spots can be increased, thereby reducing the density of the light spots, which is beneficial for the second device 120 to identify.

[0071] In some embodiments, if the first device 110 is located at the second preset position, the second light emitting element on the base can be disabled. Continuing to refer to FIG. 2 , if such a first device 110 is located at the second preset position, such as being worn on the wrist of the subject 130, all light emitting elements 222 can be disabled and some or all light emitting elements 212 can be enabled. In this way, the battery life can be improved.

[0072] If there are fewer light-emitting elements installed on the first device 110, the optical configuration can also be set in a targeted manner. Figure 2C In the example of , the body 250 includes one light emitting element 252. The base 260 includes two light emitting elements 262. If such a first device 110 is located at the second preset position, only the light emitting element 252 can be enabled and the light emitting element 262 can be disabled. If such a first device 110 is located at the first preset position, the light emitting element 262 can be enabled. In this way, the range of the light spot can be increased, which is conducive to the second device 120 to identify.

[0073] Additionally or alternatively, the optical configuration may include the brightness of the light emitted by the enabled light-emitting element. Therefore, in addition to adjusting the density and range of the light spot, the brightness of the light emitted by the light-emitting element may also be adjusted to achieve the effect of improving the battery life. In some embodiments, if the first device 110 is located at the first preset position, it may be determined that the enabled light-emitting element emits light at a higher brightness. If the first device 110 is located at the second preset position, it may be determined that the enabled light-emitting element emits light at a lower brightness. Because when the distance to the predetermined position is closer, even if the brightness of the light spot is lower, it is easy to be recognized by the second device 120. Therefore, if the first device 110 is located at the second preset position, the brightness of the light emitted by the light-emitting element may be appropriately reduced, for example, the light-emitting element emits light at a brightness of 60%. If the first device 110 is located at the first preset position, the brightness of the light emitted by the light-emitting element may be appropriately increased, for example, the light-emitting element emits light at a brightness of 90%.

[0074] Additionally or alternatively, the first device 110 may determine the brightness of each enabled light emitting element, thereby achieving an overall effect of reducing or increasing the brightness. For example, if the first device 110 is located at the second preset position, the brightness of half of the enabled light emitting elements may be controlled at 50%, and the brightness of the other half of the light emitting elements may be controlled at 70%.

[0075] exist Figure 3A In the example, the main body 310 is mounted on a handle bracket. If such a first device 110 is held by an object 130, all light-emitting elements on the main body 310 can be enabled to facilitate tracking by the second device 120 from various perspectives. However, if the main body is mounted on some special bases (such as a wrap-around bracket), only some light-emitting elements can be enabled. In some embodiments, the first device 110 can determine whether there are light-emitting elements designated as not lit among a plurality of light-emitting elements based on an identification signal of the base, thereby disabling these light-emitting elements designated as not lit in order to improve battery life. For example, when the main body is mounted on a wrap-around bracket, one or some light-emitting elements on the main body will be blocked by the bracket. The identification information of the base indicates the presence of a blocked light-emitting element. The first device 110 can disable the corresponding light-emitting element based on such an identification signal.

[0076] The optical configuration of the first device 110 can also be determined based on whether the light emitting element is within the light tracking range of the second device 120. In some embodiments, if the operating mode indicates that the first device 110 is beyond the light tracking range for object tracking, the first device 110 can disable all light emitting elements. Because these light emitting elements are beyond the light tracking range, whether these light emitting elements emit light does not affect the tracking of the second device 120 based on the sensor data of the motion sensor. In this way, the endurance of the first device 110 can be improved.

[0077] Additionally or alternatively, the optical configuration may also include a light emission timing of the enabled light-emitting elements. The light emission timing may include, but is not limited to, one or more of the light emission moment, light emission frequency, or light emission duration. When multiple first devices 110 work at the same time, there is a possibility of mutual obstruction or simultaneous appearance, which increases the difficulty for the second device 120 to distinguish. In particular, for the case where the first device 110 is relatively small, or the optical shape of the first device 110 is kept consistent considering the later scalability and mass production costs, the light-emitting elements enabled on each first device 110 can be controlled to emit light at different timings.

[0078] In some embodiments, if multiple first devices 110 work simultaneously, the optical configuration of one first device 110 is associated with the corresponding working modes of these first devices 110. In other words, in this case, the optical configuration of a first device 110 is not only associated with its own working mode, but also associated with the working modes of other first devices 110. As an example, two first devices 110 work simultaneously, for example, one first device 110 works at a first preset position (for example, at the left ankle), and the other first device 110 works at another first preset position (for example, at the right ankle), then the optical configuration of one first device 110 is not only associated with its own working mode, but also associated with the working mode of the other first device 110. Thus, such two first devices 110 can be distinguished by optical configuration (for example, different light spot patterns and / or different light emission timings).

[0079] In some embodiments, the optical configuration of one first device 110 may be at least partially different from the optical configuration of another first device 110. For example, the optical configuration may include the spot patterns formed by the light-emitting elements enabled on each first device 110. These spot patterns may not be exactly the same or may be at least partially different to facilitate the second device 120 to distinguish the first devices 110 based on the patterns. In some embodiments, if the two first devices 110 are respectively located at approximately symmetric first preset positions or approximately symmetric second preset positions, different spot patterns may be used to facilitate the second device 120 to make the distinction. For example, the spot pattern of the first device 110 located on the left wrist of the object 130 is in the shape of "丄", and the spot pattern of the first device 110 located on the right wrist of the object 130 may be in the shape of "丅".

[0080] Figure 4 FIG. 400 is a schematic diagram showing the light emission timing of the light-emitting elements according to some embodiments of the present disclosure. In Figure 4 the example, the first device 110 includes a tracker 1 (e.g., located at the position of the user's left hand) and a tracker 2 (e.g., located at the position of the user's right hand). The second device 120 includes a head-mounted display (abbreviated as "head-mounted", located at the position of the user's head). Cameras 1, 2, 3, and 4 are provided on the head-mounted display. These cameras can acquire image data at a preset frequency.

[0081] Referring to the light emission timing 400, at time t1, the head-mounted display sends a synchronization signal. These cameras can start exposure at their respective time points and last for a certain duration, but ensure that the center points of their respective exposure durations are aligned at time t2, so as to acquire the tracking images of the head-mounted display position in different fields of view. At time t3, these cameras acquire the tracking images of the tracker positions with the same exposure duration and aligned duration center points. At this moment, tracker 1 emits light. The center point of the light emission duration of tracker 1 is not only aligned with the center point of the exposure duration of the camera, but also ensures that the light emission duration is longer than the exposure duration. At time t4, the head-mounted display sends a synchronization signal. At time t5, the cameras acquire the tracking images of the head-mounted display position. At time t6, tracker 2 emits light. The center point of the light emission duration of tracker 2 is not only aligned with the center point of the exposure duration of the camera, but also ensures that the light emission duration is longer than the exposure duration. Thus, it is possible to achieve that tracker 1 and tracker 2 emit light at different timings. In this way, head-mounted display recognition is facilitated.

[0082] In some embodiments, a first optical configuration may be determined based on a base to which the first device 110 is attached or included, and a second optical configuration different from the first optical configuration may be determined based on a scene of object tracking. For example, the first optical configuration and the second optical configuration may be configurations of different types. Exemplarily, the first optical configuration may be an enabled state of a light emitting element, and the second optical configuration may be a light emission timing of an enabled light emitting element. For example, in a dancing application scenario, two first devices 110 work simultaneously. One first device 110 works at a first preset position (e.g., at the left ankle), and another first device 110 works at another first preset position (e.g., at the right ankle). The first optical configuration is determined based on the base to which such two first devices 110 are attached (in this example, the base at the left ankle and the right ankle), for example, each of which may enable a light emitting element thereon. Further, the second optical configuration is determined based on the dancing application scenario. For example, for a dancing scene, the movements of the left foot and the right foot need to be tracked separately, that is, the left foot and the right foot need to be distinguished. Accordingly, the light emission timings of the enabled light emitting elements may be configured so that the light emission timings of the two first devices 110 are staggered with each other.

[0083] In some embodiments, the first optical configuration and the second optical configuration may be determined by the first device 110. In some embodiments, the first optical configuration and the second optical configuration may be determined by the second device 120. In some embodiments, the first optical configuration may be determined by the first device 110, and the second optical configuration may be determined by the second device 120.

[0084] In some embodiments, the light-emitting element on the base may also emit light. Accordingly, the combined light spot of the light emitted by the light-emitting element on the first device 110 and the light emitted by the light-emitting element on the base may be tracked. Thus, object tracking may be performed based on tracking of the combined light spot, such as tracking a human body wearing the first device 110 and / or the first device 110 itself.

[0085] The optical configuration of the first device 110 is described above. According to various embodiments of the present disclosure, the present disclosure may provide a system solution, including one or more first devices 110 used in conjunction with the second device 120. The first device 110 may be an integral structure or a split structure. The first device 110 may be set on a limb of the object 130 or on a fixed or movable object in a real scene as required. Furthermore, for different scenes, the first device 110 may be optically configured accordingly to meet specific tracking requirements in the scene. Such an optical configuration includes, for example, optically enabling and disabling configurations of various light-emitting elements on the main body and base of the first device 110, brightness configurations of emitted light, light spot pattern configurations, and light emission timing configurations. The following references Figure 5 and Figure 6 , describes specific examples of mode control of multiple trackers in different scenarios.

[0086] Figure 5 A flowchart of an example process 500 for identifying a tracker according to some embodiments of the present disclosure is shown. Example process 500 involves a scenario of a tracker and a head-mounted device. The tracker is, for example, a split structure (i.e., a detachable structure), including a main body and a base. When the main body is mounted to the base, at box 510, the relative position determination of the tracker is started.

[0087] In box 512, if it is a leg tracker, that is, the base to which it is attached is installed on the leg, proceed to box 514. In box 514, the main body and the base are paired, and the main body or the base sends a connection identifier. In box 516, the tracker and the head-mounted device are connected, and it is determined whether to enter the leg tracking mode. If the leg tracking mode is entered, proceed to box 518. In box 518, the tracker or the head-mounted device can perform an optical configuration associated with the leg mode. For example, some light-emitting elements are enabled with higher brightness and lower density. After the optical configuration, the enabled light-emitting elements on the tracker may not emit light immediately, but may be temporarily in standby mode. When a light-emitting indication (such as a signal sent by the head-mounted device) is received, the enabled light-emitting elements are controlled to emit light, thereby entering the tracking mode.

[0088] At box 512, if it is determined that it is not a leg tracker, process 500 proceeds to box 520. At box 520, if it is determined that it is a waist tracker, that is, the base to which it is attached is installed on the waist, process 500 proceeds to box 522. At box 522, the main body and the base are paired, and the main body or the base sends a connection identifier. At box 524, the tracker and the headset are connected, and it is determined whether to enter the waist tracking mode. If the waist tracking mode is entered, process 500 proceeds to box 526. At box 526, the tracker or the headset can perform an optical configuration associated with the waist mode. For example, all light-emitting elements are disabled.

[0089] At block 520, if it is determined that it is not a waist tracker, process 500 proceeds to block 528. At block 528, the main body and the base are paired, and the base sends a connection identifier. At block 530, the tracker and the head-mounted device are connected, and it is determined whether to enter a corresponding tracking mode, such as a hand mode. If the corresponding tracking mode is entered, process 500 proceeds to block 526. At block 526, the tracker or the head-mounted device may perform an optical configuration associated with the tracking mode. Taking the hand mode as an example, some light-emitting elements may be enabled at a lower brightness.

[0090] Figure 6A flowchart of an example process 600 for connecting multiple trackers according to some embodiments of the present disclosure is shown. Example process 600 involves a scenario of tracker 1, tracker 2, and a headband. For example, example process 500 determines that tracker 1 is in leg mode (e.g., corresponding to the user's left ankle), and tracker 2 is in leg mode (e.g., corresponding to the user's right ankle). Further, based on tracker 1 and tracker 2 being located at the left ankle and right ankle, respectively, it can be determined which light-emitting elements of each of the two trackers are enabled and the corresponding light emission timings of the two trackers.

[0091] In block 610, the tracker 1 is connected to the headset. If it is determined that the tracking mode is entered from the standby mode, the process 600 proceeds to block 612. In block 612, the tracker 1 receives the synchronization signal sent by the headset and synchronizes with the headset. The headset sets the light emission timing of the tracker 1. In block 614, the tracker 1 emits light at the corresponding timing based on the previously determined optical configuration and returns the light-up mark and timestamp.

[0092] In block 620, the tracker 2 is connected to the headset. If it is determined that the tracking mode is entered from the standby mode, the process 600 proceeds to block 622. In block 622, the tracker 2 receives the synchronization signal sent by the headset and synchronizes with the headset. The headset sets the light emission timing of the tracker 2. In block 624, the tracker 2 emits light at the corresponding timing based on the previously determined optical configuration and returns the light-up mark and timestamp.

[0093] In box 630, the head mounted device captures images of tracker 1 and tracker 2 at corresponding time sequences, thereby performing tracking based on the corresponding images and IMU data.

[0094] Example Communication Sequence

[0095] The system solution of the present disclosure may also include configuration of the communication transmission mode between the plurality of first devices 110 and the second device 120, and may also include adjustment of the corresponding tracking algorithm based on the configuration of the first device 110. Figure 7 and Figure 8 , describing a specific example of the communication configuration between the tracker and the headset.

[0096] Figure 7 A schematic diagram of a communication sequence 700 of multiple trackers and a headset according to some embodiments of the present disclosure is shown. The communication sequence 700 involves tracker 1, tracker 2, and a headset. Tracker 1 and tracker 2 use their own communication lists.

[0097] In a specific time period, Tracker 1, Tracker 2 and Headset all work on Tracker 1's Channel 1. Tracker 1 is in the receiving state, receives the beacon signal at time t11 and sends data at time t12. At the same time, the Headset also switches to the receiving state. After a specific period, Tracker 1 and Headset all hop to Tracker 1's Channel 2 to work. Tracker 2 works similarly to Tracker 1.

[0098] According to the pairing adjustment of the sending and receiving timing, tracker 1 and tracker 2 form a periodic timing transmission, as shown in the figure. Period T1 determines the maximum data transmission frequency of the tracker. Period T1 and the number of trackers determine the communication transmission timing of the system. The headset and tracker can determine the data transmission channel and the time to send data and the time to receive data through their own timing within a certain period of time. By adjusting the period T2, the interference of wireless communication on other frequency bands of the headset, such as WiFi, Bluetooth devices, etc., can be reduced.

[0099] Figure 8 A schematic diagram of an example signaling diagram 800 of a backlink and frequency hopping configuration of a tracker and a headset according to some embodiments of the present disclosure is shown. The example signaling diagram 800 involves a tracker and a headset. The headset and the tracker have a fixed backlink channel. The backlink channel can be a single channel or a fixed channel list. If it is a channel list, the connection logic includes that when the headset and tracker are not successfully connected, the headset update channel period is inconsistent with the tracker update channel period. After the connection is successful, the headset and the tracker use the same periodic frequency hopping to keep the channel updates consistent.

[0100] Specifically, at 802, the headset is started. At 804, the tracker is started. At 806, the headset scans channels to determine a data channel list, for example, a channel list exceeding a preset noise floor includes channels 5 to 20. When the headset is connected to the tracker, the determined data channel list is included in the connection information. For example, the connection information is broadcasted on the connection channel, and such information includes the data channel list. At 808, the headset sends a broadcast signal. The broadcast signal includes the data channel list and a frequency hopping count. If no confirmation information from the tracker is received, it means that the headset and the tracker have not been successfully connected. Therefore, the headset continues to send the broadcast signal. For example, at 810, the headset continues to send the broadcast signal. Each time the broadcast signal is sent, the frequency hopping count is reduced by 1. When the frequency hopping count is not 0, for example, at 812, the headset sends the broadcast signal. At 814, the tracker replies with a confirmation message after receiving the data channel list. At 818, the headset determines the time point to use the data channel list. At 816, the tracker determines the time point to use the data channel list. When the hop count is 0, both the headset and the tracker use the confirmed data channel list simultaneously.

[0101] However, during the actual transmission process, there may be new interference sources in the external environment. At 818, the headset scans the external environment interference in real time and generates a new data channel list. For example, the connection information is broadcast on the connection channel, and the connection information includes a new data channel list and an updated frequency hopping count. At 820, the headset sends a broadcast signal. The broadcast signal includes a data channel list and a frequency hopping count. Each time a broadcast signal is sent, the frequency hopping count is reduced by 1. When the frequency hopping count is not 0, for example, at 822, the headset sends a broadcast signal. At 824, the tracker updates the data channel list and replies with a confirmation message. At 826, the headset determines the time point to use the new data channel list. At 828, the tracker determines the time point to use the new data channel list. When the frequency hopping count is 0, the headset and the tracker use the new data channel list at the same time.

[0102] Thus, as long as a frame of data is successfully updated during the channel update, both the headset and the tracker use the new channel list at a certain time point. In this way, the channel interference problem in transmission can be solved. Additionally or alternatively, the frequency hopping count can also use the reverse operation of adding 1.

[0103] Example Process

[0104] Fig. 9 A flowchart of a process 900 for object tracking according to some embodiments of the present disclosure is shown. The process 900 may be implemented at the first device 110, at the second device 120, or performed by both, or by other devices capable of communicating with the first device 110 and the second device 120.

[0105] At block 910, an optical configuration associated with an operating mode of a first device is determined. The first device includes a motion sensor and at least one light emitting element, and the optical configuration is for controlling light emission of the at least one light emitting element.

[0106] At block 920 , the first device is configured based at least on the optical configuration to perform object tracking by tracking light emitted by at least one light emitting element and / or based on sensory data of a motion sensor.

[0107] In some embodiments, the operating mode is related to at least one of: a scene in which the object is tracked, or a base to which the first device is attached or included.

[0108] In some embodiments, object tracking is performed by the second device, and the working mode corresponding to the first base located at the first preset position is a close distance mode, and the working mode corresponding to the second base located at the second preset position is a long distance mode. The first preset position and the second preset position are associated with an object wearing the second device, and the second preset position is farther away from the wearing position of the second device on the object than the first preset position.

[0109] In some embodiments, determining the optical configuration includes: if the operating mode is a long-distance mode, disabling a portion of the at least one light-emitting element; and if the operating mode is a short-distance mode, disabling the light-emitting elements on the first base.

[0110] In some embodiments, determining the optical configuration includes: if the working mode is a long-distance mode, determining that the enabled light-emitting element emits light at a first preset brightness; or if the working mode is a short-distance mode, determining that the enabled light-emitting element emits light at a second preset brightness, the first preset brightness being higher than the second preset brightness.

[0111] In some embodiments, process 900 further includes: receiving an identification signal from a pedestal; and determining the pedestal based on the identification signal.

[0112] In some embodiments, determining the optical configuration includes disabling at least one light emitting element if the operating mode indicates that the first device is out of a light tracking range for object tracking.

[0113] In some embodiments, configuring the first device based at least on the optical configuration includes: determining a sensing configuration for the motion sensor associated with the operating mode; and configuring the first device based on the sensing configuration and the optical configuration.

[0114] In some embodiments, the first device is one of a plurality of first devices, and the optical configuration is associated with a respective operating mode of the plurality of first devices.

[0115] In some embodiments, the first device is one of a plurality of first devices, and an optical configuration of the first device is at least partially different from optical configurations of other devices of the plurality of first devices except the first device.

[0116] In some embodiments, the optical configuration includes at least one of the following: a corresponding enabled state of at least one light-emitting element, a light spot pattern formed by an enabled light-emitting element among at least one light-emitting element, a brightness of light emitted by the enabled light-emitting element, and a light emission timing of the enabled light-emitting element.

[0117] In some embodiments, determining an optical configuration associated with an operating mode of the first device includes: determining a first optical configuration based on the base; and determining a second optical configuration different from the first optical configuration based on the scene.

[0118] In some embodiments, process 900 further includes: in response to the first device being attached to the base, supplying power to the base via the first device.

[0119] In some embodiments, process 900 further includes: tracking a combined light spot of light emitted by the at least one light emitting element and light emitted by the light emitting element on the base; and performing object tracking based on the tracking of the combined light spot.

[0120] In some embodiments, object tracking includes tracking at least one of: a first device, or a human body wearing the first device.

[0121] Example devices and equipment

[0122] Fig.10 A schematic structural block diagram of an apparatus 1000 for object tracking according to some embodiments of the present disclosure is shown. The apparatus 1000 may be implemented as or included in the first device 110 and / or the second device 120. Each module / component in the apparatus 1000 may be implemented by hardware, software, firmware, or any combination thereof.

[0123] As shown, the apparatus 1000 includes an optical configuration determination module 1010, configured to determine an optical configuration associated with an operating mode of a first device, the first device including a motion sensor and at least one light emitting element, the optical configuration being used to control light emission of the at least one light emitting element. The apparatus 1000 also includes a device setting module 1020, configured to set the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light emitting element and / or based on sensor data of the motion sensor.

[0124] In some embodiments, the operating mode is related to at least one of: a scene in which the object is tracked, or a base to which the first device is attached or included.

[0125] In some embodiments, object tracking is performed by the second device, and the working mode corresponding to the first base located at the first preset position is a close distance mode, and the working mode corresponding to the second base located at the second preset position is a long distance mode. The first preset position and the second preset position are associated with an object wearing the second device, and the second preset position is farther away from the wearing position of the second device on the object than the first preset position.

[0126] In some embodiments, the optical configuration determination module 1010 is further configured to: if the working mode is a long-distance mode, disable some of the at least one light-emitting element; and if the working mode is a short-distance mode, disable the light-emitting element on the first base.

[0127] In some embodiments, the optical configuration determination module 1010 is further configured to: if the working mode is a long-distance mode, determine that the enabled light-emitting element emits light at a first preset brightness; or if the working mode is a short-distance mode, determine that the enabled light-emitting element emits light at a second preset brightness, and the first preset brightness is higher than the second preset brightness.

[0128] In some embodiments, the apparatus 1000 further includes: a signal receiving module configured to receive an identification signal from the base; and a base determining module configured to determine the base based on the identification signal.

[0129] In some embodiments, the optical configuration determination module 1010 is further configured to disable at least one light emitting element if the operating mode indicates that the first device is out of a light tracking range for object tracking.

[0130] In some embodiments, the device setting module 1020 is further configured to: determine a sensing configuration for the motion sensor associated with the operating mode; and set the first device based on the sensing configuration and the optical configuration.

[0131] In some embodiments, the first device is one of a plurality of first devices, and the optical configuration is associated with a respective operating mode of the plurality of first devices.

[0132] In some embodiments, the first device is one of a plurality of first devices, and an optical configuration of the first device is at least partially different from optical configurations of other devices of the plurality of first devices except the first device.

[0133] In some embodiments, the optical configuration includes at least one of the following: a corresponding enabled state of at least one light-emitting element, a light spot pattern formed by an enabled light-emitting element among at least one light-emitting element, a brightness of light emitted by the enabled light-emitting element, and a light emission timing of the enabled light-emitting element.

[0134] In some embodiments, the optical configuration determination module 1010 is further configured to: determine a first optical configuration based on the base; and determine a second optical configuration different from the first optical configuration based on the scene.

[0135] In some embodiments, the apparatus 1000 further includes: a power supply module configured to supply power to the base through the first device in response to the first device being attached to the base.

[0136] In some embodiments, the device 1000 further includes: a spot tracking module configured to track a combined spot of light emitted by at least one light-emitting element and light emitted by the light-emitting element on the base; and an object tracking module configured to perform object tracking based on tracking the combined spot.

[0137] In some embodiments, object tracking includes tracking at least one of: a first device, or a human body wearing the first device.

[0138] Fig.11 1 shows a block diagram of an electronic device 1100 in which one or more embodiments of the present disclosure may be implemented. It should be understood that Fig.11 The electronic device 1100 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Fig.11 The electronic device 1100 shown can be used to implement Figure 1 The first device 110 and / or the second device 120.

[0139] like Fig.11 As shown, the electronic device 1100 is in the form of a general electronic device. The components of the electronic device 1100 may include, but are not limited to, one or more processors or processing units 1110, a memory 1120, a storage device 1130, one or more communication units 1140, one or more input devices 1150, and one or more output devices 1160. The processing unit 1110 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 1120. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capability of the electronic device 1100.

[0140] The electronic device 1100 typically includes a plurality of computer storage media. Such media may be any accessible media that is accessible to the electronic device 1100, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 1120 may be a volatile memory (e.g., a register, a cache, a random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 1130 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data and may be accessed within the electronic device 1100.

[0141] The electronic device 1100 may further include additional removable / non-removable, volatile / non-volatile storage media. Fig.11As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. Memory 1120 may include a computer program product 1125 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0142] The communication unit 1140 implements communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device 1100 can be implemented in a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 1100 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0143] The input device 1150 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc. The output device 1160 may be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 1100 may also communicate with one or more external devices (not shown) through the communication unit 1140 as needed, such as a storage device, a display device, etc., communicate with one or more devices that allow a user to interact with the electronic device 1100, or communicate with any device that allows the electronic device 1100 to communicate with one or more other electronic devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0144] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0145] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0146] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0147] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0148] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0149] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. An object tracking method, comprising: determining an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light emitting element, the optical configuration for controlling light emission of the at least one light emitting element; as well as The first device is arranged based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light emitting element and / or based on sensory data of the motion sensor.

2. The method according to claim 1, wherein the working mode is related to at least one of the following: the scene in which the object is tracked, or A base to which the first device is attached or included.

3. The method of claim 2, wherein the object tracking is performed by a second device, and The working mode corresponding to the first base located at the first preset position is the short-distance mode, and the working mode corresponding to the second base located at the second preset position is the long-distance mode, and The first preset position and the second preset position are associated with a subject wearing the second device, and wherein the second preset position is farther away from a wearing position of the second device on the subject than the first preset position.

4. The method of claim 3, wherein determining the optical configuration comprises: If the working mode is the long-distance mode, disabling some of the at least one light-emitting element; as well as If the working mode is the short-distance mode, the light-emitting element on the first base is disabled.

5. The method of claim 3, wherein determining the optical configuration comprises: If the working mode is the long-distance mode, determining that the enabled light-emitting element emits light at a first preset brightness; or If the working mode is the short-distance mode, it is determined that the enabled light-emitting element emits light at a second preset brightness, and the first preset brightness is higher than the second preset brightness.

6. The method according to claim 2, further comprising: receiving an identification signal from the base; as well as The base is determined based on the identification signal.

7. The method of claim 1 , wherein determining the optical configuration comprises: If the operating mode indicates that the first device is out of the light tracking range for object tracking, the at least one light emitting element is disabled.

8. The method of claim 1 , wherein configuring the first device based at least on the optical configuration comprises: determining a sensing configuration for the motion sensor associated with the operating mode; as well as The first device is set up based on the sensing configuration and the optical configuration.

9. The method of claim 1, wherein the first device is one of a plurality of first devices, and the optical configuration is associated with a respective operating mode of the plurality of first devices.

10. The method of claim 1, wherein the first device is one of a plurality of first devices, and the optical configuration of the first device is at least partially different from optical configurations of other devices of the plurality of first devices except the first device.

11. The method of claim 1 , wherein the optical configuration comprises at least one of: a respective activation state of the at least one light emitting element, A light spot pattern formed by an enabled light emitting element among the at least one light emitting element, the brightness of the light emitted by the enabled light-emitting element, The light emission timing of the enabled light emitting elements.

12. The method of claim 2, wherein determining an optical configuration associated with an operating mode of the first device comprises: determining a first optical configuration based on the base; as well as A second optical configuration different from the first optical configuration is determined based on the scene.

13. The method according to claim 1, further comprising: In response to the first device being attached to the base, power is supplied to the base through the first device.

14. The method according to claim 2, further comprising: Tracking a combined light spot of light emitted by the at least one light emitting element and light emitted by the light emitting element on the base; as well as The object tracking is performed based on tracking the combined light spot.

15. The method of claim 1, wherein the object tracking comprises tracking at least one of: the first device, or A human body wearing the first device.

16. An apparatus for object tracking, comprising: an optical configuration determination module configured to determine an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light emitting element, the optical configuration being used to control light emission of the at least one light emitting element; as well as A device setting module is configured to set the first device based at least on the optical configuration to perform object tracking by tracking the light emitted by the at least one light emitting element and / or based on the sensing data of the motion sensor.

17. An electronic device comprising: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 15 when executed by the at least one processing unit.

18. The electronic device of claim 17, wherein the first device is a tracker, the second device is a head mounted display device, and the electronic device comprises at least one of the tracker or the head mounted display device.

19. A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the method according to any one of claims 1 to 15.

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