Scene map generation method and device, equipment and storage medium

Abstract

The invention provides a scene map generation method and device, equipment and a storage medium, and the method comprises the steps: starting a perspective function in response to a perspective function starting operation; in response to the safe area setting operation, setting a safe area in a target scene corresponding to the perspective function; dividing the security area to obtain a plurality of security sub-areas; acquiring image data of each safety sub-region through an environment information acquisition device; and generating a scene map of the target scene according to the image data. According to the invention, the recognition accuracy of a large-space scene can be improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of computer technology, and in particular, to a method, apparatus, device, and storage medium for generating a scene map. Background Art

[0002] With the development of extended reality (XR) technology, mapping based on real-life scenarios has been applied in more and more scenarios, such as virtual exhibitions, virtual real estate displays, or virtual shopping.

[0003] At present, mapping based on real scenes mainly relies on the simultaneous localization and mapping (SLAM) technology on XR devices to build scene maps based on real-scene images captured by cameras.

[0004] However, because the camera's collection distance (collection accuracy) is limited, when the real scene is a large space scene that is larger than the camera's collection accuracy, the image data collected by the camera will have errors, which will cause the scene map constructed by visual SLAM based on the image data collected by the camera to have errors, resulting in inaccurate recognition of large space scenes. Summary of the invention

[0005] The present application provides a method, device, equipment and storage medium for generating a scene map, which can improve the recognition accuracy of large-space scenes.

[0006] In a first aspect, an embodiment of the present application provides a method for generating a scene map, which is applied to an extended reality device, wherein the extended reality device includes an environment information collection device, and the method includes:

[0007] In response to a perspective function starting operation, starting the perspective function;

[0008] In response to the safety area setting operation, setting a safety area in the target scene corresponding to the perspective function;

[0009] Dividing the security area to obtain multiple security sub-areas;

[0010] Acquiring image data of each of the safety sub-areas through the environmental information acquisition device;

[0011] A scene map of the target scene is generated based on the image data.

[0012] In a second aspect, an embodiment of the present application provides a scene map generation device, which is configured in an extended reality device, wherein the extended reality device includes an environment information collection device, including:

[0013] A starting module, used for starting the perspective function in response to a perspective function starting operation;

[0014] A region setting module, configured to set a safety region in a target scene corresponding to the perspective function in response to a safety region setting operation;

[0015] A division module, used for dividing the security area into multiple security sub-areas;

[0016] An image acquisition module, used for acquiring image data of each of the safety sub-areas through the environmental information acquisition device;

[0017] A map generation module is used to generate a scene map of the target scene based on the image data.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0019] A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method for generating a scene map described in the first aspect embodiment or its various implementation methods.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program enables a computer to execute the method for generating a scene map as described in the embodiment of the first aspect or its various implementation methods.

[0021] In a fifth aspect, an embodiment of the present application provides a computer program product comprising program instructions, which, when executed on an electronic device, enables the electronic device to execute a method for generating a scene map as described in the embodiment of the first aspect or its various implementations.

[0022] The technical solution disclosed in the embodiments of the present application has at least the following beneficial effects:

[0023] By starting the perspective function according to the perspective function startup operation, and responding to the safety area setting operation, the safety area in the target scene corresponding to the perspective function is divided into multiple safety sub-areas, and the image data of each safety sub-area is obtained through the environmental information acquisition device, and then a scene map of the target scene is generated based on the image data. The present application divides the safety area in the target scene into multiple independent small areas, and generates a scene map of the target scene based on the image data of each small area, thereby achieving quantization processing of large space scenes, and then constructing a high-precision scene map based on the quantized scene, thereby improving the recognition accuracy of large space scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a flowchart of a method for generating a scene map provided in an embodiment of the present application;

[0026] Figure 2 It is a schematic diagram of a setting method of an environmental information collection device when an electronic device provided in an embodiment of the present application is an XR device;

[0027] Figure 3 This is a schematic diagram of outputting text-based security zone setting prompt information to a user, provided in an embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of controlling cursor movement and setting a safe area in a target scene provided by an embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of dividing a security area into multiple security sub-areas provided in an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of generating a target subspace corresponding to any security sub-area provided in an embodiment of the present application;

[0031] Figure 7 It is a flowchart of another method for generating a scene map provided in an embodiment of the present application;

[0032] Figure 8 It is a flowchart of another method for generating a scene map provided in an embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of displaying movement guidance information and second scanning guidance information provided by an embodiment of the present application;

[0034] Fig.10 is a schematic block diagram of a scene map generation device provided in an embodiment of the present application;

[0035] Fig.11 is a schematic block diagram of an electronic device provided in an embodiment of the present application;

[0036] Fig.12 This is a schematic block diagram of an electronic device provided in an embodiment of the present application, which is a helmet-mounted display HMD. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. According to the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] This application is applicable to the construction of scene maps. Considering that the current XR devices use visual SLAM to construct scene maps based on the real scene images collected by the camera, due to the limited acquisition accuracy of the camera, when the real scene is a large space scene, the image data collected by the camera may have errors, so that the scene map constructed by the visual SLAM based on the image data collected by the camera will have large errors, resulting in inaccurate and unrecognizable problems in large space scene recognition. Therefore, this application designs a scene map generation scheme to address this problem, so that the scene map generation accuracy can be improved through this scheme, thereby improving the recognition accuracy of large space scenes.

[0040] In order to facilitate understanding of the embodiments of the present application, before describing each embodiment of the present application, some concepts involved in all embodiments of the present application are first appropriately explained, as follows:

[0041] 1) Virtual Reality (VR), a technology for creating and experiencing a virtual world, generates a virtual environment by computation, and is a multi-source information (the virtual reality mentioned in this article includes at least visual perception, and can also include auditory perception, tactile perception, motion perception, and even taste perception, olfactory perception, etc.), realizing the fusion of virtual environment, interactive three-dimensional dynamic vision and simulation of entity behavior, allowing users to immerse themselves in a simulated virtual reality environment, and realizing applications in various virtual environments such as maps, games, videos, education, medical care, simulation, collaborative training, sales, assisted manufacturing, maintenance and repair.

[0042] 2) Virtual reality devices (VR devices), terminals for realizing virtual reality effects, can usually be provided in the form of glasses, helmet-mounted displays (Head Mount Display, HMD), and contact lenses to realize visual perception and other forms of perception. Of course, the form of virtual reality devices is not limited to this, and can be further miniaturized or enlarged according to actual needs.

[0043] Optionally, the virtual reality devices described in the embodiments of the present application may include but are not limited to the following types:

[0044] 2.1) PC-based virtual reality (PCVR) devices use the PC to perform relevant calculations and data output for virtual reality functions. External PC-based virtual reality devices use the data output by the PC to achieve virtual reality effects.

[0045] 2.2) Mobile virtual reality devices support the configuration of mobile terminals (such as smart phones) in various ways (such as head-mounted displays with dedicated card slots). Through wired or wireless connection with the mobile terminal, the mobile terminal performs relevant calculations of virtual reality functions and outputs data to the mobile virtual reality device, such as watching virtual reality videos through the mobile terminal's APP.

[0046] 2.3) All-in-one virtual reality devices have a processor for performing relevant calculations of virtual functions, and thus have independent virtual reality input and output functions. They do not need to be connected to a PC or mobile terminal and have a high degree of freedom in use.

[0047] 3) Augmented Reality (AR): A technology that calculates the camera's posture parameters in the real world (or three-dimensional world, real world) in real time during the process of the camera capturing images, and adds virtual elements to the images captured by the camera based on the camera posture parameters. Virtual elements include but are not limited to: images, videos, and three-dimensional models. The goal of AR technology is to integrate the virtual world with the real world on the screen for interaction.

[0048] 4) Mixed Reality (MR): A simulated setting that integrates computer-created sensory input (e.g., virtual objects) with sensory input from a physical setting or its representation. In some MR settings, the computer-created sensory input can adapt to changes in sensory input from the physical setting. In addition, some electronic systems used to present MR settings can monitor the orientation and / or position relative to the physical setting so that virtual objects can interact with real objects (i.e., physical elements from the physical setting or their representations). For example, the system can monitor movement so that virtual plants appear stationary relative to physical buildings.

[0049] 5) Extended Reality (XR) refers to all real and virtual combined environments and human-computer interactions generated by computer technology and wearable devices, which include virtual reality (VR), augmented reality (AR) and mixed reality (MR) and other forms.

[0050] After introducing some concepts involved in the embodiments of the present application, a method, device, equipment and storage medium for generating a scene map provided in the embodiments of the present application are specifically described below in conjunction with the accompanying drawings.

[0051] Figure 1 1 is a flow chart of a method for generating a scene map provided in an embodiment of the present application. The method for generating a scene map provided in an embodiment of the present application can be performed by a scene map generating device. The scene map generating device can be composed of hardware and / or software and can be integrated into an electronic device.

[0052] In the embodiment of the present application, the electronic device may be an XR device, or may be any other hardware device that can provide a virtual space and a perspective function, etc. The XR device may be a VR device, an AR device, an MR device, or an augmented virtuality (AV), etc., and the present application does not impose any specific restrictions on it.

[0053] Furthermore, in the present application, an environment information acquisition device is provided on the electronic device, so that the image data of the real scene where the electronic device is located can be collected through the environment information acquisition device. It should be understood that the environment information acquisition device can be selected as any device or equipment that can collect environment image data of the real scene, such as a camera. In the present application, when the environment information acquisition device is a camera, the camera is preferably a depth camera, so that depth data in addition to image data can be obtained based on the depth camera. For example, Figure 2 As shown, when the electronic device is an XR device, the XR device is equipped with at least one depth camera and at least one other camera, such as a fisheye camera or an ordinary camera, etc., which are not limited here.

[0054] like Figure 1 As shown, the method comprises the following steps:

[0055] S101, in response to a perspective function start-up operation, start the perspective function.

[0056] It should be understood that the see-through function is to reconstruct the three-dimensional information of the real scene in real time based on the images collected by the environmental information collection device on the electronic device, and project the reconstructed three-dimensional scene information into the human eye coordinate system, so that the user can see the real scene through the three-dimensional scene information reconstructed by the electronic device.

[0057] As an optional implementation of the present application, when a user uses an electronic device, he first wears the electronic device, and then turns on the electronic device to put the electronic device in a working state. Furthermore, the electronic device can provide the user with various interactive functions and a variety of virtual environments, so that the user can start the corresponding interactive functions and / or enter the corresponding virtual space according to the use needs.

[0058] When the user's start-up operation for the perspective function is detected, it means that the user needs to start the perspective function. At this time, the electronic device responds according to the start-up operation to start the perspective function, so that the user can see the real world picture through the electronic device based on the perspective function. The real world picture here is the target scene picture when using the electronic device, and the target scene picture is a real-time picture of any large space scene. In this application, the large space scene can be selected as a large exhibition or a real estate display, etc.

[0059] In the present application, the start-up operation of the perspective function can be that the user selects the perspective function control presented on the display screen of the electronic device by hand, or with the help of a hand model, or with the help of an external device (such as a handle or a hand controller, etc.), so as to send the start-up operation of the perspective function to the electronic device; or, the user can select any application supporting the perspective function by hand, or with the help of a hand model, or with the help of an external device, so as to send the start-up operation of the perspective function to the electronic device. In the present application, the start-up operation of sending the perspective function is not limited to the above-mentioned methods, and the start-up operation of the perspective function can also be sent to the electronic device through voice interaction, etc.

[0060] S102: In response to a safety area setting operation, a safety area is set in a target scene corresponding to the perspective function.

[0061] Taking into account that the target scene is seen based on the perspective function and various interactive operations are performed in the target scene, it is necessary to ensure that the user's position in the perspective function (that is, the position in the application after opening any application that supports the perspective function) is consistent with the position in the target scene. Therefore, when the perspective function is started and the image of the target scene is seen through the perspective function, the electronic device will automatically align the coordinate system (local coordinate system) of the user's position in the application with the coordinate system (global coordinate system) corresponding to the target scene.

[0062] Furthermore, after the coordinate systems are aligned (i.e., the coordinate systems remain consistent), the present application may output prompt information for setting a safe area to the user, so that the user can set a safe area according to the prompt information. The prompt information for setting a safe area may be at least one of voice prompt information, text prompt information, and an animation prompt screen.

[0063] For example, when the prompt information for setting the safety area is text prompt information, a text prompt information of "Please set the safety area" can be displayed on the screen of the electronic device to remind the user to set the safety area. Figure 3 shown.

[0064] In this application, the safe area refers to the active area when the user uses the electronic device.

[0065] That is to say, the present application prompts the user to set a safety area so that the user can ensure the safety of the activity area when using the electronic device by setting a protection boundary, thereby avoiding collision with walls or other objects and improving the safety of the user when using the electronic device.

[0066] As some possible implementations of the present application, when setting a safety zone according to the prompt information of the safety zone setting, the user can first control the cursor according to the prompt information to calibrate the ground height of the target scene seen by the perspective function, and then control the cursor to move along the boundary of the target scene. Then, according to the movement trajectory of the cursor, a safety zone is drawn in the target scene that can be seen by the perspective function. For example, Figure 4 As shown, it is a schematic diagram of setting a safe area for controlling cursor movement.

[0067] It should be understood that, considering that the target scene is a large space scene, the user may not be able to draw a large-scale safety area when standing in a fixed place. Therefore, when controlling the movement of the cursor, the user can move along the boundary of the target scene while controlling the movement of the cursor to set the ground of the entire target scene as a safety area as much as possible to obtain the maximum active safety area.

[0068] Among them, to control the movement of the cursor, the user can use an external device, such as a handle or a hand controller, to control the movement of the cursor; or, the electronic device can control the movement of the cursor formed by rays emitted by a hand model corresponding to the user's real hand or an external device model according to the movement trajectory of the user's real hand, and so on. There is no limitation here.

[0069] Furthermore, setting the safety zone according to the movement trajectory of the cursor can be achieved by acquiring the real-time position of the cursor and obtaining the movement trajectory of the cursor according to the real-time position of the cursor in chronological order. Further, determining the boundary of the safety zone based on the movement trajectory of the cursor, and using the area formed by the boundary as the safety zone.

[0070] In the embodiment of the present application, the real-time position of the cursor is the display position of the cursor, and the display position of the cursor is obtained by using an existing acquisition method, which will not be described in detail here.

[0071] After setting up a safe area in the target scene, the electronic device can save the data of each location point on the boundary of the safe area to lay the foundation for the subsequent generation of a scene map.

[0072] S103, dividing the security area into multiple security sub-areas.

[0073] Considering that the image acquisition accuracy of the environmental information acquisition device on the electronic device is usually limited, for example, the general acquisition accuracy is generally within the range of 2.5 meters or 3 meters. When the target scene exceeds the working distance (acquisition distance) set based on the acquisition accuracy of the environmental information acquisition device, the environmental information acquisition device may not be able to accurately identify and record the relevant image data. Therefore, the present application sets the safety area in the target scene according to the user's safety area setting operation, and then divides the safety area into multiple independent and non-overlapping safety sub-areas, and then constructs a scene map of the target scene based on the divided safety sub-areas. In this way, the large space scene is quantified into small space scenes, and the map constructed based on the image data of the small space scene is merged to generate a scene map of the large space scene, thereby improving the accuracy of the scene map of the large space scene.

[0074] In some possible implementations, when the present application divides the safety area, the working distance of the environmental information collection device, i.e., the collection distance, can be first determined, so as to determine the target division size when dividing the safety area according to the working distance of the environmental information collection device. Then, according to the target size, the safety area is divided to obtain multiple safety sub-areas. Among them, multiple refers to two or more.

[0075] It should be understood that the working distance of the environmental information collection device can be a preset distance based on the collection accuracy of the environmental information collection device. For example, the distance corresponding to the maximum collection accuracy of the environmental information collection device can be determined as the working distance. In other words, the present application uses the maximum visible distance at which the environmental information collection device can collect clear objects as the working distance.

[0076] For example, Figure 5 As shown, assuming that the acquisition accuracy of the environmental information acquisition device is 3 meters, the present application can use 3 meters as the side length and the origin after the coordinate system is aligned as the starting point. First, determine the unit vector in the positive direction (front direction) of the starting point, and multiply the unit vector by 3 to obtain the first vertex in the positive direction. Secondly, determine the unit vector in the left direction of the starting point, and multiply the unit vector by 3 to obtain the second vertex in the left direction. Again, using the vector calculation method, the third vertex can be determined based on the first vertex and the second vertex. Then, based on the origin, the first vertex, the second vertex and the third vertex, the first safe sub-area can be uniquely determined. Next, take the first vertex of the first safe sub-area as the new starting point, first determine the unit vector in the new positive direction corresponding to the new starting point, and multiply the unit vector by 3 to obtain the new first vertex in the new positive direction. Secondly, determine the unit vector in the left direction of the new starting point, and multiply the unit vector by 3 to obtain the new second vertex in the left direction of the new starting point. Again, using the vector calculation method, the new third vertex can be determined based on the new first vertex and the new second vertex. Then, the second safe sub-region can be uniquely determined based on the new origin, the new first vertex, the new second vertex, and the new third vertex. Similarly, all safe sub-regions in the four directions of the origin starting point after the coordinate system is aligned can be determined.

[0077] It should be noted that since the security area has a security boundary, when the security area is divided according to the target size, there may be a situation where any of the divided security sub-areas are within the security area, or any of the divided security sub-areas are outside the security area, or any of the divided security sub-areas are partially within the security area and partially outside the security area. Therefore, when the present application divides the security area and obtains multiple security sub-areas, the following situations may be included:

[0078] Case 1

[0079] When it is determined that the safety sub-region to be generated is located within the safety region, the safety sub-region is generated.

[0080] Case 2

[0081] When it is determined that the safety sub-region to be generated is outside the safety region, the safety sub-region is not generated.

[0082] Case 3

[0083] When it is determined that the safety sub-region to be generated intersects with the safety region boundary, that is, part of the region is located within the safety region boundary and part of the region is located outside the safety region boundary, it is determined whether the area of ​​the part of the region located within the safety region boundary is greater than a preset area threshold. If the area of ​​the part of the region located within the safety region boundary is greater than the preset area threshold, the safety sub-region is generated; if the area of ​​the part of the region located within the safety region boundary is less than or equal to the preset area threshold, the safety sub-region is not generated.

[0084] Among them, the preset area threshold can be determined according to the working distance of the environmental information collection device. For example, if the working distance is 3 meters, then the preset area threshold can be 1.5*1.5, that is, the preset area threshold is determined based on half of the maximum distance.

[0085] In some possible implementations, when determining the area of ​​a portion of the area within the boundary of the safety zone, considering that the various positions constituting the boundary of the safety zone are known, and the positions of the four vertices on the safety sub-zone to be generated and the positions of the other points on each edge are also known, it is possible to determine at which positions the safety sub-zone to be generated intersects with the boundary of the safety zone, i.e., determine the intersection points, based on the boundary points on the sub-zone and the various positions on the boundary of the safety zone. Further, the points between the intersection points are taken as points on the line segment, and a polygon (a portion of the area within the boundary of the safety zone) is constructed based on the points on the line segment. Then, the area of ​​the polygon is determined using an algorithm for calculating the area of ​​the polygon.

[0086] In the present application, the area of ​​a polygon is calculated, optionally by separately calculating the areas of small regions formed by adjacent points on the line segment, and then adding up the areas of all small regions to obtain the area of ​​the entire polygon. Of course, it can also be achieved in other ways, which are not specifically limited here.

[0087] S104, acquiring image data of each safety sub-area through an environmental information collection device.

[0088] After multiple safety sub-areas are displayed, the user can move to each safety sub-area according to the guidance information, and when it is detected that the current position of the user, that is, the electronic device itself, is within a certain safety sub-area, the present application generates a target subspace based on the safety sub-area, that is, generates a space cube, wherein the height of the space cube is less than or equal to the height of the target scene, as shown in the following example. Figure 6 The guidance information may be any text and / or voice information that guides the user to move to the safety sub-area, such as please move to the first safety sub-area, or please move to the first safety sub-area in front.

[0089] At the same time, the electronic device also outputs prompt information for scanning each face area of ​​the target subspace to the user, so that the user can collect each face area of ​​the target subspace through the environmental information collection device on the electronic device worn by the user to obtain image data of each face area of ​​the target subspace. After the collection operation of each face area of ​​the target subspace corresponding to a safe subspace is completed, the user can move to the next safe subspace according to the guidance information, and collect each face area of ​​the target subspace corresponding to the next safe subspace to obtain image data of each face area of ​​the target subspace, and so on until the collection operation is completed for each face area of ​​the target subspace corresponding to each safe subspace.

[0090] The prompt information of each surface area of ​​the scanned target subspace may be output in the form of voice information, text information and / or animation, etc., which are not limited here. For example, the prompt information is voice information and text information "Please turn your head to view each surface of the target subspace in turn".

[0091] In the present application, after the user completes the acquisition operation of a target subspace corresponding to a security sub-area, the electronic device can adjust the display form of the security sub-area from a visible state to a transparent state or an invisible state, etc., so as to improve the image acquisition effect through visual effects, so that the user can know which security sub-areas have completed the acquisition operation and which security sub-areas have not completed the acquisition operation based on different display forms, thereby helping the user to quickly and accurately complete the image acquisition operation of all security sub-areas.

[0092] It should be noted that the visible state of the safety sub-area may refer to a state having any color, rather than being completely transparent.

[0093] S105: Generate a scene map of the target scene based on the image data.

[0094] Optionally, the electronic device may perform a deduplication operation on all target image data collected by the environmental information collection device, and generate a scene map corresponding to the target scene based on the deduplicated image data as map data.

[0095] The specific implementation process of generating a map based on image data is the same as the implementation principle of generating a map based on image data collected by a camera in the existing visual SLAM, and will not be described in detail here.

[0096] The method for generating a scene map provided in an embodiment of the present application starts the perspective function according to the perspective function startup operation, and responds to the safety area setting operation, in the target scene corresponding to the perspective function, divides the safety area to obtain multiple safety sub-areas, and obtains the image data of each safety sub-area through the environmental information acquisition device, and then generates a scene map of the target scene based on the image data. The present application divides the safety area in the target scene into multiple independent small areas, and generates a scene map of the target scene based on the image data of each small area, thereby achieving quantization processing of large space scenes, and then constructing a high-precision scene map based on the quantized scene, thereby improving the recognition accuracy of large space scenes.

[0097] Based on the above embodiments, the present application may optionally further include: exporting a scene map of the target scene, and synchronizing the scene map to other electronic devices in the target scene.

[0098] Considering that there may be multiple electronic devices in the same target scene, and each electronic device needs to construct a three-dimensional scene map corresponding to the target scene through the perspective function when in use. Then, after an electronic device completes the scene map construction operation, by exporting and synchronizing the scene map constructed by the electronic device to other electronic devices in the same target scene, other electronic devices can directly use the scene map without repeating the map construction operation, thereby simplifying the complexity of device operation and improving the utilization efficiency of the scene map.

[0099] Furthermore, considering that the origin and positive direction in the constructed scene map may not meet user needs, for example, after the placement of a painting in a large virtual exhibition is changed, the position of the painting in the virtual exhibition may not correspond to the position of the painting in the real scene. Therefore, the user can adjust the position in the real scene according to the adjusted placement of the painting in the virtual screen to ensure that the placement position of each painting in the virtual screen is consistent with the placement position of the corresponding painting in the real scene. The specific adjustment of the placement position can be achieved by adjusting the origin and positive direction in the safe area corresponding to the scene map.

[0100] That is, when the user needs to customize the origin and positive direction of the scene map, the user can select the origin adjustment control to trigger the origin adjustment control, open the origin adjustment interface, and then make personalized adjustments to the origin and positive direction in the scene map. Thus, the electronic device adjusts the origin and positive direction of the coordinate system corresponding to the safe area in the scene map according to the detected origin adjustment operation, updates the scene map according to the adjusted origin and positive direction, and saves the updated scene map.

[0101] In addition, after the updated scene map is saved, the electronic device of the present application can also export the updated scene map and synchronize the updated scene map to other electronic devices in the same target scene, so that other electronic devices can use the updated scene map to perform various interactive operations in the target scene, etc., thereby meeting the user's usage needs.

[0102] In another implementation scenario of the present application, considering that after setting up a safe area in the virtual space, the user may not be satisfied with the preset initial origin and initial positive direction, so it is necessary to adjust according to their actual application needs to set the target origin and target positive direction, and then divide the safe area according to the target origin and target positive direction, etc., to obtain multiple safe sub-areas that meet their needs. Figure 7 , setting the target origin and the target positive direction in this application, and dividing the safety area to obtain multiple safety sub-areas are explained.

[0103] like Figure 7 As shown, the method comprises the following steps:

[0104] S201, in response to a perspective function start-up operation, start the perspective function.

[0105] S202: In response to the safety area setting operation, a safety area is set in the target scene corresponding to the perspective function.

[0106] S203, in response to the origin setting operation, setting a target origin and a target positive direction in the safety area.

[0107] Considering that after the global coordinate system and the local coordinate system are aligned, the two coordinate systems share the same coordinate system origin and the positive direction of the origin, such as the origin and the positive direction of the global coordinate system, but considering that in actual use, the user may need to customize the target scene. At this time, the initial origin and positive direction cannot meet the user's personalized needs. Therefore, the user can turn on the origin setting function by triggering the displayed origin setting control. Furthermore, when the user wears an electronic device and moves in a safe area and moves to any position that he is satisfied with, the position is set as the target origin, and the positive direction arrow corresponding to the target origin is set to the target positive direction, thereby meeting the customization needs of large space scenes.

[0108] It should be noted that the origin setting operation can be set multiple times. As long as the user wants to adjust the origin, the target origin can be set or adjusted by triggering the origin setting space. At the same time, the final target origin and target positive direction values ​​are only saved when the scene map is saved.

[0109] S204, dividing the safety area according to the target size, the target origin and the target positive direction to obtain a plurality of safety sub-areas.

[0110] The target size is determined based on the working distance of the environmental information acquisition device.

[0111] Optionally, the present application divides the safety area according to the target size, the target origin and the target positive direction to obtain multiple safety sub-areas, specifically: taking the target origin as the starting point, first determine the unit vector in the positive direction of the target corresponding to the starting point, and multiply the unit vector by the target size to obtain the first vertex in the positive direction of the target. Secondly, determine the unit vector in the left direction of the starting point, and multiply the unit vector by the target size to obtain the second vertex in the left direction. Again, using the vector calculation method, the third vertex can be determined according to the first vertex and the second vertex. Then, the first safety sub-area can be uniquely determined according to the target origin, the first vertex, the second vertex and the third vertex. Next, taking the first vertex of the first safety sub-area as the new starting point, first determine the unit vector in the new positive direction (front direction) corresponding to the new starting point, and multiply the unit vector by the target size to obtain the new first vertex in the new positive direction. Secondly, determine the unit vector in the left direction of the new starting point, and multiply the unit vector by the target size to obtain the new second vertex in the left direction of the new starting point. Again, according to the new first vertex and the new second vertex, the new third vertex can be determined. Then, the second safe sub-region can be uniquely determined based on the new starting point, i.e., the first vertex, the new first vertex, the new second vertex, and the new third vertex. Similarly, all safe sub-regions in the four directions of front, back, left, and right with the target origin as the starting point can be determined.

[0112] In addition, it should be noted that since the security area has a security boundary, when the security area is divided, there may be a situation where any of the divided security sub-areas are within the security area, or any of the divided security sub-areas are outside the security area, or any of the divided security sub-areas are partially within the security area and partially outside the security area. Therefore, when the present application divides the security area to obtain multiple security sub-areas, the following situations may be included:

[0113] Case 1

[0114] When it is determined that the safety sub-region to be generated is located within the safety region, the safety sub-region is generated.

[0115] Case 2

[0116] When it is determined that the safety sub-region to be generated is outside the safety region, the safety sub-region is not generated.

[0117] Case 3

[0118] When it is determined that the safety sub-region to be generated has an overlapping portion with the safety region boundary, that is, part of the region is located within the safety region boundary and part of the region is located outside the safety region boundary, it is determined whether the area of ​​the part of the region located within the safety region boundary is greater than a preset area threshold. If the area of ​​the part of the region located within the safety region boundary is greater than the preset area threshold, the safety sub-region is generated; if the area of ​​the part of the region located within the safety region boundary is less than or equal to the preset area threshold, the safety sub-region is not generated.

[0119] S205: Acquire image data of each safety sub-area through an environmental information acquisition device.

[0120] S206: Generate a scene map of the target scene based on the image data.

[0121] The technical solution provided by the embodiment of the present application starts the perspective function according to the perspective function startup operation, and responds to the safety area setting operation, in the target scene corresponding to the perspective function, the safety area is divided to obtain multiple safety sub-areas, and the image data of each safety sub-area is obtained through the environmental information acquisition device, and then the scene map of the target scene is generated according to the image data. The present application divides the safety area in the target scene into multiple independent small areas, and generates a scene map of the target scene based on the image data of each small area, thereby realizing the quantization processing of the large space scene, and then constructing a high-precision scene map based on the quantized scene, so as to improve the recognition accuracy of the large space scene. In addition, by dividing the safety area according to the target size, the set target origin, and the positive direction of the target, the user's customization of the large space scene can be met, and the user's personalized use needs can be improved.

[0122] In some possible implementations, when a user wears an electronic device and uses the environmental information collection device on the electronic device to collect each face area of ​​each target subspace to obtain image data, due to the limitations of the position of the user (electronic device), such as standing at a non-central position such as any vertex position of the target subspace, the camera cannot fully collect the image data of the entire face area, resulting in data collection omissions, which causes errors in the constructed scene map. Therefore, the present application can display the first scanning guidance information so that the user controls the environmental information collection device to perform a complete scan of each face area of ​​each target subspace based on the first scanning guidance information to obtain a scene map with high accuracy. The following is combined with Figure 8 , the above scheme is explained in detail.

[0123] like Figure 8 As shown, the method comprises the following steps:

[0124] S301, in response to a perspective function start-up operation, start the perspective function.

[0125] S302: In response to the safety area setting operation, a safety area is set in the target scene corresponding to the perspective function.

[0126] S303: Divide the security area into multiple security sub-areas.

[0127] S304, displaying first scanning guidance information.

[0128] S305, collecting the surface area corresponding to the first scanning guidance information through the environmental information collection device to obtain image data.

[0129] S306: Generate a scene map of the target scene based on the image data.

[0130] Considering that the visible range of the environmental information collection device is fixed, when the user moves to each safe sub-area according to the guidance information and collects each face area of ​​the target subspace corresponding to each safe sub-area through the environmental information collection device, omissions may occur. To this end, after generating the target subspace, the electronic device of the present application can divide each face area of ​​the target subspace according to the visible range of the environmental information collection device, so as to divide each face area into small areas of the same size as the visible range of the camera, and then display a small area to the user in the form of animation, so that the environmental information collection device can collect each small area in turn to complete the complete collection of each face area in the target subspace.

[0131] Among them, after completing the image acquisition operation of a small area, the electronic device can control the small area to disappear and display a new small area at an adjacent position, and control the environmental information acquisition device to collect the corresponding image data of the new small area, and so on until the acquisition operation of each surface area of ​​all target subspaces is completed.

[0132] Furthermore, a scene map of the target scene is generated based on all the collected target image data.

[0133] In some possible implementations, considering that the user's position in any safety sub-area may not be exactly at the center of the area, for example, when the user is located at any position on the upper right vertex of the area, the target image data collected by the environmental information collection device on the electronic device based on this position may be partially inaccurate or even unable to be collected.

[0134] Based on this, after the present application collects the target image data through the environmental information collection device, that is, after completing the scanning operation of each surface area of ​​the target subspace corresponding to all safety sub-areas, optionally, it can also generate movement guidance information and second scanning guidance information according to the target image data collected by the environmental information collection device and the set safety sub-areas, and display the movement guidance information and the second scanning guidance information, so that the user wearing the electronic device can move again in each safety sub-area according to the movement guidance information and the second scanning guidance information, thereby enabling the environmental information collection device to perform a complete and accurate collection operation on each surface area of ​​the target subspace corresponding to each safety sub-area, so as to obtain new target image data without omissions and errors.

[0135] Then, the electronic device constructs a high-precision scene map based on the new target image data collected by the environmental information collection device, thereby further improving the recognition accuracy of the target scene.

[0136] Exemplarily, the movement guidance information and the second scanning guidance information generated and displayed may be as follows: Fig. 9 As shown, each time the user completes a scanning operation of a target subspace, the corresponding movement guidance information and the second scanning guidance information corresponding to the target subspace will change dynamically visually to distinguish which safe sub-areas have completed the scan and which safe sub-areas have not completed the scan, thereby helping the user to scan the complete target scene and map construction operations more efficiently and accurately.

[0137] The technical solution provided by the embodiment of the present application starts the perspective function according to the perspective function startup operation, and responds to the safety area setting operation, in the target scene corresponding to the perspective function, divides the safety area to obtain multiple safety sub-areas, and obtains the image data of each safety sub-area through the environmental information acquisition device, and then generates a scene map of the target scene based on the image data. The present application divides the safety area in the target scene into multiple independent small areas, and generates a scene map of the target scene based on the image data of each small area, thereby achieving quantization processing of large space scenes, and then constructing a high-precision scene map based on the quantized scene, thereby improving the recognition accuracy of large space scenes. In addition, by displaying scanning guidance information to the user, the user can perform high-precision scanning operations on the entire safety area without omission, thereby further improving the accuracy of the scene map.

[0138] Please refer to the attached Fig.10 , a scene map generation device proposed in an embodiment of the present application is described. Fig.10It is a schematic block diagram of a scene map generation device provided in an embodiment of the present application. The device is configured in an electronic device including an environmental information acquisition device. In an embodiment of the present application, the electronic device may be an XR device, or may be any other hardware device that can provide a virtual space and perspective function. The XR device may be a VR device, an AR device, an MR device, or an augmented virtuality (AV), etc., and the present application does not impose any specific restrictions on it.

[0139] like Fig.10 As shown, the scene map generation device 400 includes: a starting module 410, an area setting module 420, a division processing module 430, an image acquisition module 440 and a map generation module 450.

[0140] The start module 410 is used to start the perspective function in response to the perspective function start operation;

[0141] An area setting module 420, configured to set a safety area in a target scene corresponding to the perspective function in response to a safety area setting operation;

[0142] A division processing module 430 is used to divide the security area into multiple security sub-areas;

[0143] An image acquisition module 440 is used to acquire image data of each of the safety sub-areas through the environmental information acquisition device;

[0144] The map generation module 450 is used to generate a scene map of the target scene according to the image data.

[0145] In an optional implementation of the embodiment of the present application, the division processing module 430 is specifically used to:

[0146] Determining a target size according to a working distance of the environmental information acquisition device;

[0147] The safety area is divided according to the target size to obtain a plurality of safety sub-areas.

[0148] In an optional implementation of the embodiment of the present application, the apparatus 400 further includes:

[0149] The origin setting module is used to set a target origin and a target positive direction in the safety area in response to an origin setting operation.

[0150] In an optional implementation of the embodiment of the present application, the division processing module 430 is specifically used to:

[0151] Dividing the safety area according to the target size, the target origin and the target positive direction to obtain a plurality of safety sub-areas;

[0152] Wherein, the target size is determined based on the working distance of the environmental information acquisition device.

[0153] In an optional implementation of the embodiment of the present application, the image acquisition module 440 is specifically used to:

[0154] If it is determined that the current position of the extended reality device is located in any of the safety sub-areas, generating a target subspace according to the safety sub-areas;

[0155] Each surface area of ​​the target subspace is collected by the environmental information collection device to obtain image data.

[0156] In an optional implementation of the embodiment of the present application, the apparatus 400 further includes:

[0157] A first display module, used for displaying first scanning guidance information;

[0158] Accordingly, the image acquisition module 440 is specifically used for:

[0159] The surface area corresponding to the first scanning guidance information is collected by the environmental information collection device to obtain image data.

[0160] In an optional implementation of the embodiment of the present application, the apparatus 400 further includes:

[0161] A second display module, used to generate and display movement guidance information and second scanning guidance information;

[0162] The acquisition control module is used to control the environmental information acquisition device to acquire each surface area of ​​the target subspace according to the movement guidance information and the second scanning guidance information to obtain new image data.

[0163] In an optional implementation of the embodiment of the present application, the area setting module 420 is specifically used to:

[0164] According to the movement track of the cursor, a safety area is set in the target scene corresponding to the perspective function.

[0165] In an optional implementation of the embodiment of the present application, the apparatus 400 further includes:

[0166] An adjustment module, configured to adjust the origin and the positive direction in the safety area in response to an origin adjustment operation;

[0167] The updating module is used to update the scene map according to the adjusted origin and positive direction.

[0168] The scene map generation device provided in the embodiment of the present application starts the perspective function according to the perspective function startup operation, and responds to the safety area setting operation, divides the safety area in the target scene corresponding to the perspective function to obtain multiple safety sub-areas, and obtains the image data of each safety sub-area through the environmental information acquisition device, and then generates a scene map of the target scene based on the image data. The present application divides the safety area in the target scene into multiple independent small areas, and generates a scene map of the target scene based on the image data of each small area, thereby achieving quantization processing of large space scenes, and then constructing a high-precision scene map based on the quantized scene, thereby improving the recognition accuracy of large space scenes.

[0169] It should be understood that the device embodiment and the aforementioned method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, they will not be described here. Specifically, Fig.10 The device 400 shown may perform Figure 1 The corresponding method embodiments, and the aforementioned and other operations and / or functions of each module in the device 400 are respectively to implement Figure 1 For the sake of brevity, the corresponding processes in each method are not repeated here.

[0170] The above describes the device 400 of the embodiment of the present application from the perspective of the functional module in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the first aspect method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the first aspect method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or a combination of hardware and software modules in the decoding processor to perform. Optionally, the software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory, and completes the steps in the above-mentioned first aspect method embodiment in conjunction with its hardware.

[0171] Fig.11 is a schematic block diagram of an electronic device provided in an embodiment of the present application. Fig.11 As shown, the electronic device 500 may include:

[0172] The memory 510 and the processor 520, the memory 510 is used to store the computer program and transmit the program code to the processor 520. In other words, the processor 520 can call and run the computer program from the memory 510 to implement the method for generating the scene map in the embodiment of the present application.

[0173] For example, the processor 520 may be used to execute the above-mentioned scene map generation method embodiment according to the instructions in the computer program.

[0174] In some embodiments of the present application, the processor 520 may include but is not limited to:

[0175] General-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.

[0176] In some embodiments of the present application, the memory 510 includes but is not limited to:

[0177] Volatile memory and / or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0178] In some embodiments of the present application, the computer program may be divided into one or more modules, which are stored in the memory 510 and executed by the processor 520 to complete the method for generating a scene map provided by the present application. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device.

[0179] like Fig.11 As shown, the electronic device 500 may further include:

[0180] The transceiver 530 may be connected to the processor 520 or the memory 510 .

[0181] The processor 520 may control the transceiver 530 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices. The transceiver 530 may include a transmitter and a receiver. The transceiver 530 may further include an antenna, and the number of antennas may be one or more.

[0182] It should be understood that the various components in the electronic device are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0183] In the embodiment of the present application, when the electronic device is an HMD in an XR device, the embodiment of the present application provides a schematic block diagram of the HMD, such as Fig.12 shown.

[0184] like Fig.12 As shown, the main functional modules of the HMD 600 may include but are not limited to the following: a detection module 610 , a feedback module 620 , a sensor 630 , a control module 640 , and a modeling module 650 .

[0185] Among them, the detection module 610 is configured to use various sensors to detect the user's operation commands and act on the virtual environment, such as constantly updating the image displayed on the display screen following the user's line of sight, to achieve interaction between the user and the virtual scene.

[0186] The feedback module 620 is configured to receive data from the sensor and provide real-time feedback to the user. For example, the feedback module 620 can generate a feedback instruction based on the user operation data and output the feedback instruction.

[0187] The sensor 630 is configured to accept operation commands from the user and apply them to the virtual environment on the one hand; and to provide the results generated after the operation to the user in the form of various feedback on the other hand.

[0188] The control module 640 is configured to control sensors and various input / output devices, including obtaining user data such as actions, voices, etc. and outputting sensory data such as images, vibrations, temperature, and sounds, etc., to act on the user, the virtual environment, and the real world. For example, the control module 640 can obtain user gestures, voices, etc.

[0189] The modeling module 650 is configured to construct a three-dimensional model of the virtual environment, and may also include various feedback mechanisms such as sound and touch in the three-dimensional model.

[0190] It should be understood that the various functional modules in the HMD 600 are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus, and a status signal bus.

[0191] The present application also provides a computer storage medium on which a computer program is stored. When the computer program is executed by a computer, the computer is enabled to execute the method of the above method embodiment.

[0192] An embodiment of the present application further provides a computer program product including program instructions, and when the program instructions are executed on an electronic device, the electronic device executes the method of the above method embodiment.

[0193] When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a solid state drive (solid state disk, SSD)), etc.

[0194] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0195] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0196] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. For example, each functional module in each embodiment of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0197] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for generating a scene map, characterized in that: Applied to an extended reality device, the extended reality device includes an environment information collection device, and the method includes: In response to a perspective function starting operation, starting the perspective function; In response to the safety area setting operation, setting a safety area in the target scene corresponding to the perspective function; Dividing the security area to obtain multiple security sub-areas; Acquiring image data of each of the safety sub-areas through the environmental information acquisition device; A scene map of the target scene is generated based on the image data.

2. The method according to claim 1, characterized in that: The security area is divided into multiple security sub-areas, including: Determining a target size according to a working distance of the environmental information acquisition device; The safety area is divided according to the target size to obtain a plurality of safety sub-areas.

3. The method according to claim 1, characterized in that Before dividing the security area to obtain a plurality of security sub-areas, the method further includes: In response to the origin setting operation, a target origin and a target positive direction are set in the safety area.

4. The method according to claim 3, characterized in that The security area is divided into multiple security sub-areas, including: Dividing the safety area according to the target size, the target origin and the target positive direction to obtain a plurality of safety sub-areas; Wherein, the target size is determined based on the working distance of the environmental information acquisition device.

5. The method according to claim 1, characterized in that The acquiring of image data of each of the safety sub-areas by the environmental information acquisition device includes: If it is determined that the current position of the extended reality device is located in any of the safety sub-areas, generating a target subspace according to the safety sub-areas; Each surface area of ​​the target subspace is collected by the environmental information collection device to obtain image data.

6. The method according to claim 5, characterized in that Before acquiring each surface area of ​​the target subspace by the environmental information acquisition device to obtain image data, the method further includes: Displaying first scanning guidance information; Correspondingly, the step of collecting each surface area of ​​the target subspace by the environmental information collection device to obtain image data includes: The surface area corresponding to the first scanning guidance information is collected by the environmental information collection device to obtain image data.

7. The method according to claim 5 or 6, characterized in that: After obtaining the image data, the method further includes: Generate and display movement guidance information and second scanning guidance information; According to the movement guidance information and the second scanning guidance information, the environment information acquisition device is controlled to acquire each surface area of ​​the target subspace to obtain new image data.

8. The method according to any one of claims 1 to 6, characterized in that The step of setting a safe area in the target scene corresponding to the perspective function includes: According to the movement track of the cursor, a safety area is set in the target scene corresponding to the perspective function.

9. The method according to any one of claims 1 to 6, characterized in that: Also includes: In response to the origin adjustment operation, adjusting the origin and the positive direction in the safety area; The scene map is updated according to the adjusted origin and positive direction.

10. A device for generating a scene map, characterized in that: Configured in an extended reality device, the extended reality device includes an environment information collection device, including: A starting module, used for starting the perspective function in response to a perspective function starting operation; A region setting module, configured to set a safety region in a target scene corresponding to the perspective function in response to a safety region setting operation; A division module, used for dividing the security area into multiple security sub-areas; An image acquisition module, used for acquiring image data of each of the safety sub-areas through the environmental information acquisition device; A map generation module is used to generate a scene map of the target scene based on the image data.

11. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method for generating a scene map as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein the computer program enables a computer to execute the method for generating a scene map as claimed in any one of claims 1 to 9.

13. A computer program product comprising program instructions, characterized in that When the program instructions are executed on an electronic device, the electronic device executes the method for generating a scene map as described in any one of claims 1 to 9.

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