Pose precision determination method of directional remote controller and electronic equipment

Abstract

The invention discloses a method for determining the pose precision of a directional remote controller and electronic equipment, and the method comprises the steps: obtaining a first pose information set of the remote controller in a first coordinate system, and a second pose information set of the remote controller in a second coordinate system; the first coordinate system is a motion capture equipment coordinate system, and the second coordinate system is a remote controller coordinate system; the motion capture equipment is arranged in a preset distance range of the remote controller; the remote controller is a directional remote controller; calculating a translation error and a rotation error of the remote controller according to the first pose information set and the second pose information set; and determining the pose precision of the remote controller according to the translation error and the rotation error. The method is used for improving the accuracy of calculating the pose precision of the remote controller so as to better evaluate the directivity of the remote controller.

Description

Technical Field

[0001] This application relates to the field of ultra-wideband sensing and positioning technology, and in particular, to a method for determining the pose accuracy of a pointing remote control and an electronic device. Background Art

[0002] In many scenarios such as smart homes and smart offices, as an important interaction device, the accuracy of the ultra-wideband (UWB) signal of a pointing remote control is crucial for achieving precise human-computer interaction.

[0003] Therefore, before the pointing remote control leaves the factory, accuracy tests are usually required. In related technologies, one method focuses on accuracy tests in static scenarios. For example, in a standard laboratory, it is an accuracy test for the static output position. However, in actual applications, the pointing remote control is often used in a dynamic environment. In this way, the static evaluation method cannot fully reflect the performance of the pointing remote control in actual use. Another method only focuses on the determined position accuracy of the UWB signal of the pointing remote control, resulting in an inability to comprehensively and meticulously evaluate abnormal UWB signals. Summary of the Invention

[0004] An exemplary embodiment of this application provides a method for determining the pose accuracy of a pointing remote control and an electronic device, which is used to improve the accuracy of calculating the pose accuracy of the remote control, and thus better evaluate the pointing performance of the remote control.

[0005] According to the first aspect of the exemplary embodiment, a method for determining the pose accuracy of a pointing remote control is provided, including:

[0006] Obtain a first set of pose information of the remote control in a first coordinate system and a second set of pose information in a second coordinate system; wherein, the first coordinate system is the coordinate system of the motion capture device, and the second coordinate system is the coordinate system of the electronic device; the motion capture device is arranged within a preset distance range of the remote control; the remote control is a pointing remote control; the electronic device is a display or an external device arranged on the display;

[0007] Calculate the translation error and rotation error of the remote control according to the first set of pose information and the second set of pose information;

[0008] Determine the pose accuracy of the remote control according to the translation error and the rotation error.

[0009] In the embodiments of the present application, a motion capture device is introduced to obtain the true pose of the remote control. The coordinate system of the motion capture device is referred to as the first coordinate system, and the coordinate system of the electronic device (Dongle device or display) is referred to as the second coordinate system. Considering that the accuracy of calculating the pose of the remote control using only UWB signals is not high, calculating the first pose information set of the remote control obtained by the motion capture device and the second pose information of the remote control obtained by the electronic device can obtain the translation error and rotation error of the remote control, and then the pose accuracy of the remote control can be calculated according to the translation error and rotation error. The pose accuracy of the remote control obtained in this way is more accurate, and then using this pose accuracy to evaluate the pointing performance effect of the remote control is also better.

[0010] In an alternative embodiment, before calculating the translation error and rotation error of the remote control, the method further includes:

[0011] Align the timestamps of the electronic device and the motion capture device so that the first coordinate system and the second coordinate system are aligned;

[0012] Calculating the translation error and rotation error of the remote control according to the first pose information set and the second pose information set includes:

[0013] Calculating the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set;

[0014] Calculating the translation error of the remote control according to the position information in the first pose information set and the position information in the second pose information set.

[0015] In the above embodiments, since the first pose information set is obtained in the coordinate system of the motion capture device and the second pose information set is obtained in the coordinate system of the electronic device, in order to ensure rationality, the two coordinate systems are first aligned, which can be specifically achieved by aligning the timestamps of the two devices, and the operation is simple. In addition, after aligning the two coordinate systems, the rotation error and translation error of the remote control can be calculated respectively. Compared with the related technology that only focuses on the position accuracy of UWB signals, the consideration is more comprehensive, and thus the calculated pose accuracy of the remote control can be more accurate.

[0016] In an alternative embodiment, calculating the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set includes:

[0017] Extracting N first rotation angles in the first pose information set and N second rotation angles in the second pose information set; where each first rotation angle has a corresponding second rotation angle, and the timestamps of each first rotation angle and the corresponding second rotation angle are the same;

[0018] For each first rotation angle, calculate the error rotation angle between the first rotation angle and the corresponding second rotation angle;

[0019] According to the N error rotation angles, calculate the rotation error of the remote control.

[0020] In the above embodiments, the first pose information set and the second pose information set each include a plurality of rotation angles. To improve the accuracy of calculating the rotation error of the remote control, the error rotation angle between a first rotation angle in the first pose information set and the corresponding second rotation angle in the second pose information set can be calculated respectively, and then the N error rotation angles obtained are calculated to calculate the rotation error of the remote control. The accuracy of the rotation error of the remote control calculated by this method is relatively high.

[0021] In an alternative embodiment, according to the position information in the first pose information set and the position information in the second pose information set, calculating the translation error of the remote control includes:

[0022] Extract N first positions in the first pose information set and N second positions in the second pose information set;

[0023] According to the N first positions and the N second positions, calculate the translation error of the remote control.

[0024] In the above embodiments, since the pose information in the first pose information set is the pose of the remote control in the coordinate system of the motion capture device, and the pose information in the second pose information set is the pose of the remote control in the coordinate system of the electronic device, the translation error of the remote control can be calculated according to the positions in these two pose information sets. In this way, when calculating the pose accuracy of the remote control later, the rotation error and the translation error can be comprehensively considered.

[0025] In an alternative embodiment, M markers are set on the remote control, and the M markers form a rigid body centroid model;

[0026] Obtain the first pose information set of the remote control in the first coordinate system, including:

[0027] For each moment within a preset time range, receive the pose information of the rigid body centroid model in the first coordinate system from the motion capture device;

[0028] Based on the parameter values of the set external parameters, according to the pose information of the rigid body centroid model in the first coordinate system, calculate the first pose information of the remote control in the first coordinate system; where the set external parameters include rotation external parameters and translation external parameters;

[0029] Determine that the first pose information corresponding to each moment constitutes the first pose information set.

[0030] In the above embodiments, in order to obtain the true pose of the remote controller, markers are set on the remote controller, and the motion capture device constructs the center-of-mass model of the rigid body formed by these markers. In this way, when the pose information of the center of mass of the rigid body of the motion capture device in the first coordinate system is received, it can be converted into the pose of the remote controller in the first coordinate system based on the parameter values of the set external parameters. The pose of the remote controller is obtained through the pose of the center of mass of the rigid body.

[0031] In an alternative embodiment, the method further includes:

[0032] Determine M optimization terms; where each optimization term represents the position of a marker in the third coordinate system at the first moment, the position of a marker in the fourth coordinate system, and the relationships between the rotational external parameters and the translational external parameters; the third coordinate system is the remote controller coordinate system, and the fourth coordinate system is the center-of-mass model coordinate system of the rigid body;

[0033] When it is determined that the sum of the M optimization terms takes the minimum value, the values of the rotational external parameters and the translational external parameters are the parameter values of the set external parameters.

[0034] In the above embodiments, since the set external parameters include rotational external parameters and translational external parameters, in order to obtain relatively accurate rotational external parameters and translational external parameters, optimization terms can be constructed first according to the position of a marker in the third coordinate system at the first moment, the position of a marker in the fourth coordinate system, and the relationships between the rotational external parameters and the translational external parameters, and the optimization terms are optimized to obtain the values of the rotational external parameters and the translational external parameters. Relatively accurate values of the rotational external parameters and the translational external parameters can make the conversion process from the position of the center of mass of the rigid body to the pose of the remote controller more accurate.

[0035] In an alternative embodiment, the rotational external parameter represents the rotational relationship between the third coordinate system and the fourth coordinate system; the translational external parameter represents the translational relationship between the third coordinate system and the fourth coordinate system.

[0036] According to the second aspect of the exemplary embodiments, an electronic device is provided, including a processor and a data transmission unit;

[0037] The data transmission unit is configured to perform:

[0038] Obtain a first set of pose information of the remote controller in the first coordinate system and a second set of pose information in the second coordinate system; where the first coordinate system is the motion capture device coordinate system, and the second coordinate system is the electronic device coordinate system; the motion capture device is set within a preset distance range of the remote controller; the remote controller is a pointing-type remote controller; the electronic device is a display or an external device provided on the display;

[0039] The processor is configured to perform:

[0040] Calculate the translational error and rotational error of the remote controller according to the first pose information set and the second pose information set;

[0041] Determine the pose accuracy of the remote controller according to the translational error and rotational error.

[0042] According to a third aspect of the exemplary embodiment, there is provided a device for determining the pose accuracy of a pointing remote controller, including:

[0043] A data acquisition unit, configured to: acquire a first pose information set of the remote controller in a first coordinate system and a second pose information set in a second coordinate system; wherein, the first coordinate system is an action capture device coordinate system, and the second coordinate system is an electronic device coordinate system; the action capture device is arranged within a preset distance range of the remote controller; the remote controller is a pointing remote controller; the electronic device is a display or an external device arranged on the display;

[0044] A data processing unit, configured to: calculate the translational error and rotational error of the remote controller according to the first pose information set and the second pose information set;

[0045] The data processing unit is further configured to: determine the pose accuracy of the remote controller according to the translational error and rotational error.

[0046] According to a fourth aspect of the exemplary embodiment, there is provided a computer storage medium, in which computer program instructions are stored, and when the instructions run on a computer, the computer is caused to execute the method for determining the pose accuracy of a pointing remote controller as in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0048] Figure 1 An application scenario diagram of the position accuracy evaluation test of a pointing remote controller provided by an embodiment of the present application is exemplarily shown;

[0049] Figure 2 A schematic diagram of the distribution of markers on a remote controller provided by an embodiment of the present application is exemplarily shown;

[0050] Figure 3 A schematic diagram of the distribution of mark points and center of gravity points provided by an embodiment of the present application is exemplarily shown;

[0051] Figure 4The flowchart of a method for determining the pose accuracy of a pointing remote control provided by an embodiment of the present application is exemplarily shown;

[0052] Figure 5 The flowchart of a method for obtaining the first pose information set of a remote control in a first coordinate system provided by an embodiment of the present application is exemplarily shown;

[0053] Figure 6 The schematic diagram of aligning a first coordinate system and a second coordinate system by timestamp alignment provided by an embodiment of the present application is exemplarily shown;

[0054] Figure 7 The flowchart of a method for calculating the rotation error of a remote control provided by an embodiment of the present application is exemplarily shown;

[0055] Figure 8 The flowchart of a method for calculating the translation error of a remote control provided by an embodiment of the present application is exemplarily shown;

[0056] Figure 9 The schematic structural diagram of a pose accuracy determination device for a pointing remote control provided by an embodiment of the present application is exemplarily shown;

[0057] Figure 10 The schematic structural diagram of an electronic device provided by an embodiment of the present application is exemplarily shown. Detailed implementation manners

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0059] For ease of understanding, the terms involved in the embodiments of the present application are explained below: <^

[0060] (1) UWB pointing remote control (hereinafter referred to as remote control) is a remote control that uses UWB technology to achieve precise pointing and control functions. Its working principle is as follows:

[0061] UWB positioning principle: The UWB technology transmits data by emitting ultra-wideband pulse signals. In the remote control, the UWB chip uses the Angle of Arrival (AoA) technology to measure the distance between the remote control and the TV screen with millimeter-level accuracy and determine the pointing direction of the remote control through angle measurement. For example, certain types of UWB chips support UWB channels 5 and 9, with a frequency range of 6250 MHz to 8250 MHz. Through its UWB function, precise positioning of the remote control can be achieved, supporting a 3-antenna specification and enabling the measurement of 2D AoA and 3D AoA, providing strong hardware support for the remote control, so that users can achieve a mouse-like operation experience on the screen by pointing the remote control.

[0062] Therefore, the UWB directional remote control can achieve high-precision directional positioning function, bringing a brand-new control experience to users. Operations such as clicking, selecting, sliding, and dragging can be easily achieved with the remote control, greatly expanding the usage scenarios of the device.

[0063] (2) The motion capture device is a device used to record and analyze the motion of objects or human bodies, and is widely used in fields such as film and television production, game development, sports training, and medical rehabilitation. According to different application scenarios, its types mainly include optical motion capture devices, inertial motion capture devices, electromagnetic motion capture devices, etc.

[0064] In the embodiment of the present application, an optical motion capture device can be applied as the motion capture device. Its working principle is that by placing reflective marker points on the key parts of an object or human body, multiple high-speed cameras are used to capture the motion trajectories of the marker points from different angles, and then the captured images are analyzed and processed through algorithms to accurately calculate the three-dimensional spatial positions and motion postures of the marker points. It features high precision, capable of capturing very subtle motion changes; can capture the motions of multiple targets simultaneously; has a fast data processing speed and can provide real-time feedback of motion data. However, it has high requirements for the shooting environment and needs to be shot in a specific interference-free space.

[0065] In the embodiment of the present application, the object of the motion capture device is the remote control, and the reflective marker points are the markers set on the remote control.

[0066] (3) The Dongle device, a small external device, is also known as a dongle, a dog, or an adapter, etc. In some devices such as smart TVs and game consoles, the Dongle can be used to expand the functions of the device, such as adding Bluetooth function, Wi-Fi function, etc., to improve the performance and usage experience of the device. In the embodiment of the present application, a UWB chip can be set in the Dongle device to communicate with the UWB chip in the remote control, and then locate the remote control.

[0067] (4) Center of gravity of a rigid body. The center of gravity of a rigid body in the center-of-gravity model of a rigid body refers to the point of application of the resultant force of the gravity acting on the rigid body. In a gravitational field, all parts of the rigid body are subject to gravity. The center-of-gravity model of a rigid body is to equivalent these distributed gravities to a resultant force acting at the center-of-gravity point. No matter how the rigid body is placed, its gravity can be regarded as acting on the rigid body through this point of the center of gravity, which provides convenience for analyzing the balance and motion of the rigid body under the action of gravity. The position of the center of gravity depends on the shape and mass distribution of the rigid body. For a rigid body with uniform mass distribution and regular shape, its center of gravity is located at the geometric center; while for a rigid body with non-uniform mass distribution or irregular shape, the position of the center of gravity may not be at the geometric center and needs to be determined by calculation or experimental methods. It has important applications in analyzing the equilibrium problems of rigid bodies, gravitational potential energy, and the motion of rigid bodies in a gravitational field. For example, when designing structures such as buildings and bridges, it is necessary to consider the position of the center of gravity of the structure to ensure its stability; when studying the motion of objects such as rolling and tipping, the position and motion trajectory of the center of gravity are also key factors.

[0068] In many scenarios such as smart home and smart office, the pointing remote control, as an important interaction device in the TV usage scenario, the accuracy of its UWB signal is crucial for achieving precise human-computer interaction. For example, in a smart conference system, the content on the projection screen can be quickly located and operated through the pointing remote control; in the smart home scenario, users can precisely control various programs or games on the TV device through the pointing remote control, and can achieve an intuitive response to the pointed position. With the continuous improvement of the requirements for interaction accuracy in these application scenarios, it means that the requirements for the position accuracy and stability of the remote control with UWB signal output of the pointing remote control are more stringent. Therefore, it will be particularly important to accurately evaluate the position accuracy of the remote control with UWB signal output.

[0069] Currently, in the related technologies, there are many limitations in the evaluation methods for the accuracy of UWB signals. Some methods only rely on the data of the UWB device itself for evaluation, lacking an accurate and reliable reference standard, resulting in a low credibility of the evaluation results. Moreover, most of the existing evaluation methods focus on the accuracy test in static scenarios, such as in a standard laboratory, for the static output position accuracy test. However, in actual applications, the pointing remote control is often used in a dynamic environment, and users use the remote control dynamically. The static evaluation method cannot comprehensively reflect the performance and abnormal phenomena or data of the UWB device in actual use. There are also some methods that only focus on the position accuracy of the UWB signal and cannot comprehensively and meticulously evaluate the comprehensive accuracy of the UWB signal. These problems make it difficult for the existing evaluation methods to meet the interaction requirements in high-precision usage scenarios, affecting the user experience and promotion of related applications.

[0070] To this end, the embodiments of the present application provide a method for determining the pose accuracy of a pointing remote control. In this method, the true pose of the remote control acquired by the motion capture device is fused with the pose of the remote control output by the UWB chip to calculate the pose accuracy of the remote control. The pose accuracy of the remote control calculated in this way is more accurate and can comprehensively reflect the test situation of the remote control.

[0071] After introducing the design concept of the embodiments of the present application, the following briefly introduces the application scenarios applicable to the technical solutions of the embodiments of the present application. It should be noted that the following introduced application scenarios are only used to illustrate the embodiments of the present application rather than limit them. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0072] The method of the embodiments of the present application can be applied to electronic devices, including at least the following three scenarios:

[0073] The first scenario: The electronic device is a display. In this scenario, a UWB chip and a processor are set in the display. The UWB chip in the display communicates with the UWB chip in the remote control and calculates the pose of the remote control, and the processor determines the position accuracy of the remote control.

[0074] The second scenario: The electronic device is a Dongle device. A UWB chip is set in the Dongle device. The UWB chip in the Dongle device communicates with the UWB chip in the remote control, and the processor in the Dongle device determines the position accuracy of the remote control.

[0075] The third scenario: The electronic device is a Dongle device. A UWB chip is set in the Dongle device. The UWB chip in the Dongle device communicates with the UWB chip in the remote control, and the processor in the display determines the position accuracy of the remote control.

[0076] The above situations are only examples and do not form specific limitations.

[0077] Taking the second scenario as an example, referring to Figure 1 , a diagram of an application scenario for evaluating the position accuracy of a pointing remote control is shown. Among them, the Dongle device is placed on the display (TV screen), and the motion capture device is set within a preset distance range of the remote control (taking the ability to capture the remote control as the standard).

[0078] Exemplarily, M (for example, it can be 6) markers (one marker is called a mark point) are set on the remote control. The M markers form a rigid body centroid model. For example, 6 mark points are pasted on different orientations of the remote control, as Figure 2 shown, Figure 2It is a schematic diagram of the distribution of markers on a remote control provided by an embodiment of the present application. Mark points 1, 3, 5, and 6 are set on the front of the remote control, and mark points 2 and 4 are set on the back of the remote control. In this way, it can be ensured to the greatest extent that the rigid body centroid model constructed by the motion capture device based on these recognized mark points is stable and robust in dynamic movement tests.

[0079] The motion capture device constructs a rigid body centroid model calculated from these selected mark points, as Figure 3 shown. Figure 3 It is a schematic diagram of the distribution of mark points and centroid points provided by an embodiment of the present application. Mark point 7 is the centroid point. When some mark points are within the experimental boundary range or at an invisible angle, the stability of this rigid body centroid model can still be ensured, so that the true value trajectory of the remote control obtained can be ensured not to mutate and is credible. In addition, because the rigid body centroid model is stable and constructed by 6 mark points, even if some mark points are at an invisible angle, the motion capture device can also deduce the positions of the invisible mark points. Ensure that the pose trajectories of 6 mark points and the pose trajectory of the centroid point are output throughout the process.

[0080] Before introducing the embodiments of the present application, the coordinate systems applied in the embodiments of the present application are described first:

[0081] The first coordinate system is the motion capture device coordinate system, denoted by w. The second coordinate system is the electronic device (Dongle device or display, taking the second scenario as an example, it is the Dongle device) coordinate system, denoted by w1. The third coordinate system is the remote control coordinate system, denoted by b. The fourth coordinate system is the rigid body centroid model coordinate system, denoted by m.

[0082] To further illustrate the technical solutions provided by the embodiments of the present application, the following will be described in detail in combination with the accompanying drawings and specific implementation manners. Although the embodiments of the present application provide method operation steps as shown in the following embodiments or drawings, based on routine or non-creative labor, more or fewer operation steps may be included in the method. In steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present application.

[0083] The following combines Figures 1 - 3 shown application scenarios and refers to Figure 4 the flowchart of a method for determining the pose accuracy of a pointing remote control shown to illustrate the technical solutions provided by the embodiments of the present application. This method mainly includes the following steps:

[0084] S401. Obtain the first pose information set of the remote control in the first coordinate system and the second pose information set in the second coordinate system.

[0085] S402. Calculate the translational error and rotational error of the remote controller according to the first pose information set and the second pose information set.

[0086] S403. Determine the pose accuracy of the remote controller according to the translational error and rotational error.

[0087] In the embodiment of the present application, a motion capture device is introduced to obtain the true pose of the remote controller. The coordinate system of the motion capture device is referred to as the first coordinate system, and the coordinate system of the electronic device (Dongle device or display) is referred to as the second coordinate system. Considering that the accuracy of calculating the pose of the remote controller using only UWB signals is not high, calculating the first pose information set of the remote controller obtained by the motion capture device and the second pose information of the remote controller obtained by the electronic device can obtain the translational error and rotational error of the remote controller. Furthermore, the pose accuracy of the remote controller can be calculated according to the translational error and rotational error. The pose accuracy of the remote controller obtained in this way is more accurate, and thus using this pose accuracy to evaluate the pointing performance effect of the remote controller is also better.

[0088] Regarding S401, the electronic device obtains the first pose information set of the remote controller in the first coordinate system. This process can be implemented through Figure 5 the steps S401 - S403 in

[0089] S401-1: For each moment within a preset time range, receive the pose information of the center-of-mass model of the rigid body in the first coordinate system from the motion capture device.

[0090] Among them, the pose of the center-of-mass model of the rigid body is the pose of the center-of-mass point of the center-of-mass model of the rigid body. Taking any moment as an example, the pose information of the center-of-mass model of the rigid body in the first coordinate system is represented by which includes angular information and position information That is,

[0091] S401-2: Based on the parameter values of the set external parameters, calculate the first pose information of the remote controller in the first coordinate system according to the pose information of the center-of-mass model of the rigid body in the first coordinate system.

[0092] Among them, the set external parameters include rotational external parameters and translational external parameters. The rotational external parameters represent the rotational relationship between the third coordinate system and the fourth coordinate system; the translational external parameters represent the translational relationship between the third coordinate system and the fourth coordinate system.

[0093] In this process, the parameter values of the set external parameters are implemented through steps A1 - A2:

[0094] A1: Determine M optimization terms.

[0095] Among them, the number of optimization items is the same as the number of markers. Each optimization item represents the position of a marker in the third coordinate system at the first moment, the position of a marker in the fourth coordinate system, and the relationship between the external rotation parameters and the external translation parameters; the third coordinate system is the remote control coordinate system, and the fourth coordinate system is the rigid body center of gravity model coordinate system.

[0096] In a specific example, the k-th optimization item is Among them, the first moment can be any moment. is the position of marker k in the remote control coordinate system, and this position can be measured by a vernier caliper; is the position of marker k in the rigid body center of gravity model coordinate system, and this position can also be measured by a vernier caliper; is the external translation parameter, is the external rotation parameter.

[0097] A2: When it is determined that the sum of the M optimization items takes the minimum value, the values of the external rotation parameters and the values of the external translation parameters are the parameter values of the set external parameters.

[0098] Specifically, the expression for the sum of the M optimization items is Substitute and 's initial values into this expression, and the values of and 's values can be determined.

[0099] After determining the value of the external translation parameter and the value of the external rotation parameter , based on these two parameter values and according to the pose information of the rigid body center of gravity model in the first coordinate system, the first pose information of the remote control in the first coordinate system can be calculated

[0100] Exemplarily, the calculation of the first pose information of the remote control in the first coordinate system is as follows:

[0101]

[0102] Among them, The obtained first pose information of the remote control in the first coordinate system

[0103] S401-3: Determine that the first pose information corresponding to each moment constitutes a first pose information set.

[0104] The above process is the first position of the remote control in the first coordinate system at any moment, and the multiple first pose information corresponding to multiple moments constitutes a first pose information set.

[0105] In addition, the process by which the electronic device obtains the second pose information set of the remote control in the second coordinate system can be calculated through the UWB signals obtained during the communication between the UWB chip of the electronic device and the UWB chip of the remote control, which will not be elaborated here.

[0106] Regarding S402, since the first pose information set stores the pose information of the remote control in the coordinate system of the motion capture device, and the second pose information set stores the position information of the remote control in the Dongle device coordinate system, therefore, in order to improve the accuracy of data fusion, before calculating the translation error and rotation error of the remote control based on the first pose information set and the second pose information set, the motion capture coordinate system and the Dongle device coordinate system can be aligned first.

[0107] In the actual application process, there are many ways to align coordinate systems. In the embodiments of the present application, the first coordinate system and the second coordinate system can be aligned by aligning the time stamps of the Dongle device and the motion capture device.

[0108] Next, the alignment process of the time stamps of the electronic device and the motion capture device will be described.

[0109] For example, given the angular velocity data of the remote control at a certain moment t and the rotation angle of the center of gravity point of the rigid body center of gravity model the angular velocity of the center of gravity point of the rigid body center of gravity model can be determined as follows:

[0110]

[0111] That is to say, at different times t+τ and t-τ, the rotation amount of the center of gravity point of the rigid body center of gravity model from the rotation state at t-τ to the rotation state at t+τ in the motion capture world coordinate system, and then through logarithmic mapping, this total rotation (quaternion) is mapped into a three-dimensional axis angle (a rotation axis and a rotation angle), and divided by the time period 2τ, then the angular velocity of the center of gravity point of the rigid body center of gravity model at this time can be obtained.

[0112] Since the remote control trajectory (multiple sets of pose information at multiple moments) and the trajectory of the rigid body center of gravity model composed of the mark points pasted on the remote control (multiple sets of pose information at multiple moments) are output by the Dongle device and the motion capture device respectively, therefore, the time stamps of the two device systems need to be aligned first. There is an external parameter difference between the remote control trajectory and the trajectory of the rigid body center of gravity model composed of the mark points pasted on the remote control, and their corresponding angular velocities satisfy the following formula:

[0113]

[0114] Taking the modulus lengths on both sides of the above formula at the same time, since the rotation matrix does not affect the modulus length, the formula for aligning the angular velocity modulus lengths of the timestamps of the two trajectories is as follows:

[0115]

[0116] That is to say, because the two trajectories are in a fixed link relationship, the angles rotated by the two trajectories in the same time interval are equal. The relative rotation angle of the two trajectories is calculated every Δt (for example, 1s) to obtain two sets of rotation angle sequences {θ b} and {θ m}, using the mutual correlation coefficient, the short data is sliding matched on the long data, and the moment with the largest mutual correlation coefficient is found within a certain search interval, then the time interval t between the two trajectories can be found s , and then align the timestamps of the trajectories of the two systems.

[0117] Figure 6 A schematic diagram of aligning a first coordinate system and a second coordinate system by a timestamp alignment method is provided in an embodiment of the present application. Figure 6 It can be seen that the aligned first pose information and the second pose information can be unified.

[0118] Next, the process of calculating the translation error and rotation error of the remote control is explained:

[0119] The rotation error of the remote controller can be calculated based on the angle information in the first pose information set and the angle information in the second pose information set. Furthermore, the translation error of the remote controller can be calculated based on the position information in the first pose information set and the position information in the second pose information set.

[0120] Optional, can be passed Figure 7 Calculate the rotation error of the remote control:

[0121] S402-11: Extract N first rotation angles from the first pose information set and N second rotation angles from the second pose information set.

[0122] Each first rotation angle has a corresponding second rotation angle, and each first rotation angle has the same timestamp as the corresponding second rotation angle.

[0123] S402-12: For each first rotation angle, calculate an error rotation angle between the first rotation angle and the corresponding second rotation angle.

[0124] Optionally, taking any first rotation angle as an example, the calculation formula for the error between the first rotation angle and the corresponding second rotation angle is as follows:

[0125]

[0126] Among them, is the first rotation angle, is the second rotation angle, q err is the error between the two, q err = [w err , x err , y err , z err , is the quaternion multiplication, w err , x err , y err , z err are the quaternions among them. q err The corresponding error rotation angle θ = 2arccos(w err ).

[0127] S402 - 13: Calculate the rotation error of the remote control according to N error rotation angles

[0128] By applying the same method, the error rotation angles between other first rotation angles and second rotation angles can be obtained, and then the rotation error of the remote control is RMSE1:

[0129]

[0130] Optionally, the translation error of the remote control can be calculated through Figure 8 :

[0131] S402 - 21: Extract N first positions in the first pose information set and N second positions in the second pose information set;

[0132] S402 - 22: Calculate the translation error of the remote control according to N first positions and N second positions.

[0133] Optionally, the calculation formula for the translation error RMSE2 of the remote control is as follows:

[0134]

[0135] Among them, is the second position at time t i , is the first position at time t i .

[0136] It should be noted that since the coordinate systems of the motion capture device and the Dongle device have been aligned before calculating the rotation error and translation error, the superscript w1 in the description method of the UWB data used in the process of calculating the rotation error and translation error is only used to distinguish from w and does not affect the final calculation result.

[0137] S403 is involved: determining the pose accuracy of the remote control according to the translation error and rotation error.

[0138] Exemplarily, the rotation error and translation error can be fused to obtain the pose accuracy of the remote control. The fusion algorithm is, for example, Kalman filtering, etc., which is not limited here.

[0139] In the embodiment of the present application, first, mark points are pasted on the remote control according to a specified distribution. Secondly, the time stamps of the angular velocity moduli of two fixed trajectories on the remote control are aligned. Then, the external rotation parameter and external translation parameter from the remote control coordinate system to the rigid body centroid model coordinate system are solved. Finally, the pose information obtained by the motion capture device is used to evaluate the accuracy of the position of the remote control determined by the UWB signal output by the Dongle device. Compared with the related art that only relies on a single UWB signal for accuracy evaluation, by introducing a motion capture device, the real position of the remote control is obtained, providing a more accurate and reliable reference standard for the accuracy evaluation of the UWB signal, making the accuracy evaluation result more credible, and the UWB signal can be compared in real time. Finally, the translation and rotation error evaluation indexes of the UWB signal remote control position accuracy can be obtained, and outliers can be found in time. The pose accuracy evaluation in the dynamic scenario can more comprehensively reflect the actual performance of the remote control.

[0140] As Figure 9 shown, based on the same inventive concept, the embodiment of the present application provides a device for determining the pose accuracy of a pointing remote control, including a data acquisition unit 91 and a data processing unit 92.

[0141] The data acquisition unit 91 is used to: acquire the first pose information set of the remote control in the first coordinate system and the second pose information set in the second coordinate system; wherein, the first coordinate system is the coordinate system of the motion capture device, and the second coordinate system is the coordinate system of the electronic device; the motion capture device is arranged within a preset distance range of the remote control; the remote control is a pointing remote control; the electronic device is a display or an external device arranged on the display;

[0142] The data processing unit 92 is used to: calculate the translation error and rotation error of the remote control according to the first pose information set and the second pose information set;

[0143] The data processing unit 92 is further used to: determine the pose accuracy of the remote control according to the translation error and rotation error.

[0144] In an alternative embodiment, the data processing unit 92 is further configured to align the timestamps of the electronic device and the motion capture device before calculating the translation error and rotation error of the remote controller, so as to align the first coordinate system and the second coordinate system;

[0145] Specifically, the data processing unit 92 is configured to:

[0146] Calculate the rotation error of the remote controller according to the angle information in the first pose information set and the angle information in the second pose information set;

[0147] Calculate the translation error of the remote controller according to the position information in the first pose information set and the position information in the second pose information set.

[0148] In an alternative embodiment, the data processing unit 92 is specifically configured to:

[0149] Extract N first rotation angles from the first pose information set and N second rotation angles from the second pose information set; wherein, each first rotation angle has a corresponding second rotation angle, and the timestamps of each first rotation angle and the corresponding second rotation angle are the same;

[0150] For each first rotation angle, calculate the error rotation angle between the first rotation angle and the corresponding second rotation angle;

[0151] Calculate the rotation error of the remote controller according to the N error rotation angles.

[0152] In an alternative embodiment, the data processing unit 92 is specifically configured to:

[0153] Extract N first positions from the first pose information set and N second positions from the second pose information set;

[0154] Calculate the translation error of the remote controller according to the N first positions and the N second positions.

[0155] In an alternative embodiment, M markers are provided on the remote controller, and the M markers form a rigid body centroid model;

[0156] Specifically, the data acquisition unit 91 is configured to:

[0157] For each moment within a preset time range, receive the pose information of the rigid body centroid model in the first coordinate system from the motion capture device;

[0158] Based on the parameter values of the set external parameters, calculate the first pose information of the remote controller in the first coordinate system according to the pose information of the rigid body centroid model in the first coordinate system; wherein, the set external parameters include rotation external parameters and translation external parameters;

[0159] Determine the first pose information corresponding to each moment to form a first pose information set.

[0160] In an alternative embodiment, the data processing unit 92 is further configured to:

[0161] Determine M optimization items; wherein each optimization item represents the position of a marker in the third coordinate system at the first moment, the position of a marker in the fourth coordinate system, and the relationship between the rotational extrinsic parameters and the translational extrinsic parameters; the third coordinate system is the remote control coordinate system, and the fourth coordinate system is the rigid body center-of-gravity model coordinate system;

[0162] When the sum of the M optimization items is determined to be the minimum value, the values of the rotational extrinsic parameters and the translational extrinsic parameters are the parameter values of the set extrinsic parameters.

[0163] In an alternative embodiment, the rotational extrinsic parameters represent the rotational relationship between the third coordinate system and the fourth coordinate system; the translational extrinsic parameters represent the translational relationship between the third coordinate system and the fourth coordinate system.

[0164] Since this device is the device in the method of the embodiments of the present application, and the principle by which this device solves problems is similar to that of the method, the implementation of this device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0165] As Figure 10 shown, based on the same inventive concept, the embodiments of the present application provide an electronic device, and the terminal includes: a processor 101 and a data transmission unit 102.

[0166] The data transmission unit 102 is configured to execute:

[0167] Obtain the first pose information set of the remote control in the first coordinate system and the second pose information set in the second coordinate system; wherein the first coordinate system is the motion capture device coordinate system, and the second coordinate system is the electronic device coordinate system; the motion capture device is arranged within a preset distance range of the remote control; the remote control is a pointing-type remote control; the electronic device is a display or an external device arranged on the display;

[0168] The processor 101 is configured to execute:

[0169] Calculate the translational error and rotational error of the remote control according to the first pose information set and the second pose information set;

[0170] Determine the pose accuracy of the remote control according to the translational error and the rotational error.

[0171] In an alternative embodiment, the processor 101 is specifically configured to execute:

[0172] Align the timestamps of the electronic device and the motion capture device so that the first coordinate system and the second coordinate system are aligned;

[0173] Calculate the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set;

[0174] Calculate the translation error of the remote control according to the position information in the first pose information set and the position information in the second pose information set.

[0175] In an alternative embodiment, the processor 101 is specifically configured to execute:

[0176] Extract N first rotation angles in the first pose information set and N second rotation angles in the second pose information set; wherein, each first rotation angle has a corresponding second rotation angle, and the timestamps of each first rotation angle and the corresponding second rotation angle are the same;

[0177] For each first rotation angle, calculate the error rotation angle between the first rotation angle and the corresponding second rotation angle;

[0178] Calculate the rotation error of the remote control according to the N error rotation angles

[0179] In an alternative embodiment, the processor 101 is specifically configured to:

[0180] Extract N first positions in the first pose information set and N second positions in the second pose information set;

[0181] Calculate the translation error of the remote control according to the N first positions and the N second positions.

[0182] In an alternative embodiment, M markers are set on the remote control, and the M markers form a rigid body center of gravity model;

[0183] The data transmission unit 102 is specifically configured to:

[0184] For each moment within a preset time range, receive the pose information of the rigid body center of gravity model in the first coordinate system from the motion capture device;

[0185] Based on the parameter values of the set external parameters, calculate the first pose information of the remote control in the first coordinate system according to the pose information of the rigid body center of gravity model in the first coordinate system; wherein, the set external parameters include rotation external parameters and translation external parameters;

[0186] Determine that the first pose information corresponding to each moment constitutes a first pose information set.

[0187] In an alternative embodiment, the processor 101 is further configured to:

[0188] Determine M optimization items; wherein each optimization item represents the position of a marker at a first moment in a third coordinate system, the position of a marker in a fourth coordinate system, and the relationship between the rotation external parameter and the translation external parameter; the third coordinate system is the remote control coordinate system, and the fourth coordinate system is the rigid body center of gravity model coordinate system;

[0189] When it is determined that the sum of the M optimization items takes the minimum value, the values of the rotation external parameter and the translation external parameter are the parameter values of the set external parameter.

[0190] In an alternative embodiment, the rotation external parameter represents the rotation relationship between the third coordinate system and the fourth coordinate system; the translation external parameter represents the translation relationship between the third coordinate system and the fourth coordinate system.

[0191] The embodiment of the present application further provides a computer storage medium, in which computer program instructions are stored. When the instructions run on a computer, the computer is enabled to execute the steps of the method for determining the pose accuracy of the pointing remote control.

[0192] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0193] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0194] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more flows and / or blocks Figure 1The functions specified in one or more boxes.

[0195] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide for implementing in the process Figure 1 One or more processes and / or boxes Figure 1 The steps of the functions specified in one or more boxes.

[0196] Obviously, those skilled in the art include these changes and variations.

Claims

1. A method for determining the pose accuracy of a pointing remote control, characterized in that Including: Obtain the first pose information set of the remote control in the first coordinate system and the second pose information set in the second coordinate system; wherein, the first coordinate system is the coordinate system of the motion capture device, and the second coordinate system is the coordinate system of the electronic device; the motion capture device is arranged within a preset distance range of the remote control; the remote control is a pointing-type remote control; the electronic device is a display or an external device arranged on the display; Calculate the translation error and rotation error of the remote control according to the first pose information set and the second pose information set; Determine the pose accuracy of the remote control according to the translation error and the rotation error.

2. The method according to claim 1, characterized in that, Before calculating the translation error and rotation error of the remote control, the method further includes: Align the time stamp of the electronic device and the time stamp of the motion capture device to align the first coordinate system and the second coordinate system; The calculating the translation error and rotation error of the remote control according to the first pose information set and the second pose information set includes: Calculate the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set; Calculate the translation error of the remote control according to the position information in the first pose information set and the position information in the second pose information set.

3. The method according to claim 2, wherein The calculating the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set includes: Extract N first rotation angles in the first pose information set and N second rotation angles in the second pose information set; wherein, each first rotation angle has a corresponding second rotation angle, and the time stamps of each first rotation angle and the corresponding second rotation angle are the same; For each first rotation angle, calculate the error rotation angle between the first rotation angle and the corresponding second rotation angle; Calculate the rotation error of the remote control according to the N error rotation angles.

4. The method according to claim 2, wherein The calculating the translation error of the remote control according to the position information in the first pose information set and the position information in the second pose information set includes: Extract N first positions in the first pose information set and N second positions in the second pose information set; Calculate the translation error of the remote control according to the N first positions and the N second positions.

5. The method according to any one of claims 1 to 4, characterized in that, M markers are arranged on the remote control, and the M markers form a rigid body center-of-gravity model; The obtaining the first pose information set of the remote control in the first coordinate system includes: For each moment within a preset time range, receive the pose information of the rigid body center-of-gravity model in the first coordinate system from the motion capture device; Based on the parameter values of the set external parameters, calculate the first pose information of the remote control in the first coordinate system according to the pose information of the rigid body center-of-gravity model in the first coordinate system; wherein, the set external parameters include rotation external parameters and translation external parameters; Determine that the first pose information corresponding to each moment constitutes the first pose information set.

6. The method according to claim 5, wherein The method further includes: Determining M optimization items; wherein each optimization item represents the position of a marker in a third coordinate system at a first moment, the position of the marker in a fourth coordinate system, and the relationship between the rotation external parameter and the translation external parameter; the third coordinate system is the remote control coordinate system, and the fourth coordinate system is the rigid body center of gravity model coordinate system; When the sum of the M optimization items is determined to be the minimum, the values of the rotation external parameter and the translation external parameter are the parameter values of the set external parameter.

7. The method according to claim 6, wherein The rotation external parameter represents the rotation relationship between the third coordinate system and the fourth coordinate system; the translation external parameter represents the translation relationship between the third coordinate system and the fourth coordinate system.

8. An electronic device, characterized in that, It includes a processor and a data transmission unit; The data transmission unit is configured to execute: Obtaining a first pose information set of the remote control in a first coordinate system and a second pose information set in a second coordinate system; wherein the first coordinate system is the motion capture device coordinate system, and the second coordinate system is the electronic device coordinate system; the motion capture device is arranged within a preset distance range of the remote control; the remote control is a pointing remote control; the electronic device is a display or an external device arranged on the display; The processor is configured to execute: Calculating the translation error and rotation error of the remote control according to the first pose information set and the second pose information set; Determining the pose accuracy of the remote control according to the translation error and the rotation error.

9. The electronic device according to claim 8, wherein The processor is specifically configured to execute: Aligning the time stamps of the electronic device and the motion capture device so that the first coordinate system and the second coordinate system are aligned; Calculating the rotation error of the remote control according to the angle information in the first pose information set and the angle information in the second pose information set; Calculating the translation error of the remote control according to the position information in the first pose information set and the position information in the second pose information set.

10. The electronic device according to claim 9, wherein The processor is specifically configured to execute: Extracting N first rotation angles from the first pose information set and N second rotation angles from the second pose information set; wherein there is a corresponding second rotation angle for each first rotation angle, and the time stamps of each first rotation angle and the corresponding second rotation angle are the same; For each first rotation angle, calculating the error rotation angle between the first rotation angle and the corresponding second rotation angle; Calculating the rotation error of the remote control according to the N error rotation angles.

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