Three-dimensional scene rendering method, device and equipment

Abstract

The invention provides a three-dimensional scene rendering method, device and equipment, and the method comprises the steps: carrying out the modeling and positioning of a virtual physical scene according to a positioning system, and generating a virtual three-dimensional scene; the user equipment establishes connection with the data center through the fixed network and constructs a data communication channel; and the data center responds to the user interaction command to render the virtual three-dimensional scene, transmits a rendering data packet through the data communication channel, and outputs the rendering data packet after fusion and correction processing. The method can make full use of the graphic processing capability of the cloud server, renders the three-dimensional scene in real time, and returns the rendering result to the mobile terminal, thereby achieving the real-time superposition and information enhancement of virtual and real images.

Description

Technical Field

[0001] The present disclosure relates to the field of visualization rendering technology, and in particular to a method, device and apparatus for three-dimensional scene rendering. Background Art

[0002] Augmented reality technology is a technology that cleverly integrates virtual information with the real world. It widely uses a variety of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, and sensing. It simulates computer-generated virtual information such as text, images, three-dimensional images, music, and videos, and applies it to the real world. The two types of information complement each other, thereby achieving "enhancement" of the real world.

[0003] At present, the mainstream augmented reality technology on the market first collects data of the real scene through the cameras and sensors on the mobile device, transmits it to the processor for analysis and three-dimensional reconstruction, and then matches the real-time updated data of these cameras and sensors to the fusion calculation of the virtual scene and the real scene, and finally outputs the superimposed synthesized image on the screen, realizing the interactive operation of augmented reality through human-computer interaction.

[0004] Augmented reality technology mainly relies on mobile devices (such as smartphones or tablets) for computing and rendering. The computing power, memory and battery life of these devices are relatively limited. For complex or large-scale AR scenes, smooth rendering and interaction may not be achieved. Summary of the invention

[0005] In order to solve the technical problems in the prior art, the embodiments of the present disclosure provide a method, device and equipment for rendering a three-dimensional scene. The method makes full use of the visual recognition and positioning technology of the mobile device to transmit the spatial positioning information of the camera and the sensor to the cloud server in real time. The cloud server uses its high-performance graphics processing capabilities to render the three-dimensional scene in real time and returns the rendering results to the mobile terminal, realizing the real-time superposition of virtual and real images and information enhancement.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for rendering a three-dimensional scene, comprising:

[0007] Model and locate the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene;

[0008] The user equipment establishes a connection with the data center through a fixed network and builds a data communication channel;

[0009] The data center renders the virtual three-dimensional scene in response to the user interaction command and transmits the rendering data packet through the data communication channel;

[0010] After receiving the rendering data packet, the user equipment performs fusion and correction processing and then outputs it.

[0011] Optionally, the above-mentioned modeling and positioning of the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene includes:

[0012] Starting at least one radar device to capture and extract scene feature points to obtain scene feature data;

[0013] Perform three-dimensional space modeling according to the above scene feature data to obtain modeling data;

[0014] Start at least one magnetic field sensor to perform three-dimensional space calculation and data output on the angle and orientation during the scanning process to obtain scanning data;

[0015] Determine the position mapping relationship of the magnetic field sensor in the virtual scene according to the scanning data;

[0016] The above modeling data and the above position mapping relationship are combined to generate a virtual three-dimensional scene.

[0017] Optionally, the user equipment establishes a connection with a data center through a fixed network and builds a data communication channel, including:

[0018] A UDP network short connection is established between the user device and the data center, and at least one real-time and unordered data communication channel is established between the user device and the data center.

[0019] Optionally, the above method further comprises:

[0020] The data center performs coordinate conversion and mapping processing between the virtual scene and the physical scene on the received modeling data and scanning data.

[0021] Optionally, it also includes:

[0022] The data center performs rendering processing of a global virtual three-dimensional scene based on the received modeling data and scanning data.

[0023] Optionally, the above method further includes:

[0024] The data center receives the operation information from the user device through the data communication channel;

[0025] The data center receives spatial positioning information collected by sensors of user devices in real time;

[0026] The data center renders the three-dimensional scene in real time, processes and adjusts the rendering angle and rendering content of the virtual three-dimensional scene, and transmits the rendered data through data packets.

[0027] Optionally, the above method further includes:

[0028] The data center receives a trigger command from the user device, triggering the transmission of a three-dimensional scene rendering image data packet from the data center to the user device;

[0029] The user equipment performs layered multi-channel fusion correction processing on the data packet and the currently acquired sensor data.

[0030] In a second aspect, an embodiment of the present disclosure further provides a three-dimensional scene rendering device, comprising:

[0031] A generation module is used to model and locate the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene;

[0032] A communication module is used for user equipment to establish a connection with the data center through a fixed network and build a data communication channel;

[0033] A transmission module, used for the data center to render the virtual three-dimensional scene in response to a user interaction command and transmit the rendering data packet through the data communication channel;

[0034] The output module is used for the user equipment to receive the rendering data packet, perform fusion and correction processing, and then output it.

[0035] Optionally, the generation module is specifically used for:

[0036] Starting at least one radar device to capture and extract scene feature points to obtain scene feature data;

[0037] Perform three-dimensional space modeling according to the above scene feature data to obtain modeling data;

[0038] Start at least one magnetic field sensor to perform three-dimensional space calculation and data output on the angle and orientation during the scanning process to obtain scanning data;

[0039] Determine the position mapping relationship of the magnetic field sensor in the virtual scene according to the scanning data;

[0040] The above modeling data and the above position mapping relationship are combined to generate a virtual three-dimensional scene.

[0041] Optionally, the communication module is specifically used for:

[0042] A UDP network short connection is established between the user device and the data center, and at least one real-time and unordered data communication channel is established between the user device and the data center.

[0043] Optionally, the above device further includes:

[0044] The processing module is used for the data center to perform coordinate conversion and mapping between the virtual scene and the physical scene on the received modeling data and scanning data.

[0045] Optionally, the above device further includes:

[0046] The rendering module is used by the data center to render a global virtual three-dimensional scene based on the received modeling data and scanning data.

[0047] Optionally, the transmission module is specifically used for:

[0048] The data center receives the operation information from the user device through the data communication channel;

[0049] The data center receives spatial positioning information collected by sensors of user devices in real time;

[0050] The data center renders the three-dimensional scene in real time, processes and adjusts the rendering angle and rendering content of the virtual three-dimensional scene, and transmits the rendered data through data packets.

[0051] Optionally, the output module is specifically used for:

[0052] The data center receives a trigger command from the user device, triggering the transmission of a three-dimensional scene rendering image data packet from the data center to the user device;

[0053] The user equipment performs layered multi-channel fusion correction processing on the data packet and the currently acquired sensor data.

[0054] In a third aspect, an embodiment of the present disclosure provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the three-dimensional scene rendering method as described above.

[0055] In a fourth aspect, an embodiment of the present disclosure provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the above-mentioned method for three-dimensional scene rendering are implemented.

[0056] The above solution of the present disclosure includes at least the following beneficial effects:

[0057] The virtual physical scene is modeled and positioned according to the positioning system to generate a virtual three-dimensional scene; the user device establishes a connection with the data center through a fixed network and builds a data communication channel; the data center renders the virtual three-dimensional scene in response to the user interaction command and transmits the rendering data packet through the data communication channel; the user device receives the rendering data packet and performs fusion and correction processing before output. It can fully utilize the graphics processing capabilities of the cloud server to render the three-dimensional scene in real time, and return the rendering results to the mobile terminal, realizing real-time superposition of virtual and real images and information enhancement. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for describing the embodiment:

[0059] Figure 1 A schematic diagram of a process flow of a method for rendering a three-dimensional scene in one embodiment of the present invention;

[0060] Figure 2 A schematic diagram of the structure of a three-dimensional scene rendering device is provided in one embodiment of the present invention;

[0061] Figure 3 The figure is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present disclosure to clearly describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present disclosure are within the scope of protection of the present disclosure.

[0063] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0064] The following describes in detail the audio data processing method, device and electronic device for the virtual space provided by the embodiments of the present disclosure through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0065] like Figure 1 FIG. 1 is a flow chart of a method for rendering a three-dimensional scene in one embodiment, which specifically includes the following steps:

[0066] Step 11, modeling and positioning the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene.

[0067] Specifically, the mobile device starts the sensor to identify and spatially locate the real physical scene, including: the mobile device starts at least one camera to capture and pick up the environmental features of the real physical scene; the mobile device starts at least one gyroscope to perform three-dimensional space calculation and data output on the device's own angle and orientation during operation; the mobile device's underlying software system reconstructs the three-dimensional space by capturing and picking up the environmental feature points of the real physical scene; the mobile device's underlying software system collects and calculates the information of its own gyroscope and other sensors, and collaboratively calculates the position mapping relationship of the mobile device itself in the physical scene space and outputs it in real time. As a result, the accuracy and ease of use of the mobile device's starting sensor to identify and spatially locate the real physical scene are improved.

[0068] In one embodiment of the present disclosure, the mobile device may be a smart phone with advanced image recognition and sensor technology. The device starts the built-in camera to scan the environment and capture feature points in the environment, such as physical markers such as buildings, roads, and trees. At the same time, the gyroscope in the device is turned on to detect and record the movement trajectory and rotation angle of the device in three-dimensional space to ensure the continuity and smoothness of scene rendering. The image processing and sensor data processing software in the device generates a virtual three-dimensional scene that corresponds to the real world one by one through analysis and calculation of the camera and gyroscope data, and draws the position of the device in the scene in real time to achieve an interactive experience of augmented reality.

[0069] In one embodiment of the present disclosure, the mobile device may be an AR glasses equipped with a depth sensor. The depth sensor can obtain the depth information of the real physical scene, thereby helping to build a more accurate three-dimensional model. The device simultaneously activates the built-in camera and gyroscope, as well as an additional acceleration sensor to enhance the spatial perception capability of the device. These sensors work together to provide comprehensive data for the identification and positioning of physical scenes. The device's software system integrates this data for processing, generates an accurate virtual three-dimensional scene, and tracks the position of the device in the virtual scene in real time, providing an immersive augmented reality experience.

[0070] In one embodiment of the present disclosure, radar or laser radar (LiDAR) can be used to scan the environment. Specifically, the radar or laser radar device on the device is started to perform a detailed scan of the environment to obtain the geometric structure and depth information of the environment. The processor on the device receives the data of the radar or laser radar device, processes and analyzes the data, extracts the feature points and depth information of the environment, and uses the feature points and depth information to build a high-precision three-dimensional environment model. Combined with the movement and rotation information of the device, the three-dimensional environment model and the position of the device are updated in real time to complete AR rendering.

[0071] In one embodiment of the present disclosure, the global positioning system (GPS) and compass can also be combined to improve the positioning accuracy of the device in large or open spaces. Specifically, the GPS module and compass on the device are started to obtain the global position and orientation information of the device. The processor on the device receives the data from the GPS and compass and calculates the precise position and orientation of the device on the earth. Combined with the pre-built large-scale three-dimensional environment model, the device can find its precise position in the model, and update the position and orientation in real time to complete AR rendering.

[0072] In one embodiment of the present disclosure, indoor positioning and tracking can also be performed in combination with wireless network signal strength and / or beacon devices. Specifically, the device searches for and connects to surrounding wireless networks or beacon devices. Based on the strength of the wireless signal and / or the information of the beacon device, the device can calculate its approximate position indoors. Combined with the movement and rotation information of the device, the device can further determine its precise position indoors, and update the position in real time to complete AR rendering.

[0073] In one embodiment of the present disclosure, machine learning and artificial intelligence technologies can also be used to improve the recognition rate and speed of environmental features. Specifically, the device uses a camera or other sensor to scan the environment to obtain images and data of the environment. The device's processor uses a pre-trained machine learning model to quickly and accurately identify environmental images and data and extract feature points of the environment. Using the feature points, the device can build a three-dimensional model of the environment, or find its position in a pre-built environmental model. Combined with the movement and rotation information of the device, the device updates the three-dimensional model and the position of the device in real time to complete AR rendering.

[0074] Step 12: The user equipment establishes a connection with the data center through a fixed network and builds a data communication channel.

[0075] Specifically, establishing a network connection between the mobile device and the cloud server and a data communication channel between the two includes: establishing a TCP network long connection of the mobile device and the cloud server in a point-to-point protocol, and establishing at least one real-time and orderly data communication channel between the mobile device and the cloud server.

[0076] In one embodiment of the present disclosure, the connection between the mobile device and the cloud server is achieved through a high-speed wireless network (such as 5G or WiFi6). The specific steps of this solution include: the mobile device uses its built-in wireless network module, such as a 5G or WiFi module, to search for and connect to an available wireless network. Once the device is connected to the wireless network, it will try to establish a TCP connection with the cloud server. This connection may be achieved through a specific IP address and port number, which may be pre-configured in the device's software settings. After the TCP connection is established, data transmission can be carried out between the mobile device and the cloud server. This data transmission may be carried out through one or more data channels, each of which may correspond to a specific data stream, such as a video stream, an audio stream, or a control command stream.

[0077] In one embodiment of the present disclosure, the above steps can also be implemented through edge computing. Edge computing is a technology that transfers computing tasks from a data center to the edge of the network (i.e., near the user device). In augmented reality applications, edge computing can reduce network latency and improve the response speed of the application. The specific steps include: the mobile device first searches for and connects to the surrounding edge servers. The edge server may be a wireless base station or other network node located near the user. After connecting to the edge server, the mobile device attempts to establish one or more data channels. These data channels may use TCP or other reliable transmission protocols for transmitting visual data, user input, and other data. After receiving the data, the edge server performs necessary processing, such as rendering an augmented reality image, and then sends the result back to the mobile device.

[0078] Step 13: the data center renders the virtual three-dimensional scene in response to the user interaction command and transmits the rendering data through the data communication channel.

[0079] In one embodiment of the present disclosure, in the edge computing mode, part of the computing resources of the cloud server are deployed at the edge of the network closer to the user. This can shorten network latency and improve response speed. Specifically, the user device is connected to the edge server through the network and sends sensor data and user interaction data. After receiving the data, the edge server performs pre-processing before rendering, including correction of the sensor data and parsing of the interaction data. After the preprocessing is completed, the edge server renders the three-dimensional scene based on the data. This can be an instant process or it can be done in advance. The edge server sends the rendering results back to the user device. Since the edge server is closer to the user device, the delay in data transmission can be controlled at a low level.

[0080] In one embodiment of the present disclosure, distributed rendering technology can be used to implement the above steps. In this mode, the rendering task is decomposed into multiple small tasks, which can be executed in parallel on multiple cloud servers. Specifically, the user device is connected to the cloud server through the network and sends sensor data and user interaction data. After receiving this data, the cloud server performs pre-processing before rendering. Then, the rendering task is decomposed into multiple subtasks. These subtasks are sent to other cloud servers for parallel processing. Each server processes a part of the rendering task and sends the result back to the original server. The original server integrates the results of all subtasks into the final rendering result and sends this result back to the user device.

[0081] In one embodiment of the present disclosure, a method combining local rendering and cloud rendering can be used to implement the above steps. In this mode, some rendering tasks are performed on the user device and some tasks are performed on the cloud server. For example, simple rendering tasks (such as texture mapping) can be performed on the user device, while complex tasks (such as ray tracing) can be performed on the cloud server. This method can fully utilize the computing power of the user device and the high-performance computing resources of the cloud server, which not only ensures the rendering quality but also shortens the response time.

[0082] Specifically, the cloud server receives the user's operation information on the touch screen of the mobile device in an orderly manner through the data channel; the cloud server receives the spatial positioning information collected and calculated by the mobile device sensor in real time and in an orderly manner through the data communication channel; the cloud server relies on its high-performance graphics and image processing capabilities to render three-dimensional scenes in real time, and its scale supports three-dimensional urban building scenes of an area of ​​tens of thousands of square kilometers; the cloud server processes and adjusts the rendering angle and rendering content of the virtual three-dimensional scene in real time, and pushes the rendered data through the data stream. The time interval from user interaction to obtaining information feedback is 30 to 100 milliseconds.

[0083] The present disclosure relates to a method for rendering a three-dimensional scene, and further includes: the cloud server performs a correction processing operation on the received identification and positioning data, and the cloud server performs a pre-rendering operation on the received identification and positioning data.

[0084] Step 14: After receiving the rendering data packet, the user equipment performs fusion and correction processing and then outputs it.

[0085] Specifically, the mobile device receives the rendered data stream and performs fusion, correction and synthesis processing to complete the AR application presentation output, including: the cloud server receives the trigger command from the user on the mobile device screen, triggering the three-dimensional scene rendering image data stream to be pushed from the cloud server to the mobile device; the mobile device performs layered multi-channel fusion and correction processing on the data stream and the currently acquired sensor data stream to achieve AR information superposition and enhancement.

[0086] In this embodiment, the mobile device activates the sensor to identify and spatially locate the real physical scene; establishes a network connection between the mobile device and the cloud server and a data communication channel between the two; the cloud server renders the virtual three-dimensional scene in response to the interactive instructions received from the mobile device and pushes the rendered data in the form of a data stream; the mobile device receives the rendered data stream and performs fusion, correction and synthesis processing to complete the AR application presentation output. This method makes full use of the current mature visual recognition and positioning technology, and transmits the spatial positioning information calculated by the camera, gyroscope and sensor back to the server in real time through the network. The server transmits the adjusted and fused rendering results to the mobile terminal, completing the adjustment and correction cycle, and completing the real-time superposition and synthesis of virtual and real images and information supplementation and enhancement.

[0087] Figure 2 is a schematic diagram of a three-dimensional scene rendering device provided by an embodiment of the present disclosure, see Figure 2 , the device 20 comprises:

[0088] A generation module 201 is used to model and locate a virtual physical scene according to a positioning system to generate a virtual three-dimensional scene;

[0089] Communication module 202, used for user equipment to establish a connection with the data center through a fixed network and build a data communication channel;

[0090] Transmission module 203, used for the data center to render the virtual three-dimensional scene in response to the user interaction command and transmit the rendering data packet through the data communication channel;

[0091] The output module 204 is used for the user equipment to receive the rendering data packet, perform fusion and correction processing, and then output it.

[0092] Optionally, the generating module 201 is specifically used for:

[0093] Starting at least one radar device to capture and extract scene feature points to obtain scene feature data;

[0094] Perform three-dimensional space modeling according to the above scene feature data to obtain modeling data;

[0095] Start at least one magnetic field sensor to perform three-dimensional space calculation and data output on the angle and orientation during the scanning process to obtain scanning data;

[0096] Determine the position mapping relationship of the magnetic field sensor in the virtual scene according to the scanning data;

[0097] The above modeling data and the above position mapping relationship are combined to generate a virtual three-dimensional scene.

[0098] Optionally, the communication module 202 is specifically used for:

[0099] A UDP network short connection is established between the user device and the data center, and at least one real-time and unordered data communication channel is established between the user device and the data center.

[0100] Optionally, the above device further includes:

[0101] The processing module 205 is used by the data center to perform coordinate conversion and mapping between the virtual scene and the physical scene on the received modeling data and scanning data.

[0102] Optionally, the above device further includes:

[0103] The rendering module 206 is used by the data center to perform rendering processing of a global virtual three-dimensional scene based on the received modeling data and scanning data.

[0104] Optionally, the transmission module 203 is specifically used for:

[0105] The data center receives the operation information from the user device through the data communication channel;

[0106] The data center receives spatial positioning information collected by sensors of user devices in real time;

[0107] The data center renders the three-dimensional scene in real time, processes and adjusts the rendering angle and rendering content of the virtual three-dimensional scene, and transmits the rendered data through data packets.

[0108] Optionally, the output module 204 is specifically used for:

[0109] The data center receives a trigger command from the user device, triggering the transmission of a three-dimensional scene rendering image data packet from the data center to the user device;

[0110] The user equipment performs layered multi-channel fusion correction processing on the data packet and the currently acquired sensor data.

[0111] The device provided by the embodiment of the present disclosure is that the mobile device activates the sensor to identify and spatially locate the real physical scene; establishes a network connection between the mobile device and the cloud server and a data communication channel between the two; the cloud server renders the virtual three-dimensional scene in response to the interactive command received from the mobile device and pushes the rendered data in the form of a data stream; the mobile device receives the rendered data stream and performs fusion, correction and synthesis processing to complete the AR application presentation output. This method makes full use of the current mature visual recognition and positioning technology, and transmits the spatial positioning information calculated by the camera, gyroscope and sensor back to the server in real time through the network. The server transmits the adjusted and fused rendering results to the mobile terminal, completing the adjustment and correction cycle, and completing the real-time superposition and synthesis of virtual and real images and information supplementation and enhancement.

[0112] It should be noted that: the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the above embodiment provides the same concept as the method embodiment, and its specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0113] The device in the embodiments of the present disclosure may be a virtual device, or a component, integrated circuit or chip in a server or terminal. The device may be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal digital assistant (PDA), etc., and the non-mobile electronic device may be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiments of the present disclosure.

[0114] The device in the embodiment of the present disclosure may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present disclosure.

[0115] The device provided by the embodiment of the present disclosure can achieve Figure 1 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0116] Alternatively, if Figure 3 As shown, the embodiment of the present disclosure further provides an electronic device 300, including a processor 301, a memory 302, and a program or instruction stored in the memory 302 and executable on the processor 301. When the program or instruction is executed by the processor 301, each process of the above method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. It should be noted that the electronic device in the embodiment of the present disclosure includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0117] The embodiments of the present disclosure also provide a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned audio data processing method embodiment of the virtual space is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0118] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] The disclosed embodiment further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0120] It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0121] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present disclosure.

[0123] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present disclosure and the claims, all of which are within the protection of the present disclosure.

Claims

1. A method for rendering a three-dimensional scene, characterized in that: The method comprises: Model and locate the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene; The user equipment establishes a connection with the data center through a fixed network and builds a data communication channel; The data center renders the virtual three-dimensional scene in response to a user interaction command and transmits a rendering data packet through the data communication channel; After receiving the rendering data packet, the user equipment performs fusion and correction processing and then outputs it.

2. A method for rendering a three-dimensional scene according to claim 1, characterized in that: The method of modeling and positioning the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene includes: Starting at least one radar device to capture and extract scene feature points to obtain scene feature data; Perform three-dimensional space modeling according to the scene feature data to obtain modeling data; Start at least one magnetic field sensor to perform three-dimensional space calculation and data output on the angle and orientation during the scanning process to obtain scanning data; Determining a position mapping relationship of the magnetic field sensor in a virtual scene according to the scan data; The modeling data and the position mapping relationship are combined to generate a virtual three-dimensional scene.

3. The method for rendering a three-dimensional scene according to claim 1, characterized in that: The user equipment establishes a connection with the data center through a fixed network and builds a data communication channel, including: A UDP network short connection is established between the user device and the data center, and at least one real-time and unordered data communication channel is established between the user device and the data center.

4. The method for rendering a three-dimensional scene according to claim 1, characterized in that: Also includes: The data center performs coordinate conversion and mapping processing between the virtual scene and the physical scene on the received modeling data and scanning data.

5. The method for rendering a three-dimensional scene according to claim 1, characterized in that: Also includes: The data center performs rendering processing of a global virtual three-dimensional scene based on the received modeling data and scanning data.

6. The method for rendering a three-dimensional scene according to claim 1, characterized in that: The data center renders the virtual three-dimensional scene in response to the user interaction command and transmits the rendering data packet through the data communication channel, including: The data center receives operation information from the user device through the data communication channel; The data center receives in real time the spatial positioning information collected by the sensor of the user equipment; The data center renders the three-dimensional scene in real time, processes and adjusts the rendering angle and rendering content of the virtual three-dimensional scene, and transmits the rendered data through data packets.

7. The method for rendering a three-dimensional scene according to claim 1, characterized in that: After receiving the rendering data packet, the user equipment performs fusion and correction processing and then outputs the data packet, including: The data center receives a trigger command from the user device, triggering the transmission of a three-dimensional scene rendering image data packet from the data center to the user device; The user equipment performs layered multi-channel fusion correction processing on the data packet and the currently acquired sensor data.

8. A three-dimensional scene rendering device, characterized in that: include: A generation module is used to model and locate the virtual physical scene according to the positioning system to generate a virtual three-dimensional scene; A communication module is used for user equipment to establish a connection with the data center through a fixed network and build a data communication channel; A transmission module, used for the data center to render the virtual three-dimensional scene in response to a user interaction command and transmit a rendering data packet through the data communication channel; The output module is used for the user equipment to receive the rendering data packet, perform fusion and correction processing, and then output it.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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