Attitude calibration method, host and computer readable storage medium

Abstract

The embodiment of the invention provides an attitude calibration method, a host and a computer readable storage medium. The method includes: receiving a first pose of each of at least one target object from an external tracking device; receiving a first reference attitude of the reference object from an external tracking device; tracking a second reference attitude of the reference object; determining a conversion relation between the first reference attitude and the second reference attitude; and converting the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and providing visual content of the reality service according to the second posture.

Description

Technical Field

[0001] The present invention generally relates to a posture determination mechanism, and more particularly to a posture calibration method, a host, and a computer-readable storage medium. Background Art

[0002] In virtual reality (VR) technology, virtual cameras play a key role in VR technology by simulating the functions of real-world cameras, allowing users to observe, record and interact in the virtual world, thereby enhancing the interactivity and authenticity of the VR experience.

[0003] In one possible implementation, a virtual camera may be set at a specific location in a VR environment, and a scene captured in the field of view of the virtual camera may be displayed as visual content (e.g., VR content) seen by a user. For example, a virtual camera may be used to capture a virtual avatar in a VR environment so that the user can see the virtual avatar in the visual content.

[0004] In VR technology, the posture of a human body can be tracked via an external tracking device, and the tracked posture of the human body can be provided to a VR host (e.g., a head-mounted display (HMD) and / or other computer devices) for adjusting the posture of a virtual avatar corresponding to the human body.

[0005] However, since the coordinate systems used by the external tracking device and the VR host may be different, the virtual avatar may not be displayed correctly in the field of view of the virtual camera, which may result in less satisfactory visual quality.

[0006] refer to Figure 1 , which shows a schematic diagram of a tracking scenario. Figure 1 In the embodiment, the user 10 may wear a head-mounted display (HMD) 11 that provides visual content of a reality service (e.g., a virtual reality (VR) service). In addition, a virtual camera 14 having a field of view 199 may be set in a virtual environment of the reality service, and a virtual avatar 12 may be captured by the virtual camera 14 and displayed as a part of the visual content provided by the HMD 11. In this case, the HMD 11 may display the virtual avatar 12 corresponding to the user 10 in the visual content (e.g., VR content).

[0007] In one scenario, the virtual avatar 12 may present the same gesture / posture as the user 10. That is, the virtual avatar 12 may move in response to the movement of the user 10. For example, if the user 10 raises his / her left hand, the virtual avatar 12 may raise the left hand accordingly. If the user 10 nods, the virtual avatar 12 may nod accordingly. To achieve this, an external tracking device 13 may be placed near the user 10 for tracking the posture of each joint of the user 10, and the external tracking device 13 may provide the tracked posture of each joint of the user 10 to the HMD 11 for the HMD 11 to adjust the gesture / posture of the virtual avatar 12 accordingly.

[0008] However, since the coordinate systems used by the HMD 11 and the external tracking device 13 are generally different, if the HMD 11 directly uses the information from the external tracking device 13 to adjust the gesture / posture of the virtual avatar 12 , the virtual avatar 12 may not be displayed correctly.

[0009] For example, assume that the coordinate system used by the HMD 11 has an origin O2, and the coordinate system used by the external tracking device 13 has an origin O1. In this case, the external tracking device 13 can determine that the posture of the head of the user 11 is located at the coordinate (-2, -2) in the coordinate system used by the external tracking device 13, which is Figure 1 It is displayed as “(-2, -2)@O1”.

[0010] In this case, if the HMD 11 directly uses information from the external tracking device 13 to adjust the virtual avatar 12, the head of the virtual avatar 12 may be shown as being located at the coordinates (-2, -2) in the coordinate system used by the HMD 11. Figure 1 It is displayed as “(-2, -2)@O2”.

[0011] Depend on Figure 1 It can be seen that the location where the virtual avatar 12 is displayed does not match the actual location of the user 10, which may increase the difficulty of development. Summary of the invention

[0012] Therefore, the present invention relates to a posture calibration method, a host and a computer-readable storage medium that can be used to solve the above-mentioned technical problems.

[0013] An embodiment of the present invention provides a posture calibration method, comprising: receiving, by a host, a first posture of each of at least one target object from an external tracking device; receiving, by the host, a first reference posture of a reference object from the external tracking device; tracking, by the host, a second reference posture of the reference object; determining, by the host, a conversion relationship between the first reference posture and the second reference posture; and converting, by the host, the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and providing visual content of a reality service accordingly.

[0014] An embodiment of the present invention provides a host, which includes a storage circuit and a processor. The storage circuit stores program code. The processor is coupled to the storage circuit and accesses the program code to perform the following operations: receiving a first posture of each of at least one target object from an external tracking device; receiving a first reference posture of a reference object from the external tracking device; tracking a second reference posture of the reference object; determining a conversion relationship between the first reference posture and the second reference posture; and converting the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and providing visual content of a reality service accordingly.

[0015] An embodiment of the present invention provides a non-transitory computer-readable storage medium, which records an executable computer program, and the executable computer program is loaded by a host to perform the following steps: receiving a first posture of each of at least one target object from an external tracking device; receiving a first reference posture of a reference object from an external tracking device; tracking a second reference posture of the reference object; determining a conversion relationship between the first reference posture and the second reference posture; and converting the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and providing visual content of a reality service accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

[0017] Figure 1 A schematic diagram showing a tracking scenario is shown.

[0018] Figure 2 A schematic diagram of a host according to an embodiment of the present invention is shown.

[0019] Figure 3 A flow chart of a posture calibration method according to an embodiment of the present invention is shown.

[0020] Figure 4 An application scenario according to an embodiment of the present invention is illustrated.

[0021] Description of Figure Numbers

[0022] 10.499: user;

[0023] 11: Head-mounted display;

[0024] 12: Avatar;

[0025] 13: External tracking device;

[0026] 41: External tracking device;

[0027] 43: Avatar;

[0028] 43a, 499a: right hand;

[0029] 43b, 499b: left foot;

[0030] 200: host;

[0031] 202: storage circuit;

[0032] 204: processor;

[0033] 400: visual content;

[0034] O1, O2 origin;

[0035] S310, S320, S330, S340, S350: steps. DETAILED DESCRIPTION

[0036] Reference will now be made in detail to the presently preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, like reference numerals are used in the drawings and description to refer to the same or like parts.

[0037] See also Figure 2 , which depicts a schematic diagram of a host according to an embodiment of the present invention. In various embodiments, the host 200 may be any smart device and / or computer device that can provide visual content of a reality service such as a virtual reality (VR) service, an augmented reality (AR) service, a mixed reality (MR) service, and / or an extended reality (XR) service, but the present invention is not limited thereto. In some embodiments, the host 200 may be a head-mounted display (HMD) capable of displaying / providing visual content (e.g., AR / VR content) for viewing by a wearer / user. In order to better understand the concepts of the present invention, the host 200 will be assumed to be an HMD that provides VR content (e.g., a VR world) to a user, but the present invention is not limited thereto.

[0038] exist Figure 2In the embodiment, the host 200 includes a storage circuit 202 and a processor 204. The storage circuit 202 is one or a combination of static or mobile random access memory (RAM), read-only memory (ROM), flash memory, hard disk or any other similar device, and the storage circuit records multiple modules and / or program codes that can be executed by the processor 204.

[0039] The processor 204 can be coupled to the storage circuit 202, and the processor 204 can be, for example, a general-purpose processor, a special-purpose processor, a conventional processor, a digital signal processor (DSP), multiple microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), a state machine, etc.

[0040] In some embodiments, the host 200 may be a computer and / or a server, and the processor 204 may provide the calculated results (e.g., AR / VR content) to one or more other external display devices (e.g., HMD), so that the one or more external display devices can display the calculated results to the user, but the present invention is not limited to this.

[0041] In an embodiment of the present invention, the processor 204 may access the modules and / or program codes stored in the storage circuit 202 to implement the posture calibration method provided in the present invention, which will be further discussed below.

[0042] See also Figure 3 , which depicts a flow chart of a posture calibration method according to an embodiment of the present invention. The method of this embodiment can be Figure 2 The host 200 in the above example executes the following code. Figure 2 The components shown in Figure 3 In order to better understand the concept of the present invention, Figure 4 will be used as an example, where Figure 4 An application scenario according to an embodiment of the present invention is illustrated.

[0043] In step S310 , the processor 204 receives a first pose of each of at least one target object from the external tracking device 41 .

[0044] In an embodiment of the present invention, the external tracking device 41 may be used to capture an image of at least one target object and determine, for example, a first pose of each of the target objects.

[0045] In an embodiment of the present invention, each of the mentioned postures may be characterized as a corresponding 6 degrees of freedom (6DOF), but the present invention is not limited thereto.

[0046] In one embodiment, the target object may include at least one first joint on the target body tracked by the external tracking device 41 .

[0047] exist Figure 4 In the embodiment of the present invention, the body of the user 499 of the host 200 may be the target subject under consideration. In this case, the external tracking device 41 may be used to capture an image of the user 499 and determine a first posture of each first joint of the user 499. In some embodiments, the external tracking device 41 may use some existing posture detection algorithms to determine / track the first posture of each first joint of the user 499.

[0048] In one embodiment, the external tracking device 41 may be used to track the first postures of several specific first joints (eg, head, hand, shoulder, wrist, hip, knee, ankle, etc.) of the user 499, but the present invention is not limited thereto.

[0049] After determining / tracking the first posture of the considered first joint (eg, the specific first joint above) of the user 499 , the external tracking device 41 may transmit the determined first posture of the considered first joint to the host 200 .

[0050] In one embodiment, a tracker (or multiple trackers) may be placed on the user 499, and the external tracking device 41 may also be used to determine / track the posture of the tracker via, for example, an inside-out tracking mechanism and / or an outside-in tracking mechanism, but the present invention is not limited thereto. After determining / tracking the posture of the tracker, the external tracking device 41 may also transmit the posture of the tracker to the host 200.

[0051] In some embodiments, the tracker may be implemented as a wearable device worn on the user 499. In other embodiments, the tracker may be placed at a location that can be observed by both the host 200 and the external tracking device 41.

[0052] In step S320 , the processor 204 receives a first reference pose of a reference object from the external tracking device 41 .

[0053] In the first embodiment, the reference object considered in step S320 may be one or more of the first joints of the user 499 .

[0054] For example, in the case where the host 200 is assumed to be an HMD, the posture of the HMD can be understood as a first posture representing the head of the user 499. In this case, the head of the user 499 can be regarded as a reference object. Therefore, when the host 200 receives the first posture of the first joint (which includes the head of the user 499), the processor 204 can extract the first posture of the head and regard the first posture of the head as the first reference posture of the reference object in S320.

[0055] For another example, the host 200 may be connected to a handheld controller for allowing the user 499 to interact with visual content (e.g., VR content), and the user 499 may hold the handheld controller in his / her hand, so that the posture of the handheld controller can be understood as a first posture representing the hand of the user 499. In this case, the hand of the user 499 can be regarded as a reference object. Therefore, when the host 200 receives the first posture of the first joint (which includes the hand of the user 499), the processor 204 can extract the first posture of the hand and regard the first posture of the hand as the first reference posture of the reference object in step S320.

[0056] In the second embodiment, the reference object considered in step S320 may be a tracker. In this case, when the host 200 receives the gesture of the tracker, the processor 204 may regard the received gesture of the tracker as the first reference gesture of the reference object in step S320.

[0057] In step S330 , the processor 204 tracks a second reference pose of the reference object.

[0058] In the first embodiment, if the head of the user 499 is regarded as a reference object, the processor 204 may directly determine the posture of the HMD (which may be regarded as the host posture of the host 200) as the second reference posture of the reference object. In one embodiment, the processor 204 may track the posture of the HMD by performing, for example, Simultaneous Localization and Mapping (SLAM).

[0059] In another embodiment, the processor 204 may obtain the posture of the HMD by using an outside-in tracking mechanism. That is, the processor 204 may receive a beacon from a nearby lighthouse base station and determine the posture of the HMD accordingly, but the present invention is not limited thereto.

[0060] In the first embodiment, if the hand holding the handheld controller is regarded as a reference object, the processor 204 may determine the posture of the handheld controller (i.e., the controller posture of the handheld controller) as the second reference posture of the reference object. In one embodiment, the processor 204 may track the posture of the handheld controller by executing, for example, an inside-out tracking mechanism and / or an outside-in tracking mechanism, but the present invention is not limited thereto.

[0061] In a second embodiment, if the tracker is considered to be a reference object, the processor 204 may track the pose of the tracker by executing, for example, an inside-out tracking mechanism and / or an outside-in tracking mechanism, and determine the pose of the tracker (i.e., the tracker pose) as a second reference pose of the reference object.

[0062] In step S340 , the processor 204 determines a conversion relationship between the first reference posture and the second reference posture.

[0063] In one embodiment, the processor 204 may represent the first reference pose as a first vector in a first coordinate system of the external tracking device 41, and the second reference pose as a second vector in a second coordinate system of the host 200. The processor 204 may then determine a vector difference between the first vector and the second vector, and determine the vector difference as a transformation relationship.

[0064] In one embodiment, the processor 204 may determine the vector difference by subtracting the second vector from the first vector, but the invention is not limited in this regard.

[0065] In detail, since the first coordinate system used by the external tracking device 41 may be different from the second coordinate system used by the host 200, step S340 may be understood as a function for determining the relative position between the first coordinate system and the second coordinate system. From another perspective, the conversion relationship may be viewed as a conversion function that can be used to transform a specific coordinate in the first coordinate system into a corresponding coordinate in the second coordinate system.

[0066] In step S350 , the processor 204 converts the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and provides visual content of the reality service accordingly.

[0067] In one embodiment, step S350 may be understood as the processor 204 converting the first posture of each of the at least one target object into the corresponding second posture of each of the at least one target object.

[0068] In one embodiment, processor 204 may determine the corresponding second pose of each of the at least one target object by subtracting the vector difference from the first pose.

[0069] In this case, the corresponding second posture of each of the at least one target object (eg, the first joint of the user 499 ) may be understood as the corresponding posture of each target object in the second coordinate system used by the host 200 .

[0070] For better understanding, assume that Figure 4 The reference object considered in is the head of the user 499. In addition, it is assumed that the origin of the first coordinate system is the origin O1, and the origin of the second coordinate system is the origin O2.

[0071] In this case, the external tracking device 41 should determine the posture of the head of the user 499 as the first reference posture of the reference object, and the first reference posture can be (-2, -2) in the first coordinate system (i.e., the first vector). In addition, the processor 204 should determine the host posture of the host 200 as the second reference posture of the reference object, and the second reference posture can be (0, -1) in the second coordinate system (i.e., the second vector).

[0072] The processor 204 may then determine a vector difference between the first vector and the second vector by subtracting the second vector (e.g., (0, -1)) from the first vector (e.g., (-2, -2)). Figure 4 In the scenario, the processor 204 may determine the vector difference as (-2, -1) as the conversion relationship.

[0073] The processor 204 may then determine a corresponding second pose of each target object (eg, first joint) based on the vector differences.

[0074] For example, if the external tracking device 41 determines a first pose of the right hand 499a of the user 499 as (-1, -3) in the first coordinate system, the processor 204 may determine the corresponding second pose as (+1, -2) in the second coordinate system.

[0075] For another example, if the external tracking device 41 determines a first posture of the left foot 499b of the user 499 as (-3, -4) in the first coordinate system, the processor 204 may determine a corresponding second posture as (-1, -3) in the second coordinate system.

[0076] For other target objects (eg, other first joints of the user 499 ), the processor 204 may determine a corresponding second pose in the second coordinate system based on the above teachings, which will not be discussed further.

[0077] In one embodiment, when providing visual content of a reality service, the processor 204 may determine at least one second joint of a virtual avatar (e.g., a VR virtual avatar) based on the corresponding second posture of each of the target objects, wherein the at least one second joint corresponds one-to-one to at least one first joint, and the virtual avatar corresponds to the target subject. Subsequently, the processor 204 may display the virtual avatar in the visual content of the reality service, wherein each of the at least one second joint of the virtual avatar is displayed as a corresponding second posture.

[0078] exist Figure 4 In the embodiment of the present invention, the processor 204 may display the virtual avatar 43 corresponding to the body of the user 499 in the visual content 400 of the real service. Figure 4 It can be seen that the second joint of the avatar 43 is displayed in a corresponding second posture.

[0079] For example, the right hand 43a of the virtual avatar 43 may correspond to the right hand 499a of the user 499. In this case, the corresponding second posture of the right hand 43a may be the corresponding second posture of the right hand 499a, i.e., (+1, -2) in the second coordinate system. Therefore, the right hand 43a of the virtual avatar 43 may be shown as the corresponding second posture (i.e., (+1, -2)).

[0080] For another example, the left foot 43b of the avatar 43 may correspond to the left foot 499b of the user 499. In this case, the corresponding second posture of the left foot 43b may be the corresponding second posture of the left foot 499b, i.e., (-1, -3) in the second coordinate system. Therefore, the left foot 43b of the avatar 43 may be shown as the corresponding second posture (i.e., (-1, -3)).

[0081] Likewise, the processor 204 may display other second joints of the virtual avatar 43 with corresponding second postures based on the above teachings, which will not be discussed further.

[0082] Depend on Figure 4 It can be seen that the way of displaying the gesture / posture / position of the virtual avatar 43 has been matched with the gesture / posture / position of the user 499, which can reduce the difficulty of development.

[0083] The present invention further provides a computer-readable storage medium for performing the posture calibration method. The computer-readable storage medium is composed of a plurality of program instructions (e.g., setting program instructions and deployment program instructions) implemented therein. These program instructions can be loaded into the host 200 and executed by the host to perform the posture calibration method and the functions of the host 200 described above.

[0084] In summary, in an embodiment of the present invention, if there is a reference object observable by both the external tracking device and the host, the external tracking device and the host can each track the posture of the reference object, and the host can determine the relative position between the first coordinate system used by the external tracking device and the second coordinate system used by the host. Using this relative position, the host can convert the first posture of each target object (e.g., the first joint of the user) into a corresponding second posture, so that the virtual object corresponding to the target object (e.g., the second joint of the virtual avatar) can be displayed as the corresponding second posture. Therefore, the way the gesture / posture / position of the virtual avatar is displayed in the visual content (e.g., VR content) can match the gesture / posture / position of the user, which can reduce the difficulty of development.

[0085] In addition, since the gesture / posture / position of the virtual avatar shown in the visual content matches the gesture / posture / position of the user, the user can feel more immersed during viewing the visual content. In addition, since the solution provided by the present invention can be understood as automatically correcting the projection position of the virtual avatar in the visual content, the user does not need to worry about the placement of the external tracking device.

[0086] It will be apparent to those skilled in the art that various modifications and changes may be made to the structure of the present invention without departing from the scope or spirit of the present invention. In view of the foregoing, it is intended that the present invention covers modifications and changes of the present invention, provided that they fall within the scope of the appended claims and their equivalents.

Claims

1. A posture calibration method, characterized in that: include: receiving, by the host computer, from an external tracking device, a first pose for each of at least one target object; receiving, by the host, a first reference pose of a reference object from the external tracking device; tracking, by the host, a second reference pose of the reference object; The host determines a conversion relationship between the first reference posture and the second reference posture; as well as The host converts the first posture of each of the at least one target object into a corresponding second posture based on the conversion relationship, and provides visual content of a reality service accordingly.

2. The posture calibration method according to claim 1, wherein the at least one target object comprises at least one first joint of a target body tracked by the external tracking device, and the step of providing the visual content of the reality service comprises: determining at least one second joint of the avatar based on the corresponding second pose of each of the target subjects, wherein the at least one second joint corresponds one-to-one to the at least one first joint and the avatar corresponds to the target subject; as well as The virtual avatar in the visual content of the reality service is presented, wherein each of the at least one second joint of the virtual avatar is presented with the corresponding second pose.

3. The posture calibration method according to claim 1, wherein the step of determining, by the host, the conversion relationship between the first reference posture and the second reference posture comprises: characterizing the first reference pose as a first vector in a first coordinate system of the external tracking device and the second reference pose as a second vector in a second coordinate system of the host computer; determining a vector difference between the first vector and the second vector; and The vector difference is determined as the conversion relationship.

4. The posture calibration method according to claim 3, wherein the step of determining the vector difference between the first vector and the second vector comprises: The vector difference is determined by subtracting the second vector from the first vector.

5. The posture calibration method according to claim 4, wherein the step of converting the first posture of each of the at least one target object into the corresponding second posture based on the conversion relationship comprises: The corresponding second pose is determined via subtracting the vector difference from the first pose of each of the at least one target object. The posture calibration method according to claim 3 , wherein the first coordinate system is different from the second coordinate system.

7. The posture calibration method according to claim 1, wherein the host is a head mounted display that provides the visual content of the reality service, the reference object is a head of a target subject, and the step of tracking the second reference posture of the reference object comprises: A host pose of the host is determined as the second reference pose of the reference object, wherein the at least one target object includes the head of the target subject.

8. The posture calibration method according to claim 1, wherein the reference object is a hand of a target subject, the host is connected to a handheld controller held by the hand of the target subject, and the step of tracking the second reference posture of the reference object comprises: A controller pose of the handheld controller is determined as the second reference pose of the reference object, wherein the at least one target object includes the hand of the target subject.

9. The posture calibration method according to claim 1, wherein the reference object is a tracker, and the step of tracking the second reference posture of the reference object comprises: A tracker pose of the tracker is determined as the second reference pose of the reference object, wherein the tracker does not belong to the at least one target object. 10 . The posture calibration method according to claim 1 , wherein the reality service is a virtual reality service, and the visual content is a virtual reality content.

11. A host, characterized in that: include: A storage circuit for storing program codes; as well as A processor is coupled to the memory circuit and accesses the program code to perform the following operations: receiving a first pose of each of the at least one target object from an external tracking device; receiving a first reference pose of a reference object from the external tracking device; tracking a second reference pose of the reference object; determining a conversion relationship between the first reference posture and the second reference posture; as well as The first posture of each of the at least one target object is converted into a corresponding second posture based on the conversion relationship, and visual content of a reality service is provided accordingly.

12. The host of claim 11, wherein the at least one target object comprises at least one first joint of a target body tracked by the external tracking device, and the processor performs the following operations: determining at least one second joint of the avatar based on the corresponding second pose of each of the target subjects, wherein the at least one second joint corresponds one-to-one to the at least one first joint and the avatar corresponds to the target subject; The virtual avatar in the visual content of the reality service is presented, wherein each of the at least one second joint of the virtual avatar is presented with the corresponding second pose.

13. The host of claim 11, wherein the processor performs the following operations: characterizing the first reference pose as a first vector in a first coordinate system of the external tracking device and the second reference pose as a second vector in a second coordinate system of the host computer; determining a vector difference between the first vector and the second vector; and The vector difference is determined as the conversion relationship.

14. The host of claim 13, wherein the processor performs the following operations: The vector difference is determined by subtracting the second vector from the first vector.

15. The host of claim 14, wherein the processor performs the following operations: The corresponding second pose is determined via subtracting the vector difference from the first pose of each of the at least one target object.

16. The host of claim 13, wherein the first coordinate system is different from the second coordinate system.

17. The host according to claim 11, wherein the host is a head mounted display that provides the visual content of the reality service, the reference object is a head of a target subject, and the processor performs the following operations: A host pose of the host is determined as the second reference pose of the reference object, wherein the at least one target object includes the head of the target subject.

18. The host of claim 11, wherein the reference object is a hand of a target subject, the host is connected to a handheld controller held by the hand of the target subject, and the processor performs the following operations: A controller pose of the handheld controller is determined as the second reference pose of the reference object, wherein the at least one target object includes the hand of the target subject.

19. The host of claim 11, wherein the reference object is a tracker disposed on a target body, and the processor performs the following operations: A tracker pose of the tracker is determined as the second reference pose of the reference object, wherein the tracker does not belong to the at least one target object.

20. A computer-readable storage medium recording an executable computer program, characterized in that: The executable computer program is loaded by the host to perform the following steps: receiving a first pose of each of the at least one target object from an external tracking device; receiving a first reference pose of a reference object from the external tracking device; tracking a second reference pose of the reference object; determining a conversion relationship between the first reference posture and the second reference posture; as well as The first posture of each of the at least one target object is converted into a corresponding second posture based on the conversion relationship, and visual content of a reality service is provided accordingly.

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