Space map information generation device and method

Abstract

The invention discloses a space map information generating device and method. The device receives a plurality of key frames, wherein the plurality of key frames are generated by a plurality of devices located in a plurality of boundary regions. The device compares the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions. The device integrates the plurality of similar key frames corresponding to the at least one overlapping region to generate space map information corresponding to the plurality of boundary regions. According to the space map information generation technology provided by the invention, the space map can be quickly established.

Description

Technical Field

[0001] The present invention relates to a spatial map information generating device, method, and coordinate system integration device. Specifically, the present invention relates to a spatial map information generating device, method, and coordinate system integration device that can quickly establish a spatial map and integrate coordinate systems. Background Art

[0002] In recent years, various technologies related to virtual reality have developed rapidly, and various technologies and applications have been successively proposed.

[0003] Generally, when a user experiences a virtual reality application, a device (e.g., a head-mounted display worn by the user) needs to establish a spatial map to provide a good user experience. However, in the prior art, in a large-field environment, the device needs to spend a lot of time establishing the spatial map (e.g., by a single device passing through the entire regional environment). In addition, it is usually difficult to confirm the overall quality and integrity of the spatial map by relying solely on a single device to establish the spatial map.

[0004] In addition, when multiple users use devices in the same field, if they want to achieve interaction in each other's virtual worlds, they need to correct the coordinate systems of their respective devices to reduce alignment errors. In the prior art, the device needs to observe specific target objects (e.g., Aruco markers, controller poses, hand poses) to achieve the conversion between the coordinate system of the user's operated device and the coordinate system of the target object. However, the foregoing method needs to set additional position markers in the environment of the spatial map to provide additional position information to complete, increasing the operation cost.

[0005] In view of this, how to provide a technology that can quickly generate a spatial map and integrate coordinate systems is an urgent goal that the industry needs to strive for. Summary of the Invention

[0006] An object of the present disclosure is to provide a spatial map information generating device. The spatial map information generating device includes a transceiver interface and a processor, and the processor is electrically connected to the transceiver interface. The processor receives a plurality of key frames, where the plurality of key frames are generated by a plurality of devices located in a plurality of boundary regions. The processor compares the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions. The processor integrates the plurality of similar key frames corresponding to the at least one overlapping region to generate a spatial map information corresponding to the plurality of boundary regions, where the spatial map information includes the plurality of key frames corresponding to the plurality of boundary regions.

[0007] Another object of the present disclosure is to provide a method for generating spatial map information, which is used for an electronic device. The method for generating spatial map information includes the following steps: receiving a plurality of key frames, where the plurality of key frames are generated by a plurality of devices located in a plurality of boundary regions; comparing the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions; and integrating the plurality of similar key frames corresponding to the at least one overlapping region to generate a spatial map information corresponding to the plurality of boundary regions, where the spatial map information includes the plurality of key frames corresponding to the plurality of boundary regions.

[0008] Another object of the present disclosure is to provide a coordinate system integration device. The coordinate system integration device includes a transceiver interface and a processor, and the processor is electrically connected to the transceiver interface. The processor receives a plurality of key frames, where the plurality of key frames are generated by a plurality of devices located in a plurality of boundary regions. The processor compares the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions. The processor calculates a standard coordinate system based on a plurality of feature points included in the plurality of similar key frames, where the plurality of feature points are located in the at least one overlapping region. The processor transmits the standard coordinate system to the plurality of devices, so that the plurality of devices perform a coordinate system correction operation based on the plurality of feature points and the standard coordinate system.

[0009] In an embodiment of the present invention, obtaining the plurality of similar key frames further includes the following operations: comparing a descriptor of each of the plurality of key frames to obtain the plurality of similar key frames from the plurality of key frames, where the plurality of similar key frames correspond to the at least one overlapping region of the plurality of boundary regions.

[0010] In an embodiment of the present invention, generating the spatial map information further includes the following operations: for the plurality of similar key frames of each of the at least one overlapping region, perform the following operations: based on a feature point state of each of the plurality of similar key frames, select at least one representative key frame corresponding to each of the at least one overlapping region from the plurality of similar key frames; based on the at least one representative key frame of each of the at least one overlapping region and the plurality of key frames, generate the spatial map information corresponding to the plurality of boundary regions.

[0011] In an embodiment of the present invention, the feature point state includes a feature point quantity and a feature point distribution uniformity.

[0012] In an embodiment of the present invention, the processor further performs the following operations: transmitting the spatial map information to the plurality of devices, so that the plurality of devices obtain a complete spatial map corresponding to an activity space based on the spatial map information.

[0013] In an embodiment of the present invention, the processor further performs the following operations: calculating a standard coordinate system based on a plurality of feature points included in the plurality of similar key frames, where the plurality of feature points are located in the at least one overlapping region; and transmitting the standard coordinate system to the plurality of devices, so that the plurality of devices perform a coordinate system calibration operation based on the plurality of feature points and the standard coordinate system.

[0014] In an embodiment of the present invention, the processor further performs the following operations: transmitting a feedback signal to the plurality of devices corresponding to the plurality of similar key frames, where the feedback signal is used to instruct the plurality of devices to obtain the plurality of feature points included in the plurality of similar key frames; and receiving the plurality of feature points included in the plurality of similar key frames from the plurality of devices.

[0015] In an embodiment of the present invention, the processor further performs the following operations: selecting a first feature point with a highest eigenvalue from the plurality of feature points as an origin of the standard coordinate system.

[0016] In an embodiment of the present invention, the processor further performs the following operations: calculating a center point of the plurality of feature points based on a distribution position of each of the plurality of feature points; and selecting the center point of the plurality of feature points as an origin of the standard coordinate system.

[0017] In an embodiment of the present invention, each of the plurality of devices is a head-mounted device having a camera device, and one of the plurality of devices is used as the spatial map information generating device.

[0018] The spatial map information generation technology provided by the present disclosure (at least including devices and methods) compares a plurality of key frames generated by devices from each boundary region, and integrates the key frames in the overlapping region and the key frames in other non-overlapping regions to generate spatial map information corresponding to the plurality of boundary regions. In addition, the spatial map information generation technology provided by the present disclosure can further calculate a standard coordinate system based on a plurality of feature points included in the plurality of key frames in the overlapping region, so that devices in the space perform corresponding coordinate system calibration operations with the standard coordinate system as a reference. The spatial map information generation technology provided by the present disclosure can quickly establish a spatial map, and can integrate the coordinate systems of each device in the space without setting additional position markers in the environment, solving the disadvantages in the prior art.

[0019] The following elaborates on the detailed technology and implementation of the present invention in conjunction with the accompanying drawings, so that those with ordinary knowledge in the technical field to which the present invention pertains can understand the technical features of the claimed invention. Description of the Drawings

[0020] Figure 1 Schematic diagram showing the architecture of the spatial map information generation device of the first embodiment;

[0021] Figure 2 Schematic diagram showing the environment of certain embodiments;

[0022] Figure 3 Schematic diagram showing the boundary area of certain embodiments;

[0023] Figure 4 Schematic diagram showing the overlapping area of certain embodiments;

[0024] Figure 5 Schematic diagram showing the overlapping area of certain embodiments;

[0025] Figure 6 Schematic diagram showing the standard coordinate system of certain embodiments;

[0026] Figure 7 Schematic diagram showing the architecture of the coordinate system integration device of the second embodiment; and

[0027] Figure 8 Partial flowchart showing the method for generating spatial map information of the third embodiment.

[0028] Symbol Explanation:

[0029] 1: Spatial map information generation device

[0030] 11: Transceiver interface

[0031] 13: Processor

[0032] D1, D2, D3,..., Dn: Devices

[0033] 200: Physical space

[0034] UR1, UR2, UR3: Users

[0035] BR1, BR2, BR3: Boundary areas

[0036] OA13: Overlapping area

[0037] OA123: Overlapping area

[0038] SCS: Standard coordinate system

[0039] FP: Feature point

[0040] 7: Coordinate system integration device

[0041] 71: Transceiver interface

[0042] 73: Processor

[0043] 800: Method for generating spatial map information

[0044] S801, S803, S805: Steps Detailed implementation manners

[0045] The following will explain a spatial map information generating device, method, and coordinate system integration device provided by the present invention through implementation manners. However, the multiple implementation manners are not used to limit that the present invention must be implemented in any environment, application, or manner as described in the multiple implementation manners. Therefore, the description of the implementation manners is only for the purpose of explaining the present invention and not for limiting the scope of the present invention. It should be understood that in the following implementation manners and drawings, elements not directly related to the present invention have been omitted and not shown, and the dimensions of each element and the dimensional ratios between elements are only examples and not used to limit the scope of the present invention.

[0046] The first implementation manner of the present disclosure is a spatial map information generating device 1, and its architecture schematic diagram is shown in Figure 1 . In this implementation manner, the spatial map information generating device 1 includes a transceiver interface 11 and a processor 13, and the processor 13 is electrically connected to the transceiver interface 11.

[0047] It should be noted that the processor 13 can be various processing units, a central processing unit (CPU), a microprocessor, or other computing devices known to those with ordinary knowledge in the technical field to which the present disclosure belongs. The transceiver interface 11 is an interface capable of receiving and transmitting data or other interfaces capable of receiving and transmitting data known to those with ordinary knowledge in the technical field of this case.

[0048] As Figure 1 shown, the transceiver interface 11 can be directly communicatively connected to a plurality of devices D1, D2,..., Dn, where n is a positive integer. In some implementation manners, the transceiver interface 11 of the spatial map information generating device 1 can be communicatively connected to the devices D1, D2,..., Dn through other devices.

[0049] In the implementation manner of the present disclosure, the devices D1, D2,..., Dn are devices having an image capturing function (for example: a plurality of depth camera lenses), and are used to generate a plurality of instant images (i.e., image frames) corresponding to a field of view (FOV) for performing an inside out self-localization tracking operation.

[0050] For example, the devices D1, D2, …, Dn can be head-mounted devices (e.g., Head Mounted Display; HMD) used by a user in a physical space to perform virtual reality operations corresponding to a three-dimensional space of the physical space.

[0051] For ease of understanding, please refer to Figure 2 the schematic diagram of the application environment of the present disclosure in Figure 2 As shown, in the physical space 200, the users UR1, UR2, and UR3 respectively operate the devices D1, D2, and D3 (e.g., head-mounted devices).

[0052] It should be noted that in some embodiments, the spatial map information generating device 1 can be an external device (e.g., a remote computing device) disposed outside the physical space, and the devices D1, D2, …, Dn transmit their data to the external device to perform corresponding calculations and services. In some embodiments, one of the devices D1, D2, …, Dn can also be selected as the spatial map information generating device 1.

[0053] For ease of understanding, the following will be described based on Figures 2 to 6 as shown, the users UR1, UR2, UR3 and the devices D1, D2, D3 they operate respectively. Those of ordinary skill in the art should be able to understand the embodiments with other numbers of devices based on the description of the present disclosure, so details are not repeated.

[0054] In this embodiment, the devices D1, D2, D3 of the present disclosure each have a corresponding boundary region, and the user can move within the boundary regions defined by each device. It should be noted that the boundary regions can be predefined or dynamically adjusted according to the operations performed by the user.

[0055] For ease of understanding, please refer to Figure 3 the schematic diagram of the boundary region in Figure 3 As shown, the device D1 operated by the user UR1 corresponds to a boundary region BR1 with a 4X4 block size, the device D2 operated by the user UR2 corresponds to a boundary region BR2 with a 4X4 block size, and the device D3 operated by the user UR3 corresponds to a boundary region BR3 with a 6X4 block size.

[0056] It should be noted that when the devices D1, D2, D3 are operating, the devices D1, D2, D3 can continuously generate image frames within their respective boundary regions, so that the devices can continuously perform the inward-outward self-positioning tracking operation.

[0057] In addition, in the present disclosure, each of the devices D1, D2, and D3 can determine multiple keyframes from these generated image frames to make the positioning operation and the map building operation more accurate. For example, the determination of the multiple keyframes can be based on a specific time (e.g., recorded once every 10 seconds), the change of feature points in the image frames, or the degree of loss of the tracked target object.

[0058] In this embodiment, the processor 13 can receive multiple keyframes from the devices D1, D2, and D3, and the multiple keyframes are generated by the devices D1, D2, and D3 located in the boundary regions BR1, BR2, and BR3.

[0059] It should be noted that since the devices D1, D2, and D3 continuously generate the multiple keyframes from their respective boundary regions, each of the multiple keyframes can correspond to a feature position in the boundary region (e.g., the spatial feature in the environment). In addition, based on different operation modes, each of the multiple keyframes can include information such as descriptors, feature points, capture position information, images, etc.

[0060] Next, in this embodiment, the processor 13 compares the multiple keyframes to obtain multiple similar keyframes corresponding to at least one overlapping region of the multiple boundary regions.

[0061] In some embodiments, the processor 13 can obtain the multiple similar keyframes from the multiple keyframes by comparing a descriptor of each of the multiple keyframes. For example, the processor 13 can determine whether the multiple keyframes are similar keyframes by comparing whether the feature codes of the descriptors corresponding to the multiple keyframes are close.

[0062] It should be noted that since the similar keyframes record similar feature codes (i.e., the description of the feature points of the image), the processor 13 can determine the overlapping area of the multiple boundary regions through the similar keyframes.

[0063] Finally, in this embodiment, the processor 13 integrates the multiple similar keyframes corresponding to the at least one overlapping region to generate a spatial map information corresponding to the multiple boundary regions, where the spatial map information includes the multiple keyframes corresponding to the multiple boundary regions.

[0064] It should be noted that the multiple similar key frames corresponding to the same overlapping region may record similar feature contents (e.g., spatial features in the environment) and positioning information. Therefore, in order to reduce the number of key frames in the spatial map information that contain duplicate information, the processor 13 can integrate the key frames of the overlapping region to save the transmission and computing resources consumed by the device.

[0065] For ease of understanding, taking the overlapping region corresponding to the boundary regions BR1 and BR3 as an example. As Figure 4 shown, the processor 13 can obtain the multiple similar key frames corresponding to the overlapping region OA13 of the boundary regions BR1 and BR3 based on comparing the multiple key frames (i.e., the multiple similar key frames have similar descriptors), and select the ones with better quality from the multiple similar key frames as the multiple key frames representing the overlapping region OA13.

[0066] In some embodiments, the processor 13 can select the ones with better quality from the similar key frames as representative key frames through the feature point state (e.g., the key frame with a larger number of feature points), and combine the key frames of other non-overlapping regions to generate the spatial map information corresponding to the multiple boundary regions. Specifically, the processor 13 performs the following operations on the multiple similar key frames of each of the at least one overlapping region: based on the feature point state of each of the multiple similar key frames, select at least one representative key frame corresponding to each of the at least one overlapping region from the multiple similar key frames. Then, the processor 13 generates the spatial map information corresponding to the multiple boundary regions based on the at least one representative key frame of each of the at least one overlapping region and the multiple key frames.

[0067] In some embodiments, the feature point state includes a feature point number and a feature point distribution uniformity. It should be noted that when the feature point number included in the feature point state is higher and the feature point distribution uniformity is higher, the quality corresponding to the feature point state is better.

[0068] In some embodiments, the processor 13 can transmit the generated spatial map information to the devices D1, D2, D3 for utilization (e.g., generating a spatial map, performing virtual reality operations, performing tracking operations, etc.). For example, the processor 13 transmits the spatial map information to the devices D1, D2, D3 so that the devices D1, D2, D3 can obtain a complete spatial map corresponding to an activity space based on the spatial map information.

[0069] In some embodiments, as Figure 5As shown, since the boundary areas BR1, BR2, and BR3 may include the overlapping area OA123, the devices D1, D2, and D3 may see the same environmental features in the overlapping area OA123 (e.g., the feature points included in the multiple similar key frames generated by the devices D1, D2, and D3). Therefore, the processor 13 may calibrate the corresponding coordinate systems of the devices D1, D2, and D3 respectively (i.e., correspond to the same new coordinate system) through the multiple feature points included in the multiple similar key frames.

[0070] Specifically, if Figure 6 As shown, the processor 13 calculates the standard coordinate system SCS based on the multiple feature points FP included in the multiple similar key frames (i.e., generates a new standard coordinate system in the overlapping area OA123), wherein the multiple feature points FP are located in the at least one overlapping area (i.e., the overlapping area OA123). Then, the processor 13 transmits the standard coordinate system SCS to the devices D1, D2, and D3, so that the devices D1, D2, and D3 perform a coordinate system calibration operation based on the multiple feature points FP and the standard coordinate system SCS.

[0071] It should be noted that since the devices D1, D2, and D3 can all see the multiple feature points FP and the standard coordinate system SCS in the overlapping area OA123, the devices D1, D2, and D3 can calculate the coordinate system offset (offset) with the standard coordinate system SCS through their own coordinate systems.

[0072] In some embodiments, the coordinate system offset may be represented by a transformation matrix to perform a transformation operation. For example, the processor 13 may transform the coordinate value from the second coordinate system to the first coordinate system through the transformation matrix.

[0073] In some embodiments, in order to save transmission consumption, the processor 13 may obtain the multiple feature points FP corresponding to the multiple similar key frames from the devices D1, D2, and D3 only after confirming the multiple similar key frames. Specifically, the processor 13 transmits a feedback signal to the multiple devices (e.g., devices D1, D2, or D3) corresponding to the multiple similar key frames, wherein the feedback signal is used to instruct the multiple devices to obtain the multiple feature points FP included in the multiple similar key frames. Then, the processor 13 receives the multiple feature points FP included in the multiple similar key frames from the multiple devices.

[0074] In some embodiments, the processor 13 selects a first feature point with a highest feature value (ie, a feature point that is most obviously different from the surrounding environment) from the plurality of feature points FP as an origin of the standard coordinate system SCS.

[0075] In some embodiments, the processor 13 calculates a center point of the multiple feature points FP based on a distribution position of each of the multiple feature points FP. Then, the processor 13 selects the center point of the multiple feature points FP as an origin of a standard coordinate system SCS.

[0076] In some embodiments, each of the devices D1, D2, D3 is a head-mounted device having a camera device, and one of the devices D1, D2, D3 serves as the spatial map information generating device 1.

[0077] As can be seen from the above description, the spatial map information generating device 1 provided by the present disclosure compares multiple key frames generated by devices from each boundary region, and integrates the key frames in the overlapping regions and the key frames in other non-overlapping regions to generate spatial map information corresponding to the multiple boundary regions. In addition, the spatial map information generating device 1 provided by the present disclosure can further calculate a standard coordinate system based on multiple feature points included in the multiple key frames in the overlapping regions, so that devices in the space perform corresponding coordinate system correction operations with the standard coordinate system as a reference. The spatial map information generating device 1 provided by the present disclosure can quickly establish a spatial map and can integrate the coordinate systems of various devices in the space without setting additional position markers in the environment, solving the disadvantages in the prior art.

[0078] A second embodiment of the present disclosure is a coordinate system integration device 7, and a schematic structural diagram thereof is shown in Figure 7 . In this embodiment, the coordinate system integration device 7 includes a transceiver interface 71 and a processor 73. The processor 73 is electrically connected to the transceiver interface 71. The transceiver interface 71 can be directly communicatively connected to a plurality of devices D1, D2,..., Dn, where n is a positive integer. In addition, since the embodiments of the transceiver interface 71 and the processor 73 are similar to those of the transceiver interface 11 and the processor 13 in the spatial map information generating device 1, they will not be described in detail.

[0079] Since some operations of the coordinate system integration device 7 are similar to those of the spatial map information generating device 1 in the first embodiment, for ease of understanding, only the different operations will be described below.

[0080] In this embodiment, the processor 73 receives a plurality of key frames, where the plurality of key frames are generated by a plurality of devices located in a plurality of boundary regions. Then, the processor 73 compares the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions.

[0081] Next, the processor 73 calculates a standard coordinate system based on the multiple feature points included in the multiple similar key frames, where the multiple feature points are located in the at least one overlapping region. Finally, the processor 73 transmits the standard coordinate system to the multiple devices, so that the multiple devices perform a coordinate system correction operation based on the multiple feature points and the standard coordinate system.

[0082] In addition to the above steps, the second embodiment can also perform all the operations and steps of the spatial map information generating device 1 described in the first embodiment, having the same functions and achieving the same technical effects. Those of ordinary skill in the art to which the present disclosure pertains can directly understand how the second embodiment performs these operations and steps based on the above first embodiment, having the same functions and achieving the same technical effects, so details are not repeated.

[0083] The third embodiment of the present disclosure is a method for generating spatial map information, and its flowchart is shown in Figure 8 . The spatial map information generating method 800 is applicable to an electronic device, for example: the spatial map information generating device 1 described in the first embodiment. The spatial map information generating method 800 generates spatial map information through steps S801 to S805.

[0084] In step S801, the electronic device receives multiple key frames, where the multiple key frames are generated by multiple devices located in multiple boundary regions.

[0085] Next, in step S803, the electronic device compares the multiple key frames to obtain multiple similar key frames corresponding to at least one overlapping region of the multiple boundary regions. Finally, in step S805, the electronic device integrates the multiple similar key frames corresponding to the at least one overlapping region to generate a spatial map information corresponding to the multiple boundary regions, where the spatial map information includes the multiple key frames corresponding to the multiple boundary regions.

[0086] In some embodiments, obtaining the multiple similar key frames further includes the following steps: comparing a descriptor of each of the multiple key frames to obtain the multiple similar key frames from the multiple key frames, where the multiple similar key frames correspond to the at least one overlapping region of the multiple boundary regions.

[0087] In some embodiments, generating the spatial map information further includes the following steps: for each of the multiple similar key frames of the at least one overlapping region, perform the following steps: based on the feature point state of each of the multiple similar key frames, select at least one representative key frame corresponding to each of the at least one overlapping region from the multiple similar key frames; based on the at least one representative key frame of each of the at least one overlapping region and the multiple key frames, generate the spatial map information corresponding to the multiple boundary regions.

[0088] In some embodiments, the feature point state includes a feature point quantity and a feature point distribution uniformity.

[0089] In some embodiments, the spatial map information generation method 800 further includes the following steps: transmit the spatial map information to the multiple devices, so that the multiple devices obtain a complete spatial map corresponding to an activity space based on the spatial map information.

[0090] In some embodiments, the spatial map information generation method 800 further includes the following steps: calculate a standard coordinate system based on the multiple feature points included in the multiple similar key frames, where the multiple feature points are located in the at least one overlapping region; and transmit the standard coordinate system to the multiple devices, so that the multiple devices perform a coordinate system calibration operation based on the multiple feature points and the standard coordinate system.

[0091] In some embodiments, the spatial map information generation method 800 further includes the following steps: transmit a feedback signal to the multiple devices corresponding to the multiple similar key frames, where the feedback signal is used to instruct the multiple devices to obtain the multiple feature points included in the multiple similar key frames; and receive the multiple feature points included in the multiple similar key frames from the multiple devices.

[0092] In some embodiments, the spatial map information generation method 800 further includes the following steps: select a first feature point with a highest feature value from the multiple feature points as the origin of the standard coordinate system.

[0093] In some embodiments, the spatial map information generation method 800 further includes the following steps: calculate a center point of the multiple feature points based on the distribution position of each of the multiple feature points; and select the center point of the multiple feature points as the origin of the standard coordinate system.

[0094] In addition to the above steps, the third embodiment can also perform all the operations and steps of the spatial map information generating device 1 described in the first embodiment, has the same functions, and achieves the same technical effects. Those of ordinary skill in the technical field to which the present disclosure pertains can directly understand how the third embodiment performs these operations and steps based on the above first embodiment, has the same functions, and achieves the same technical effects, so details are not repeated here.

[0095] The spatial map information generating method described in the third embodiment can be implemented by a computer program having a plurality of instructions. Each computer program can be a file that can be transmitted over a network or can be stored in a non-transitory computer-readable storage medium. For each computer program, after the plurality of instructions included therein are loaded into an electronic device (e.g., the spatial map information generating device 1), the computer program executes the spatial map information generating method described in the third embodiment. The non-transitory computer-readable storage medium can be an electronic product, such as a read only memory (ROM), a flash memory, a floppy disk, a hard disk, a compact disk (CD), a USB drive, a database accessible via a network, or any other storage medium known to those of ordinary skill in the technical field to which the present invention pertains and having the same functions.

[0096] In summary, the spatial map information generating technology provided by the present disclosure (at least including the device and method) compares a plurality of key frames generated by devices from each boundary region, and integrates the key frames in the overlapping regions with the key frames in other non-overlapping regions to generate spatial map information corresponding to the plurality of boundary regions. In addition, the spatial map information generating technology provided by the present disclosure can further calculate a standard coordinate system based on a plurality of feature points included in the plurality of key frames in the overlapping regions, so that devices in space perform corresponding coordinate system correction operations with the standard coordinate system as a reference. The spatial map information generating technology provided by the present disclosure can quickly establish a spatial map and can integrate the coordinate systems of various devices in space without setting additional position markers in the environment, solving the drawbacks in the prior art.

[0097] The above embodiments are only used to list some implementation modes of the present invention and to explain the technical features of the present invention, rather than to limit the protection scope and range of the present invention. Any changes or equivalent arrangements that can be easily completed by those of ordinary skill in the technical field to which the present invention pertains fall within the scope claimed by the present invention, and the scope of the patent protection of the present invention is subject to the claims.

Claims

1. A spatial map information generating device, characterized in that: Include: a transceiver interface; and A processor is electrically connected to the transceiver interface and is used to perform the following operations: receiving a plurality of key frames, wherein the plurality of key frames are generated by a plurality of devices located in a plurality of boundary areas; Comparing the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions; as well as The plurality of similar key frames corresponding to the at least one overlapping area are integrated to generate a space map information corresponding to the plurality of boundary areas, wherein the space map information includes the plurality of key frames corresponding to the plurality of boundary areas.

2. The spatial map information generating device according to claim 1, characterized in that: Wherein obtaining the plurality of similar key frames further comprises the following operations: A descriptor of each of the plurality of key frames is compared to obtain the plurality of similar key frames from the plurality of key frames, wherein the plurality of similar key frames correspond to the at least one overlapping region of the plurality of boundary regions.

3. The spatial map information generating device according to claim 1, characterized in that: Generating the spatial map information further includes the following operations: For each of the plurality of similar key frames in the at least one overlapping region, the following operations are performed: Based on a feature point state of each of the plurality of similar key frames, selecting at least one representative key frame corresponding to each of the at least one overlapping region from the plurality of similar key frames; The spatial map information corresponding to the plurality of boundary areas is generated based on the at least one representative key frame and the plurality of key frames of each of the at least one overlapping areas.

4. The spatial map information generating device according to claim 3, characterized in that: The feature point status includes a feature point quantity and a feature point distribution uniformity.

5. The spatial map information generating device according to claim 1, characterized in that: The processor further performs the following operations: The spatial map information is transmitted to the plurality of devices, so that the plurality of devices obtain a complete spatial map corresponding to an activity space based on the spatial map information.

6. The spatial map information generating device according to claim 1, characterized in that: The processor further performs the following operations: Calculating a standard coordinate system based on a plurality of feature points included in the plurality of similar key frames, wherein the plurality of feature points are located in the at least one overlapping region; and The standard coordinate system is transmitted to the plurality of devices so that the plurality of devices perform a coordinate system calibration operation based on the plurality of feature points and the standard coordinate system.

7. The spatial map information generating device according to claim 6, characterized in that: The processor further performs the following operations: Transmitting a feedback signal to the plurality of devices corresponding to the plurality of similar key frames, wherein the feedback signal is used to instruct the plurality of devices to obtain the plurality of feature points included in the plurality of similar key frames; as well as The plurality of feature points included in the plurality of similar key frames are received from the plurality of devices.

8. The spatial map information generating device according to claim 6, characterized in that: The processor further performs the following operations: A first feature point with a highest feature value is selected from the plurality of feature points as an origin of the standard coordinate system.

9. The spatial map information generating device according to claim 6, characterized in that: The processor further performs the following operations: Calculating a center point of the plurality of feature points based on a distribution position of each of the plurality of feature points; and The center point of the plurality of feature points is selected as an origin of the standard coordinate system.

10. The spatial map information generating device according to claim 1, characterized in that: Each of the plurality of devices is a head mounted device having a camera device, and one of the plurality of devices is used as the space map information generating device.

11. A method for generating spatial map information, characterized in that: For an electronic device, wherein the spatial map information generating method comprises the following steps: receiving a plurality of key frames, wherein the plurality of key frames are generated by a plurality of devices located in a plurality of boundary areas; Comparing the plurality of key frames to obtain a plurality of similar key frames corresponding to at least one overlapping region of the plurality of boundary regions; as well as The plurality of similar key frames corresponding to the at least one overlapping area are integrated to generate a space map information corresponding to the plurality of boundary areas, wherein the space map information includes the plurality of key frames corresponding to the plurality of boundary areas.

Images