Regional point cloud relocation method based on coordinate information analysis

Abstract

The invention relates to the technical field of regional point cloud relocation, and particularly discloses a regional point cloud relocation method based on coordinate information analysis, which comprises the following steps: S1, when a user performs AR inspection, acquiring initial and current real coordinates and virtual coordinates, calculating a real displacement vector and a virtual displacement vector, and judging whether AR location is abnormal or not; s2, if the positioning is abnormal, acquiring an inspection route and a real action vector of the user, and calculating an offset distance in combination with a repositioning vector and a user action speed; s3, intercepting a sub-vector on the relocation vector according to the offset distance, and performing relocation by using the sub-vector when the user advances along the real action vector; the method not only improves the positioning precision and stability of the AR system, but also remarkably improves the user experience, and is suitable for various complex AR application scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of regional point cloud relocalization, and particularly to a regional point cloud relocalization method based on coordinate information analysis. Background Art

[0002] Regional point cloud relocalization refers to the process of analyzing the coordinate changes of devices or sensors within a specific region to determine whether the point cloud data in that region needs to be relocalized. This process is commonly used in augmented reality (AR) or virtual reality (VR) systems to ensure the precise alignment of virtual content with the real environment.

[0003] In the existing applications of augmented reality (AR) technology, when users are immersed in a virtual environment for an interactive experience, the system often automatically performs the matching work between the currently acquired point cloud data and the point cloud data in the prior map. This process is based on advanced algorithms and complex data processing mechanisms, aiming to accurately align and fuse the point cloud data collected at different time nodes or from different perspectives to ensure that the spatial information in the virtual environment is highly accurate and consistent. Through this matching operation, the system can analyze in detail the differences and correlations between the current scene and the preset map, and then, based on the matching results and the real-time monitored user pose information, perform a comprehensive and accurate relocalization process on the current point cloud data. This method undoubtedly provides a solid data foundation for the AR experience at the technical level, effectively ensuring the accuracy and reliability of the environmental information carried by the point cloud data, enabling the virtual scene to truly reflect key elements such as the geometric shape, object distribution, and spatial relationship of the real world.

[0004] However, although this method has significant advantages from the perspective of data accuracy, it has caused a problem that cannot be ignored in practical applications, that is, frequent relocalization operations will have a serious negative impact on the user experience. Since the relocalization process involves complex calculations and data processing, this often leads to an extended processing time of the system, resulting in an obvious delay phenomenon. In the AR experience, every action and perspective change of the user is expected to receive immediate feedback and smooth response, while frequent relocalization delays will disrupt the coherence and real-time nature of this interaction, making the user feel an obvious sense of lag, as if there is a certain out-of-sync situation between the response of the virtual environment and their operations. This unsmooth experience greatly weakens the user's immersion in the virtual world, reduces their overall satisfaction and willingness to use the AR application, and limits the further promotion and application of AR technology in a wider range of fields. Summary of the Invention

[0005] The purpose of the present invention is to provide a regional point cloud relocalization method based on coordinate information analysis to solve the above technical problems.

[0006] The object of the present invention can be achieved by the following technical solutions: A regional point cloud relocalization method based on coordinate information analysis, comprising the following steps: Step S1: When the user performs AR patrol inspection, obtain the initial real coordinate and the initial virtual coordinate of the user at the initial moment to obtain a real displacement vector; and obtain the current real coordinate and the current virtual coordinate of the user at the next moment to obtain a virtual displacement vector; according to the real displacement vector and the virtual displacement vector, determine whether there is an abnormality in the AR positioning; Step S2: If there is an abnormality in the AR positioning, obtain the patrol route of the user, and obtain the real action vector of the user according to the patrol route; and obtain a relocalization vector according to the real displacement vector and the virtual displacement vector; obtain the action speed of the user, and obtain an offset distance according to the relocalization vector and the real action vector; Step S3: Intercept a sub-vector on the relocalization vector according to the offset distance, and when the user advances along the real action vector, perform relocalization according to the sub-vector.

[0007] As a further solution of the present invention: The initial moment is the start moment when the user starts AR patrol inspection, set a monitoring time interval threshold, and obtain a moment every other monitoring time interval threshold since the start moment.

[0008] As a further solution of the present invention: The process of obtaining the initial real coordinate and the initial virtual coordinate includes: Obtain the patrol area when the user performs AR patrol inspection, obtain the center point of the patrol area, take the center point as the coordinate origin, establish a coordinate system in the patrol area, and obtain the coordinate point corresponding to the position of the user in the coordinate system, which is recorded as the initial real coordinate; Obtain the area occupied by the virtual scene generated by the AR technology, which is recorded as the virtual area, establish a new coordinate system in the virtual area, and obtain the coordinate point corresponding to the position of the user in the new coordinate system, which is recorded as the initial virtual coordinate.

[0009] As a further solution of the present invention: The process of determining whether there is an abnormality in the AR positioning includes: Take the initial real coordinate as the starting point and the current real coordinate as the end point to obtain a real displacement vector, and take the initial virtual coordinate as the starting point and the current virtual coordinate as the end point to obtain a virtual displacement vector; obtain the included angle between the real displacement vector and the virtual displacement vector, which is recorded as the difference value between the real displacement vector and the virtual displacement vector, and the difference value is the comparison result, and determine whether there is an abnormality in the AR positioning according to the comparison result.

[0010] As a further solution of the present invention, the process of judging whether there is an abnormality in AR positioning according to the comparison result includes: If the difference value is less than or equal to a preset difference threshold, there is no abnormality in AR positioning, and repositioning is not required at this time; if the difference value exceeds the preset difference threshold, there is an abnormality in AR positioning, and repositioning is required at this time.

[0011] As a further solution of the present invention: Mark the position corresponding to the current true coordinate on the inspection route, denoted as the current inspection point, and obtain the position of the user at the next moment on the inspection route, denoted as the predicted inspection point. According to the current inspection point and the predicted inspection point, obtain the true action vector of the user.

[0012] As a further solution of the present invention, the process of obtaining the offset distance includes: Obtain the action speed v of the user, and obtain the offset distance according to the repositioning vector and the true action vector: , where , |V0| represents the modulus of the repositioning vector V0, θ represents the included angle between the true action vector and the repositioning vector, k is a preset first correction coefficient and k>0, and the unit of the first correction coefficient is s / m, λ is a preset second correction coefficient and λ >0, and the unit of the second correction coefficient is m, ω is a preset dimensionless base number, and the unit of the action speed is m / s.

[0013] As a further solution of the present invention, the process of repositioning according to the sub-vector includes: Pass through the starting point of the repositioning vector, along the direction of the repositioning vector, select a node at a position with a distance of D from the starting point of the repositioning vector, and obtain a sub-vector from the starting point of the repositioning vector and the node; obtain the center point of the virtual area, denoted as the virtual center point, and offset the virtual center point along the sub-vector to adjust the virtual area.

[0014] Advantages of the present invention: By obtaining the real coordinates and virtual coordinates of the user in real time, calculating the real displacement vector and the virtual displacement vector, the present invention can accurately determine whether there is an abnormality in AR positioning, so as to perform precise repositioning in case of abnormality; by setting a difference threshold, repositioning is only performed when the difference value exceeds the threshold, avoiding unnecessary frequent repositioning operations and reducing the system calculation burden; by calculating the offset distance and intercepting sub-vectors, the virtual area can be smoothly adjusted when the user moves, reducing the jitter and delay of virtual content and enhancing the user's immersion and interaction experience; by obtaining the user's inspection route and movement speed, the position of the virtual area can be dynamically adjusted to adapt to complex and dynamic environmental changes and ensure the precise alignment of virtual content with the real environment; by setting the monitoring time interval threshold and correction coefficient, the real-time performance and calculation efficiency of the system can be optimized to ensure the stable operation of the system under high load; the present invention not only improves the positioning accuracy and stability of the AR system, but also significantly improves the user experience and is applicable to various complex AR application scenarios. Brief Description of the Drawings

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 It is a schematic flow chart of a regional point cloud repositioning method based on coordinate information analysis of the present invention. Detailed Embodiments

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figure 1 As shown, the present invention is a regional point cloud repositioning method based on coordinate information analysis, including the following steps: Step S1: When the user performs an AR inspection, the position coordinates of the user in the real environment at the initial moment are obtained in real time, denoted as the initial real coordinates, and the position coordinates of the user in the virtual environment at the initial moment are obtained, denoted as the initial virtual coordinates; and the position coordinates of the user in the real environment at the current moment are obtained in real time, denoted as the current real coordinates, and the position coordinates of the user in the virtual environment at the current moment are obtained, denoted as the current virtual coordinates; According to the initial real coordinates and the current real coordinates, a real displacement vector is obtained, and according to the initial virtual coordinates and the current virtual coordinates, a virtual displacement vector is obtained; the real displacement vector is compared with the virtual displacement vector, and whether there is an abnormality in AR positioning is judged according to the comparison result; It is understandable that by obtaining and calculating the user's coordinate information in real time, the accuracy of AR positioning can be accurately judged. If a positioning anomaly is found, a repositioning operation can be carried out in a timely manner to ensure the precise alignment of the virtual content with the real environment, avoid unnecessary frequent repositioning operations, reduce the system calculation burden, and improve the user experience. In a preferred embodiment of the present invention, the initial moment is the start moment when the user starts AR inspection. A monitoring time interval threshold is set, and starting from the start moment, a moment is obtained every monitoring time interval threshold. In a preferred embodiment of the present invention, the process of obtaining the initial real coordinates and the initial virtual coordinates includes: Obtain the inspection area when the user conducts AR inspection, obtain the center point of the inspection area, establish a coordinate system in the inspection area with the center point as the coordinate origin, and obtain the coordinate point corresponding to the position where the user is located in the coordinate system, which is recorded as the initial real coordinates. Obtain the area occupied by the virtual scene generated by AR technology, which is recorded as the virtual area. Establish a new coordinate system in the virtual area, and obtain the coordinate point corresponding to the position where the user is located in the new coordinate system, which is recorded as the initial virtual coordinates. In a preferred embodiment of the present invention, the process of comparing the real displacement vector with the virtual displacement vector includes: It is known that the initial real coordinates and the initial virtual coordinates coincide at the initial moment. Taking the initial real coordinates as the starting point and the current real coordinates as the ending point, a real displacement vector is obtained, and taking the initial virtual coordinates as the starting point and the current virtual coordinates as the ending point, a virtual displacement vector is obtained. Obtain the included angle between the real displacement vector and the virtual displacement vector, which is recorded as the difference value between the real displacement vector and the virtual displacement vector, and the difference value is the comparison result. The process of judging whether there is an anomaly in AR positioning according to the comparison result includes: If the difference value is less than or equal to a preset difference threshold, there is no anomaly in AR positioning, and no repositioning is required at this time. If the difference value exceeds the preset difference threshold, there is an anomaly in AR positioning, and repositioning is required at this time. It is understandable that by comparing the real displacement vector and the virtual displacement vector, it is judged whether there is a deviation or anomaly in AR positioning. When there is a positioning anomaly, the repositioning mechanism is triggered in a timely manner to ensure the precise alignment of the virtual content with the real environment. Step S2: If there is an abnormality in AR positioning, obtain the inspection route of the user, mark the position corresponding to the current real coordinate on the inspection route, denoted as the current inspection point, and obtain the position of the user at the next moment on the inspection route, denoted as the predicted inspection point. According to the current inspection point and the predicted inspection point, obtain the real action vector of the user; and according to the real displacement vector and the virtual displacement vector, obtain the repositioning vector; Obtain the action speed v of the user, and according to the repositioning vector and the real action vector, obtain the offset distance: , where , |V0| represents the modulus of the repositioning vector V0, θ represents the included angle between the real action vector and the repositioning vector, k is a preset first correction coefficient and k > 0, and the unit of the first correction coefficient is s / m, λ is a preset second correction coefficient and λ > 0, and the unit of the second correction coefficient is m, ω is a preset dimensionless base number, and the unit of the action speed is m / s; It should be noted that |V0| represents the target length that the virtual area needs to be offset. When cos θ = cos π , that is, when the directions of the real action vector and the repositioning vector are exactly opposite, at this time, the moving direction of the user is exactly complementary to the adjustment direction of the virtual area. At this time, |cos θ - cos π | reaches the minimum; and the faster the action speed of the user, the larger the offset distance. Because the increase in speed will amplify the deviation between the user and the virtual area during the movement, the faster the speed, the faster the deviation needs to be corrected; It can be understood that directly adjusting the virtual area at one time may cause sudden jumps or displacements of the virtual content, bringing a sense of abruptness to the user and destroying the immersive experience. Compared with directly adjusting the virtual area when the user is using it, iterative adjustment can better ensure the user experience. Because iterative adjustment adjusts the virtual area in a step-by-step and progressive manner, making the change of the virtual content smoother and more natural, avoiding the user from feeling obvious jumps; through multiple verifications and corrections, gradually approaching the best position, ensuring the precise alignment of the virtual area and the real environment, and improving the stability of the system; iterative adjustment also distributes the calculation tasks to multiple time points, gradually completing the adjustment, reducing the single calculation burden, and improving the real-time performance and response speed of the system; In a preferred embodiment of the present invention, the current inspection point in the real action vector is the starting point of the real action vector, and the predicted inspection point is the ending point of the real action vector; the repositioning vector is obtained by subtracting the real displacement vector from the virtual displacement vector; Step S3: Intercept a sub-vector on the repositioning vector according to the offset distance. When the user moves forward along the real action vector, adjust the virtual area according to the sub-vector; In a preferred embodiment of the present invention, the process of intercepting the sub-vector includes: Pass through the starting point of the repositioning vector, along the direction of the repositioning vector, select a node at a position with a distance of D from the starting point of the repositioning vector, and obtain the sub-vector from the starting point of the repositioning vector and the node; In a preferred embodiment of the present invention, the process of adjusting the virtual area according to the sub-vector includes: Obtain the center point of the virtual area, denoted as the virtual center point, and offset the virtual center point along the sub-vector; In a preferred embodiment of the present invention, after one offset is completed, re-obtain the positions of the user in the real environment and the virtual area at a new moment, obtain a new real action vector and a new repositioning vector, calculate the offset distance again according to the new real action vector and repositioning vector, and further adjust the virtual area. Repeat the above steps until the AR positioning returns to normal, that is, there is no abnormality in the R positioning; through multiple iterative adjustments, gradually reduce the deviation between the virtual area and the real environment, and ensure the precise alignment of the virtual content with the real environment.

[0019] The above has described a detailed description of an embodiment of the present invention, but the above content is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equal changes and improvements made according to the scope of the present invention application should still fall within the scope covered by the patent of the present invention.

Claims

1. A method for regional point cloud relocalization based on coordinate information analysis, characterized in that Including the following steps: Step S1: When the user conducts AR patrol inspection, obtain the initial real coordinate and initial virtual coordinate of the user at the initial moment to obtain the real displacement vector; and obtain the current real coordinate and current virtual coordinate of the user at the next moment to obtain the virtual displacement vector; judge whether there is an abnormality in AR positioning according to the real displacement vector and the virtual displacement vector; Step S2: If there is an abnormality in AR positioning, obtain the patrol route of the user, and obtain the real action vector of the user according to the patrol route; and obtain the repositioning vector according to the real displacement vector and the virtual displacement vector; obtain the action speed of the user, and obtain the offset distance according to the repositioning vector and the real action vector; Step S3: Intercept a sub-vector on the repositioning vector according to the offset distance, and when the user moves forward along the real action vector, perform repositioning according to the sub-vector.

2. The regional point cloud relocalization method based on coordinate information analysis according to claim 1, characterized in that In step S1, the initial moment is the start moment when the user starts AR patrol inspection, set a monitoring time interval threshold, and obtain a moment every other monitoring time interval threshold since the start moment.

3. A method for regional point cloud relocalization based on coordinate information analysis according to claim 1, characterized in that, In step S1, the process of obtaining the initial real coordinate and the initial virtual coordinate includes: Obtain the patrol area when the user conducts AR patrol inspection, obtain the center point of the patrol area, use the center point as the coordinate origin, establish a coordinate system in the patrol area, and obtain the coordinate point corresponding to the position of the user in the coordinate system, denoted as the initial real coordinate; Obtain the area occupied by the virtual scene generated by AR technology, denoted as the virtual area, establish a new coordinate system in the virtual area, and obtain the coordinate point corresponding to the position of the user in the new coordinate system, denoted as the initial virtual coordinate.

4. A method for regional point cloud relocalization based on coordinate information analysis according to claim 1, characterized in that In step S1, the process of judging whether there is an abnormality in AR positioning includes: Use the initial real coordinate as the starting point and the current real coordinate as the ending point to obtain the real displacement vector, and use the initial virtual coordinate as the starting point and the current virtual coordinate as the ending point to obtain the virtual displacement vector; obtain the included angle between the real displacement vector and the virtual displacement vector, denoted as the difference value between the real displacement vector and the virtual displacement vector, and the difference value is the comparison result, and judge whether there is an abnormality in AR positioning according to the comparison result.

5. A method for regional point cloud relocalization based on coordinate information analysis according to claim 4, characterized in that In step S1, the process of judging whether there is an abnormality in AR positioning according to the comparison result includes: If the difference value is less than or equal to the preset difference threshold, there is no abnormality in AR positioning, and repositioning is not required at this time; if the difference value exceeds the preset difference threshold, there is an abnormality in AR positioning, and repositioning is required at this time.

6. A method for regional point cloud relocalization based on coordinate information analysis according to claim 1, characterized in that In step S2, mark the position corresponding to the current real coordinate on the patrol route, denoted as the current patrol point, and obtain the position of the user at the next moment on the patrol route, denoted as the predicted patrol point, and obtain the real action vector of the user according to the current patrol point and the predicted patrol point.

7. A method for regional point cloud relocalization based on coordinate information analysis according to claim 1, characterized in that In step S2, the process of obtaining the offset distance includes: Obtain the movement speed v of the user, and obtain the offset distance according to the relocalization vector and the true movement vector: ， Among them , |V0| represents the magnitude of the relocation vector V0, θ represents the angle between the true action vector and the relocation vector, k is a preset first correction coefficient and k > 0, and the unit of the first correction coefficient is s / m, λ is a preset second correction coefficient and λ > 0, and the unit of the second correction coefficient is m, ω is a preset dimensionless base number, and the unit of the action speed is m / s.

8. The method for regional point cloud relocalization based on coordinate information analysis according to claim 3, wherein In step S3, the process of relocalization according to the sub-vector includes: Pass through the starting point of the relocalization vector, along the direction of the relocalization vector, select a node at a position with a distance of D from the starting point of the relocalization vector, and obtain a sub-vector from the starting point of the relocalization vector and the node; obtain the center point of the virtual area, denoted as the virtual center point, and offset the virtual center point along the sub-vector to adjust the virtual area.

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