Position synchronization method and device, server, electronic equipment and readable storage medium

Abstract

The invention provides a position synchronization method and device, a server, electronic equipment and a readable storage medium, and relates to the technical field of augmented reality. The position synchronization method comprises the following steps: sending first anchor point information of first augmented reality equipment to a server; wherein the server determines first pose information according to the first anchor point information and map data of the target scene, and the first pose information is used for indicating the position and the pose of the first augmented reality device in the target scene; acquiring second pose information of a second augmented reality device; wherein the second pose information is used for indicating the position and the pose of the second augmented reality device in the target scene; and performing position synchronization with the second augmented reality device in the target scene according to the second pose information. According to the embodiment of the invention, the data volume needing to be transmitted in the position synchronization process is reduced, the process of position synchronization operation is simplified, and the position synchronization efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of extended reality technology, and particularly to a position synchronization method and apparatus, a server, an electronic device, and a readable storage medium. Background Art

[0002] In related technologies, in a multi-person online scenario, extended reality (XR) devices need to synchronize positions among multiple devices participating in the online connection. A common method is to use the method of anchor point sharing to synchronize and upload / download environmental perception data. During the sharing process, a large amount of mapping data resources will be carried accordingly, resulting in a long process and low efficiency of the position synchronization operation. Summary of the Invention

[0003] The purpose of the embodiments of the present disclosure is to provide a position synchronization method and apparatus, a server, an electronic device, and a readable storage medium, which can improve the efficiency of position synchronization when extended reality devices are online.

[0004] In a first aspect, the embodiments of the present disclosure provide a position synchronization method, which is executed by a first extended reality device. The position synchronization method includes:

[0005] Sending first anchor point information of the first extended reality device to the server; wherein, the server determines first pose information according to the first anchor point information and map data of the target scene, and the first pose information is used to indicate the position and pose of the first extended reality device in the target scene;

[0006] Obtaining second pose information of a second extended reality device; wherein, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene;

[0007] Performing position synchronization with the second extended reality device in the target scene according to the second pose information.

[0008] In a second aspect, the embodiments of the present disclosure provide a position synchronization method, which is executed by a second extended reality device. The position synchronization method includes:

[0009] When receiving a first identifier sent by the first extended reality device, sending second anchor point information to the server and sending a second identifier corresponding to the second anchor point information to the first extended reality device; wherein, the server determines second pose information according to the second anchor point information and map data of the target scene, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene, and the first extended reality device obtains the second pose information from the server according to the second identifier;

[0010] Obtaining first pose information from the server according to the first identifier;

[0011] Synchronize the position with the first extended reality device in the target scene according to the first pose information.

[0012] In a third aspect, an embodiment of the present disclosure provides a position synchronization method, which is executed by a server. The position synchronization method includes:

[0013] Receive the first anchor point information sent by the first extended reality device;

[0014] Determine the first pose information according to the first anchor point information and the map data of the target scene; the first pose information is used to indicate the position and pose of the first extended reality device in the target scene;

[0015] When receiving the first identifier sent by the second extended reality device, send the first pose information to the second extended reality device.

[0016] In a fourth aspect, an embodiment of the present disclosure provides a position synchronization device, which is applied to the first extended reality device. The position synchronization device includes:

[0017] A first sending module, configured to send the first anchor point information of the first extended reality device to the server; wherein, the server determines the first pose information according to the first anchor point information and the map data of the target scene, and the first pose information is used to indicate the position and pose of the first extended reality device in the target scene;

[0018] A first obtaining module, configured to obtain the second pose information of the second extended reality device; wherein, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene;

[0019] A first position synchronization module, configured to synchronize the position with the second extended reality device in the target scene according to the second pose information.

[0020] In a fifth aspect, an embodiment of the present disclosure provides a position synchronization device, which is applied to the second extended reality device. The position synchronization device includes:

[0021] A second sending module, configured to send the second anchor point information to the server and send the second identifier corresponding to the second anchor point information to the first extended reality device when receiving the first identifier sent by the first extended reality device; wherein, the server determines the second pose information according to the second anchor point information and the map data of the target scene, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene, and the first extended reality device obtains the second pose information from the server according to the second identifier;

[0022] A second obtaining module, configured to obtain the first pose information from the server according to the first identifier;

[0023] A second position synchronization module, configured to perform position synchronization with a first extended reality device in a target scene according to first pose information.

[0024] In a sixth aspect, an embodiment of the present disclosure provides a server, including:

[0025] A receiving module, configured to receive first anchor point information sent by a first extended reality device;

[0026] A determining module, configured to determine first pose information according to the first anchor point information and map data of a target scene; the first pose information is used to indicate the position and pose of the first extended reality device in the target scene;

[0027] A third sending module, configured to send the first pose information to a second extended reality device when receiving a first identifier sent by the second extended reality device.

[0028] In a seventh aspect, an embodiment of the present disclosure provides an electronic device, including a processor and a memory, where the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the position synchronization method provided in the first aspect, the second aspect, and the third aspect are implemented.

[0029] In an eighth aspect, an embodiment of the present disclosure provides a readable storage medium, where a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the position synchronization method provided in the first aspect, the second aspect, and the third aspect are implemented.

[0030] In a ninth aspect, an embodiment of the present disclosure provides a chip, including a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to run a program or instruction to implement the steps of the position synchronization method provided in the first aspect.

[0031] In a tenth aspect, an embodiment of the present disclosure provides a computer program product, where the program product is stored in a storage medium, and the program product is executed by at least one processor to implement the steps of the position synchronization method provided in the first aspect.

[0032] The summary of the invention is provided to introduce a series of concepts in a simplified form, which will be further described in the following detailed implementation. The summary of the invention is not intended to identify the key features or essential features of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flowchart of the position synchronization method according to some embodiments of the present disclosure is shown;

[0034] Figure 2Schematic diagram of the synchronization process of the location synchronization initiator showing some embodiments of the present disclosure;

[0035] Figure 3 Flowchart of the location synchronization method showing some embodiments of the present disclosure;

[0036] Figure 4 Schematic diagram of the synchronization process of the location synchronization receiver showing some embodiments of the present disclosure;

[0037] Figure 5 Flowchart of the location synchronization method showing some embodiments of the present disclosure;

[0038] Figure 6 Block diagram of the location synchronization device showing some embodiments of the present application;

[0039] Figure 7 Block diagram of the location synchronization device showing some embodiments of the present application;

[0040] Figure 8 Block diagram of the server showing some embodiments of the present application;

[0041] Figure 9 Block diagram of the electronic device showing some embodiments of the present disclosure;

[0042] Figure 10 Block diagram of the electronic device that can be used to implement the embodiments of the present disclosure. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present disclosure.

[0044] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects before and after.

[0045] The following will combine the accompanying drawings and, through specific embodiments and their application scenarios, provide a detailed description of the embodiments provided in the present disclosure.

[0046] As described above, when the extended reality device performs location synchronization for multi-person online connection, it is necessary to carry a large amount of mapping data resources in the shared anchor point information, resulting in a long process and low efficiency of the location synchronization operation.

[0047] In view of this, in some embodiments of the present disclosure, a location synchronization method is provided and executed by a first extended reality device. Among them, the first extended reality device is the initiator of the location synchronization. Figure 1 The flowchart of the location synchronization method of some embodiments of the present disclosure is shown, as Figure 1 shown, the location synchronization method includes:

[0048] Step 102, sending the first anchor point information of the first extended reality device to the server; wherein, the server determines the first pose information according to the first anchor point information and the map data of the target scene, and the first pose information is used to indicate the position and pose of the first extended reality device in the target scene.

[0049] In the embodiments of the present disclosure, the server is used to realize the background update of the anchor point information of the terminal device and the update and synchronization of the map data, and realize the same-scene positioning between multiple terminals in the form of cloud positioning.

[0050] Exemplarily, the first extended reality device is a terminal device that initiates location synchronization (or initiates an online connection request). When performing location synchronization, the first extended reality device first sends its own first anchor point information to the server. Exemplarily, the above server can be a backup server for backing up the map data generated by the extended reality device. Exemplarily, the above server can also be a cloud positioning server dedicated for online connection.

[0051] The map data of the target scene is stored on the server. Among them, the target scene is also the scene where the first extended reality device is located, and at the same time is the object that the first extended reality device hopes to establish an online connection with, that is, the scene where the second extended reality device is located. The map data can be uploaded in advance by the first extended reality device, or uploaded and backed up by other extended reality devices in the same scene.

[0052] After receiving the first anchor point information of the first extended reality device, the server completes the data positioning of the first extended reality device in the target scene according to the stored map data and the first anchor point information, and obtains the first pose information. The first pose information can reflect the position coordinates and pose information of the first extended reality device in the target scene, where the position coordinates are coordinates based on the world coordinate system.

[0053] Step 104: Obtain the second pose information of the second extended reality device; wherein, the second pose information is used to indicate the position and orientation of the second extended reality device in the target scene.

[0054] In the implementation of the present disclosure, after the first extended reality device uploads its own anchor point information to the server, the first pose information that can reflect the real-time position and real-time orientation of the first extended reality is formed on the server side. Based on the same method, the second pose information that can reflect the real-time position and real-time orientation of the second extended reality is also formed on the server side.

[0055] Exemplarily, the first extended reality device can obtain, through the server, the object it hopes to establish a connection with, that is, the second pose information of the second extended reality device. Exemplarily, the above server can broadcast the pose information of each extended reality device to all extended reality devices in the same scene, that is, the above target scene, so that the extended reality devices in the target scene can synchronize their positions.

[0056] Step 106: Synchronize the position with the second extended reality device in the target scene according to the second pose information.

[0057] In the embodiment of the present disclosure, the first extended reality device can achieve cloud positioning on the server side by sending its own first anchor point information, so as to generate the first pose information that can reflect its own current position and orientation on the server side. Similarly, other extended reality devices such as the second extended reality device, the third extended reality device, and the fourth extended reality device can also generate their own corresponding real-time pose information in the same way on the server side.

[0058] Therefore, when it is necessary to establish a connection and synchronize positions among multiple different extended reality devices, the positioning can be completed in the cloud through the above server. Only the anchor point information containing a small amount of environmental perception data needs to be transmitted during this process, and there is no need to transmit mapping data resources between different terminal devices, which greatly reduces the amount of data to be transmitted. Therefore, the efficiency of position synchronization can be effectively improved.

[0059] After the position synchronization is completed, the first extended reality device and the second extended reality device can perform an online service based on the extended reality application. For example, the first extended reality device can display the virtual object corresponding to the second extended reality device, and the position of the virtual object in the virtual target scene is the same as the real position of the second extended reality device in the target scene.

[0060] In the embodiments of the present disclosure, cloud positioning is performed on multiple different terminals in the same scenario in the server background, so that different terminals do not need to carry mapping data resources during the process of sharing positioning, reducing the amount of data to be transmitted during the location synchronization process, simplifying the process of location synchronization operation, and improving the location synchronization efficiency.

[0061] In some embodiments of the present disclosure, the step of obtaining the second pose information of the second extended reality device includes: sending a first identifier of the first anchor point information to the second extended reality device; wherein, the second extended reality device obtains the first pose information from the server according to the first identifier, and sends the second anchor point information to the server, and the server determines the second pose information according to the second anchor point information and the map data; receiving a second identifier sent by the second extended reality device; and obtaining the second pose information from the server according to the second identifier.

[0062] In the embodiments of the present disclosure, a location synchronization request (or online request) is initiated from the first extended reality device to the second extended reality device. Exemplarily, after the first extended reality device sends its own first anchor point information to the server, the first extended reality device sends the ID (Identifier) of the first anchor point information, that is, the above-mentioned first identifier, to the second extended reality device that needs to share the location.

[0063] After receiving the above synchronization request and accepting the synchronization request, the second extended reality device can obtain the first pose information located according to the first anchor point information from the server by sending the first identifier to the server. At this time, the second extended reality device has obtained the accurate and real-time location information of the first extended reality device.

[0064] At the same time, the second extended reality device needs to send its current second anchor point information to the server. After receiving the second anchor point information, the server generates the second pose information of the second extended reality device in the same way. The second extended reality device sends the ID of the second anchor point information, that is, the above-mentioned second identifier, to the first extended reality device.

[0065] After receiving the second identifier, the first extended reality device obtains the second pose information from the server in the same way. At this time, the first extended reality device has also obtained the accurate and real-time location information of the second extended reality device, thus completing the location synchronization with the second extended reality device.

[0066] Since both the first pose information and the second pose information are reflected by coordinates in the world coordinate system, the above process also unifies the world coordinate systems among multiple devices. During subsequent online processes, pose information can be updated through the unified world coordinate system to achieve continuous position synchronization, which can significantly improve the efficiency of position synchronization, reduce the latency of sharing anchor point information, and enable rapid establishment of connections in an offline multi-person extended reality online scenario.

[0067] In some embodiments of the present disclosure, the step of obtaining the second pose information of the second extended reality device includes: receiving the second pose information broadcast by the server.

[0068] In the embodiments of the present disclosure, the scenario of establishing an online connection between multiple extended reality devices may not be initiated by one of the terminals, but rather multiple devices can be connected online simultaneously through the server. Exemplarily, each terminal device currently in the target scenario will regularly upload its own anchor point information to the server. The server determines the positions of each terminal device in the cloud based on the map data stored in itself and the anchor point information received from each terminal device, and obtains the pose information of each terminal device in the same recognition coordinate system.

[0069] At the same time, the server broadcasts the pose information of all terminal data in the current target scenario to each terminal device in the target scenario at a set frequency, so that each terminal device in the target scenario can complete data synchronization with all other terminal devices, achieve simultaneous position synchronization of multiple devices, and realize multi-person online connection of multiple devices in the same scenario.

[0070] In some embodiments of the present disclosure, before the step of sending the first anchor point information of the first extended reality device to the server, the position synchronization method further includes: obtaining the point cloud data of the target scenario; sending the point cloud data to the server; wherein the point cloud data is used to instruct the server to generate or update the map data.

[0071] In the embodiments of the present disclosure, after the first extended reality device first maps the target scenario, the first extended reality device uploads the actually scanned point cloud data to the server. After receiving the point cloud data, the server generates the map data of the target scenario based on the point cloud data and performs backup storage. In this way, on the one hand, it can ensure that the environmental perception data that has been built will not be lost, and on the other hand, it can locate multiple terminal devices in the same scenario through the saved map data, so that there is no need to repeatedly carry mapping data during each position synchronization, greatly reducing the amount of data that needs to be transmitted during position synchronization, and ensuring that rapid offline connection establishment can be achieved among multiple terminal devices.

[0072] After the first extended reality device uploads point cloud data for the first time, whenever an extended reality device scans and obtains point cloud data in the same scene, that is, the target scene, the scanned point cloud data can be uploaded to the server at a set frequency for the server to maintain and update the map data, so that the map data can be kept updated and the accuracy of cloud positioning can be improved.

[0073] In some embodiments of the present disclosure, by way of example, Figure 2 shows a schematic diagram of the synchronization process of the location synchronization initiator of some embodiments of the present disclosure, as Figure 2 shown, the first extended reality device is the initiator of location synchronization.

[0074] After the first extended reality device is powered on, the user of the first extended reality device can set whether to back up spatial perception data (that is, point cloud data). When the user sets to enable point cloud backup, the point cloud data is backed up in the background and uploaded to the storage service module of the server.

[0075] After the first extended reality device starts the extended reality application, it first initializes the session with the server. After completing the session initialization, the first extended reality device creates the first anchor point information. After obtaining the first anchor point information, the first extended reality device stores the first anchor point information locally and uploads the first anchor point information to the storage service module of the server at the same time. Here, the storage service module of the server uses the locally stored map data and the first anchor point information to complete the positioning of the first extended reality device.

[0076] Then, the first extended reality device shares the ID of the first anchor point information to other extended reality devices, such as the second extended reality device, through the sharing service module via the extended reality application, thus completing the connection. Among them, the above sharing service module can be a part of the above server or an independently set service unit, and the embodiments of the present disclosure do not limit this.

[0077] In some embodiments of the present disclosure, a location synchronization method is provided, which is executed by the second extended reality device. Among them, the second extended reality device is the recipient of location synchronization. Figure 3 shows a flowchart of the location synchronization method of some embodiments of the present disclosure, as Figure 3 shown, the location synchronization method includes:

[0078] Step 302, when receiving the first identifier sent by the first extended reality device, send the second anchor point information to the server and send the second identifier corresponding to the second anchor point information to the first extended reality device.

[0079] The server determines the second posture information based on the second anchor point information and the map data of the target scene, and the second posture information is used to indicate the position and posture of the second extended reality device in the target scene. The first extended reality device obtains the second posture information from the server based on the second identifier.

[0080] In the disclosed embodiment, the first extended reality device initiates a position synchronization request (or an online request) to the second extended reality device. Before initiating the position synchronization request, the first extended reality device will send its first anchor point information to the server, and the server will complete the data positioning of the first extended reality device in the target scene based on the map data of the target scene and the received first anchor point information, and obtain the first pose information. The first pose information can reflect the position coordinates and pose information of the first extended reality device in the target scene, where the position coordinates are coordinates based on the world coordinate system.

[0081] The second extended reality device receives the position synchronization request sent by the first extended reality device, and receives the request. The second extended reality device sends its own second anchor point information to the same server. Similarly, the server will also complete the data positioning of the second extended reality device in the target scene based on the second anchor point information and obtain the second anchor point information. At this point, the position synchronization of the first extended reality device and the second extended reality device has actually been completed on the server side, and since the first extended reality device and the second extended reality device are both positioned based on the map data on the server side, the first pose information and the second pose information obtained are initially in the same world coordinate system, that is, the synchronization of the coordinate systems is completed.

[0082] At the same time, the second extended reality device sends the ID of the second anchor point information, that is, the second identifier, to the first extended reality device. The first extended reality device can obtain the second posture information from the server through the second identifier, so that the first extended reality device can grasp the real-time posture information of the second extended reality device.

[0083] Step 304, obtaining first posture information from a server according to the first identifier;

[0084] In the disclosed embodiment, after receiving the first identifier of the first extended reality device, the second extended reality device obtains the first pose information from the server through the first identifier. At this time, the second extended reality device has mastered the real-time pose information of the first extended reality device.

[0085] Step 306: Perform position synchronization with the first extended reality device in the target scene according to the first pose information.

[0086] In the embodiments of the present disclosure, both the first extended reality device and the second extended reality device can complete data positioning on the server side by sending their own anchor information to the server. Therefore, when performing position synchronization, the first extended reality device and the second extended reality device can complete cloud-based position synchronization without transmitting mapping resource data, reducing the amount of data to be transmitted during the position synchronization process and improving the position synchronization efficiency.

[0087] In some embodiments of the present disclosure, by way of example, Figure 4 shows a schematic diagram of the synchronization process of the position synchronization receiver in some embodiments of the present disclosure, as Figure 4 shown, the second extended reality device is the receiver of the position synchronization.

[0088] After the second extended reality device starts the extended reality application, it first initializes the session with the server. After completing the session initialization, the second extended reality device waits for a position synchronization request. After receiving the anchor ID from the first extended reality device through the sharing service module, the second extended reality device loads the spatial entity and uploads the second anchor information to the storage service module of the server at the same time. Here, the storage service module of the server uses the locally stored map data and the second anchor information to complete the positioning of the second extended reality device.

[0089] Then, the second extended reality device retrieves the query result. After receiving the positioning result sent by the server, including the first pose information and the second pose information, it realizes the position synchronization with the first extended reality device.

[0090] In some embodiments of the present disclosure, a position synchronization method is provided, which is executed by the server. The server can perform data interaction with at least two extended reality devices. Figure 5 shows a flowchart of the position synchronization method in some embodiments of the present disclosure, as Figure 5 shown, the position synchronization method includes:

[0091] Step 502, receiving the first anchor information sent by the first extended reality device.

[0092] In the embodiments of the present disclosure, the server stores map data of the target scene. Among them, the target scene is the scene where the first extended reality device and the second extended reality device to be connected online are located. By way of example, the first extended reality device is the terminal device that initiates position synchronization (or initiates an online connection request). The server receives the first anchor information sent by the first extended reality device. The first anchor information only includes a small amount of positioning data of environmental perception of the target scene and does not include other map data, such as feature point data, mesh data, room calibration data, and model data, etc.

[0093] Step 504: Determine the first pose information based on the first anchor point information and the map data of the target scene; the first pose information is used to indicate the position and pose of the first extended reality device in the target scene.

[0094] In the embodiments of the present disclosure, after receiving the first anchor point information of the first extended reality device, the server completes the data positioning of the first extended reality device in the target scene according to the stored map data and the first anchor point information, and obtains the first pose information. The first pose information can reflect the position coordinates and pose information of the first extended reality device in the target scene, where the position coordinates are coordinates based on the world coordinate system.

[0095] Step 506: When receiving the first identifier sent by the second extended reality device, send the first pose information to the second extended reality device.

[0096] In the embodiments of the present disclosure, the first identifier is the ID of the first anchor point information. When the server receives the first identifier sent by the second extended reality device, the server sends the first pose information generated based on the first anchor point information to the second extended reality device. After receiving the first pose information, the second extended reality device masters the real-time pose of the first extended reality device, and realizes the position synchronization of the first extended reality device to the second extended reality device.

[0097] The embodiments of the present disclosure perform cloud positioning on multiple different terminals in the same scene in the server background, so that different terminals do not need to carry mapping data resources during the sharing of the positioning process, reduce the amount of data to be transmitted during the position synchronization process, simplify the process of the position synchronization operation, and improve the position synchronization efficiency.

[0098] In some embodiments of the present disclosure, the position synchronization method further includes: receiving the second anchor point information sent by the second extended reality device; determining the second pose information according to the second anchor point information and the map data; where the second pose information is used to indicate the position and pose of the second extended reality device in the target scene; when receiving the second identifier sent by the first extended reality device, send the second pose information to the first extended reality device.

[0099] In the embodiments of the present disclosure, the second extended reality device is the terminal device that receives the position synchronization request (or online request). After the second extended reality device receives and agrees to the position synchronization request of the first extended reality device, the second extended reality device sends its own second anchor point information to the server.

[0100] After receiving the second anchor point information, the server completes the positioning of the second extended reality device in the target scenario according to the map data of the target scenario stored by itself. Since both the first extended reality device and the second extended reality device are positioned based on the map data on the server side, the obtained first pose information and second pose information are naturally in the same world coordinate system, that is, the coordinate system synchronization is completed.

[0101] At this time, on the server, the position synchronization between the first extended reality device and the second extended reality device has been completed. Therefore, after sending the first position information and the second pose information to the second extended reality device and the first extended reality device respectively according to the received first identifier and second identifier, the first extended reality device and the second extended reality device can complete the position synchronization.

[0102] In this process, both the first extended reality device and the second extended reality device can complete data positioning on the server side by sending their own anchor point information to the server. Therefore, when performing position synchronization, the first extended reality device and the second extended reality device can complete cloud-based position synchronization without transmitting mapping resource data, reducing the amount of data to be transmitted during the position synchronization process and improving the position synchronization efficiency.

[0103] In some embodiments of the present disclosure, before the step of receiving the first anchor point information sent by the first extended reality device, the position synchronization method further includes: receiving point cloud data sent by the first extended reality device or the second extended reality device; generating or updating map data according to the point cloud data.

[0104] In the embodiments of the present disclosure, the server receives the point cloud data sent by the first extended reality device. The point cloud data may be mapping data obtained by the first extended reality device scanning the target scenario for the first time. The server backs up and saves the above point cloud data. On the one hand, it can ensure that the already constructed environmental perception data will not be lost. On the other hand, it can position multiple terminal devices in the same scenario through the saved map data.

[0105] The point cloud data may also be data for updating or maintaining the already mapped map data. After the map data has been stored, if the server newly receives point cloud data of the same scenario, the stored map data is updated and maintained according to the newly received point cloud data, so that the map data can always be kept up-to-date and the positioning accuracy is improved.

[0106] In some embodiments of the present disclosure, a position synchronization device is provided, which is applied to the first extended reality device. Figure 6 The structural block diagram of the position synchronization device according to some embodiments of the present application is shown, as Figure 6As shown, the position synchronization device 600 includes:

[0107] A first sending module 602, configured to send first anchor point information of a first extended reality device to a server; wherein, the server determines first pose information according to the first anchor point information and map data of a target scene, and the first pose information is used to indicate the position and pose of the first extended reality device in the target scene;

[0108] A first obtaining module 604, configured to obtain second pose information of a second extended reality device; wherein, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene;

[0109] A first position synchronization module 606, configured to perform position synchronization with the second extended reality device in the target scene according to the second pose information.

[0110] In the embodiments of the present disclosure, cloud positioning is performed on multiple different terminals in the same scene in the server background, so that different terminals do not need to carry mapping data resources during the sharing of positioning, reducing the amount of data to be transmitted during the position synchronization process, simplifying the process of the position synchronization operation, and improving the position synchronization efficiency.

[0111] In some embodiments of the present disclosure, a position synchronization device is provided, which is applied to a second extended reality device. Figure 7 The structural block diagram of the position synchronization device according to some embodiments of the present application is shown. As Figure 7 shown, the position synchronization device 700 includes:

[0112] A second sending module 702, configured to send second anchor point information to the server and send a second identifier corresponding to the second anchor point information to the first extended reality device when receiving a first identifier sent by the first extended reality device; wherein, the server determines second pose information according to the second anchor point information and map data of the target scene, the second pose information is used to indicate the position and pose of the second extended reality device in the target scene, and the first extended reality device obtains the second pose information from the server according to the second identifier;

[0113] A second obtaining module 704, configured to obtain first pose information from the server according to the first identifier;

[0114] A second position synchronization module 706, configured to perform position synchronization with the first extended reality device in the target scene according to the first pose information.

[0115] In the embodiments of the present disclosure, both the first extended reality device and the second extended reality device can complete data positioning on the server side by sending their own anchor point information to the server. Therefore, when performing position synchronization, the first extended reality device and the second extended reality device can complete cloud-based position synchronization without transmitting mapping resource data, reducing the amount of data to be transmitted during the position synchronization process and improving the position synchronization efficiency.

[0116] The position synchronization device in the embodiments of the present disclosure can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present disclosure do not make specific limitations.

[0117] The position synchronization device in the embodiments of the present disclosure can be a device with an operating system. The operating system can be the Android operating system, the iOS operating system, or other possible operating systems. The embodiments of the present disclosure do not make specific limitations.

[0118] The position synchronization device provided in the embodiments of the present disclosure can implement each process implemented in the above method embodiments. To avoid repetition, it will not be elaborated here.

[0119] In some embodiments of the present disclosure, a server is provided. Figure 8 The structural block diagram of the server in some embodiments of the present application is shown. As Figure 8 shown, the server 800 includes:

[0120] A receiving module 802, configured to receive first anchor point information sent by the first extended reality device;

[0121] A determination module 804, configured to determine first pose information according to first anchor point information and map data of a target scene; the first pose information is used to indicate the position and pose of a first extended reality device in the target scene;

[0122] A third sending module 806, configured to send the first pose information to a second extended reality device when receiving a first identifier sent by the second extended reality device.

[0123] In the embodiments of the present disclosure, cloud positioning is performed on multiple different terminals in the same scene in the server background, so that different terminals do not need to carry mapping data resources during the sharing of positioning, reducing the amount of data to be transmitted during the position synchronization process, simplifying the process of position synchronization operations, and improving the position synchronization efficiency.

[0124] In some embodiments of the present disclosure, an electronic device is provided. Figure 9 The structural block diagram of the electronic device showing some embodiments of the present disclosure is as follows. Figure 9 As shown, the electronic device 900 includes a processor 902, a memory 904, a program or instruction stored on the memory 904 and executable on the processor 902. When the program or instruction is executed by the processor 902, it implements each process of the above method embodiments and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0125] In some embodiments of the present disclosure, a readable storage medium is provided. A program or instruction is stored on the readable storage medium. When the program or instruction is executed by a processor, it implements each process of the above method embodiments and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0126] Figure 10 The block diagram of the electronic device that can be used to implement the embodiments of the present disclosure is shown as follows. Figure 10 As shown, the electronic device 1000 is in the form of a general-purpose electronic device. The components of the electronic device 1000 may include, but are not limited to, one or more processors or processing units 1010, a memory 1020, a storage device 1030, one or more communication units 1040, one or more input devices 1050, and one or more output devices 1060. The processing unit 1010 may be an actual or virtual processor and is capable of performing various processes according to the program stored in the memory 1020. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing ability of the electronic device 1000.

[0127] An electronic device 1000 generally includes multiple computer storage media. Such media can be any available media accessible to the electronic device 1000, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 1020 can be volatile memory (such as registers, caches, random access memory (RAM)), non-volatile memory (such as read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory), or some combination thereof. The storage device 1030 can be removable or non-removable media and can include machine-readable media, such as flash drives, magnetic disks, or any other media that can be capable of storing information and / or data (such as training data for training) and can be accessed within the electronic device 1000.

[0128] The electronic device 1000 can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 10 it, a disk drive for reading from or writing to a removable, non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk can be provided. In these cases, each drive can be connected to a bus (not shown) by one or more data media interfaces. The memory 1020 can include a computer program product 1025 having one or more program modules that are configured to execute various methods or actions of various implementations of the present disclosure.

[0129] The communication unit 1040 enables communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device 1000 can be implemented by a single computing cluster or multiple computer machines that can communicate through a communication connection. Thus, the electronic device 1000 can operate in a networked environment using a logical connection with one or more other servers, network personal computers (PCs), or another network node.

[0130] The input device 1050 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. The output device 1060 can be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 1000 can also communicate with one or more external devices (not shown) as needed through the communication unit 1040. The external devices such as a storage device, a display device, etc., communicate with one or more devices that enable a user to interact with the electronic device 1000, or communicate with any device that enables the electronic device 1000 to communicate with one or more other electronic devices (e.g., a network card, a modem, etc.). Such communication can be performed via an input / output (I / O) interface (not shown).

[0131] It should be noted that the electronic devices in the embodiments of the present disclosure include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0132] Another embodiment of the present disclosure provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run programs or instructions to implement each process of the above method embodiments, and can achieve the same technical effects. To avoid repetition, details are not described herein again.

[0133] It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-on-chip, a system chip, a chip system, or a system-on-chip, etc.

[0134] The embodiments of the present disclosure provide a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement each process of the above method embodiments, and can achieve the same technical effects. To avoid repetition, details are not described herein again.

[0135] It should be noted that in this document, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0136] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present disclosure, in essence, or the part that contributes to the prior art can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present disclosure.

[0137] The embodiments of the present disclosure have been described above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present disclosure, those of ordinary skill in the art can also make many forms without departing from the purpose of the present disclosure and the scope protected by the claims, and all of them fall within the protection scope of the present disclosure.

Claims

1. A position synchronization method, performed by a first extended reality device, characterized in that: The position synchronization method comprises: Sending first anchor point information of the first extended reality device to a server; wherein the server determines first pose information according to the first anchor point information and map data of the target scene, wherein the first pose information is used to indicate the position and pose of the first extended reality device in the target scene; Acquire second position and posture information of a second extended reality device; wherein the second position and posture information is used to indicate the position and posture of the second extended reality device in the target scene; According to the second posture information, position synchronization is performed with the second extended reality device within the target scene.

2. The position synchronization method according to claim 1, characterized in that: The step of obtaining second posture information of the second extended reality device includes: Sending a first identifier of the first anchor point information to the second extended reality device; wherein the second extended reality device obtains the first posture information from the server according to the first identifier, and sends the second anchor point information to the server, and the server determines the second posture information according to the second anchor point information and the map data; Receiving a second identifier sent by the second extended reality device; According to the second identifier, the second posture information is obtained from the server.

3. The position synchronization method according to claim 1, characterized in that: The step of obtaining second posture information of the second extended reality device includes: Receive the second posture information broadcast by the server.

4. The position synchronization method according to any one of claims 1 to 3, characterized in that: Before the step of sending the first anchor point information of the first extended reality device to the server, the location synchronization method further includes: Acquire point cloud data of the target scene; The point cloud data is sent to the server; wherein the point cloud data is used to instruct the server to generate or update the map data.

5. A position synchronization method, performed by a second extended reality device, characterized in that: The position synchronization method comprises: Upon receiving the first identifier sent by the first extended reality device, sending second anchor point information to the server, and sending a second identifier corresponding to the second anchor point information to the first extended reality device; wherein the server determines second posture information according to the second anchor point information and map data of the target scene, the second posture information is used to indicate the position and posture of the second extended reality device in the target scene, and the first extended reality device obtains the second posture information from the server according to the second identifier; According to the first identifier, obtaining the first posture information from the server; According to the first posture information, position synchronization is performed with the first extended reality device in the target scene.

6. A location synchronization method, executed by a server, characterized in that: The position synchronization method comprises: Receiving first anchor point information sent by a first extended reality device; Determine first pose information according to the first anchor point information and map data of the target scene; the first pose information is used to indicate the position and pose of the first extended reality device in the target scene; When the first identifier sent by the second extended reality device is received, the first posture information is sent to the second extended reality device.

7. The position synchronization method according to claim 6, characterized in that: The position synchronization method further comprises: Receiving second anchor point information sent by the second extended reality device; Determine second position information according to the second anchor point information and the map data; wherein the second position information is used to indicate the position and posture of the second extended reality device in the target scene; When the second identifier sent by the first extended reality device is received, the second posture information is sent to the first extended reality device.

8. The position synchronization method according to claim 6 or 7, characterized in that: Before the step of receiving the first anchor point information sent by the first extended reality device, the position synchronization method further includes: Receiving point cloud data sent by the first extended reality device or the second extended reality device; The map data is generated or updated according to the point cloud data.

9. A position synchronization device, applied to a first extended reality device, characterized in that: The position synchronization device comprises: A first sending module, configured to send first anchor point information of the first extended reality device to a server; wherein the server determines first pose information according to the first anchor point information and map data of a target scene, wherein the first pose information is used to indicate a position and a pose of the first extended reality device in the target scene; A first acquisition module, configured to acquire second position and posture information of a second extended reality device; wherein the second position and posture information is used to indicate a position and posture of the second extended reality device in the target scene; A first position synchronization module is used to perform position synchronization with the second extended reality device in the target scene according to the second posture information.

10. A position synchronization device, applied to a second extended reality device, characterized in that: The position synchronization device comprises: a second sending module, configured to send second anchor point information to a server upon receiving a first identifier sent by a first extended reality device, and to send a second identifier corresponding to the second anchor point information to the first extended reality device; wherein the server determines second posture information according to the second anchor point information and map data of a target scene, the second posture information being used to indicate a position and posture of the second extended reality device in the target scene, and the first extended reality device obtains the second posture information from the server according to the second identifier; A second acquisition module, used for acquiring the first posture information from the server according to the first identifier; A second position synchronization module is used to synchronize the position with the first extended reality device in the target scene according to the first posture information.

11. A server, characterized in that: The server comprises: A receiving module, configured to receive first anchor point information sent by a first extended reality device; A determination module, configured to determine first pose information according to the first anchor point information and map data of the target scene; the first pose information is used to indicate the position and pose of the first extended reality device in the target scene; The third sending module is used to send the first posture information to the second extended reality device when receiving the first identifier sent by the second extended reality device.

12. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the position synchronization method according to any one of claims 1 to 8 are implemented.

13. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the position synchronization method according to any one of claims 1 to 8 are implemented.

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