A method and system for generating a virtual road map of a predictive redirection controller

Abstract

The present invention belongs to the field of virtual reality redirection technology and provides a method and system for generating a virtual roadmap for a predictive redirection controller. The method comprises performing curved polygonal segmentation on a given virtual scene and calculating the shortest path tree for the user's current location in the scene using a shortest path tree algorithm. The given virtual scene is then skeletonized to obtain a polygonal skeleton. Based on the shortest path tree, the visible polygonal area of ​​the user's current location is calculated. Virtual waypoints are extracted based on the intersection of the visible polygonal area and the polygonal skeleton. A clothoid curve is used to fit the path between adjacent virtual waypoints. A determination is made as to whether the depth of the current waypoint meets a given depth. If not, the fitting is repeated using the next virtual waypoint as the user's current location until a virtual roadmap meeting the given depth is generated. The present invention can support virtual roadmap generation solutions for predictive redirection controllers in scenes with complex curved boundaries, addressing the limited applicability of existing predictive redirection controllers.

Description

Technical Field

[0001] This invention belongs to the field of virtual reality redirection technology, and relates to a method and system for generating virtual roadmaps for predictive redirection controllers. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Virtual reality (VR) applications based on head-mounted displays (HMDs) can provide users with a highly immersive interactive experience. In such systems, enabling users to move in the virtual environment as naturally as they would in a physical environment (locomotion) is crucial for enhancing immersion. Currently, the most direct and simple method is to map virtual space to physical space in a 1:1 manner; however, this method limits the user's walking range in the virtual environment to the size constraints of the physically walkable environment.

[0004] To overcome this challenge, redirected walking (RDW) technology emerged. This technology adds a deviation between the virtual and physical walking trajectories, allowing users to explore a wider virtual world within a limited physical space. Redirection gain is the most basic and widely used type of RDW technique. This method induces the user's walking trajectory by adding deviations in different dimensions such as walking distance, rotation angle, and path curvature, while keeping these deviations imperceptible to the user.

[0005] In practical applications, to address more complex scenario requirements, a redirection controller is typically used to combine different redirection gain strategies. Among these, the predicted redirection controller, as one of the most effective controller methods, selects the most appropriate action from a predefined set of actions (i.e., redirection gain) and dynamically calculates the optimal position the user should face using a series of predefined virtual roadmaps. In this way, the controller can make reasonable adjustments based on complex environments, enabling users to achieve immersive roaming in larger and more complex virtual scenes, even within a limited physical space.

[0006] However, existing predictive retargeting controllers suffer from two significant problems: First, they have poor scene adaptability. Most are only suitable for simple corridor-type scenarios with straight boundaries, making it difficult to adapt to complex virtual environments with curved boundaries. Second, virtual road maps rely on manual annotation. Existing systems often require developers to manually design and annotate virtual road maps, which is inefficient and lacks flexibility and automation. Summary of the Invention

[0007] To address the aforementioned issues, this invention proposes a method and system for generating virtual roadmaps for predictive redirection controllers. This invention supports virtual roadmap generation schemes for predictive redirection controllers in complex scenarios with curved boundaries, thereby improving the applicability of predictive redirection controllers and further enhancing the user immersion experience and system adaptability in VR systems.

[0008] According to some embodiments, the present invention adopts the following technical solution:

[0009] A method for generating a virtual roadmap for a predictive rerouting controller includes the following steps:

[0010] Perform curved polygon subdivision on a given virtual scene, and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene;

[0011] Perform skeletonization on a given virtual scene to obtain a polygon skeleton;

[0012] Based on the shortest path tree, calculate the visible polygon region of the user's current location;

[0013] Virtual waypoints are extracted based on the intersections of the visible polygonal regions and the polygonal skeleton.

[0014] Use a spiral curve to fit the path between adjacent virtual waypoints;

[0015] Determine if the current waypoint depth meets the given depth. If not, repeat the steps of calculating the visible polygon area to the fitted path using the next virtual waypoint as the user's current location until a virtual roadmap that meets the given depth is generated.

[0016] As an alternative implementation method, the process of performing curved polygon subdivision on a given virtual scene includes:

[0017] Calculate the Voronoi diagram for a given virtual scene;

[0018] For each Voronoi vertex in the Voronoi diagram, obtain its perpendicular points on the three sites associated with it, and connect them in pairs to obtain a set of subdivided polygons.

[0019] As an alternative implementation, the process of calculating the shortest path tree of the user's current position in the scene using the shortest path tree algorithm includes: obtaining the sub-polygons containing the user's current position in the set of subdivided sub-polygons;

[0020] Add the sub-polygon to the queue. If the queue is not empty, repeat the next step.

[0021] The first sub-polygon is dequeued, and the shortest path tree from all vertices of the sub-polygon to the user's current position is calculated using the funnel data structure. The unprocessed neighboring sub-polygons of the sub-polygon are then added to the queue.

[0022] Obtain the shortest path tree with the user's current location as the root node.

[0023] As an alternative implementation, based on the shortest path tree, the visible polygon region of the user's current location is calculated, including:

[0024] For each edge in the virtual scene, calculate the visible area of ​​that edge relative to the user's current position;

[0025] Connect the visible areas of each edge sequentially to obtain the visible polygon of the user's current location.

[0026] As a further limitation, the calculation of the visible area of ​​each edge in the virtual scene relative to the user's current position includes:

[0027] Find the shortest paths from the user's current position to the two vertices of the edge from the shortest path tree;

[0028] Starting from the user's current location, rays are emitted from the tangent direction of the starting position of the first segment of the two shortest paths mentioned above, and the intersection point with the edge is determined.

[0029] If there are two intersection points, the line segment connecting the two intersection points is the visible area of ​​that edge; otherwise, the edge is not visible to the user's current location.

[0030] As an alternative implementation, the process of performing skeleton processing on a given virtual scene to obtain a polygon skeleton includes: for the input curved polygon virtual scene, calculating the Voronoi diagram of the curved polygon; based on the Voronoi diagram, for each Voronoi edge, if there is an endpoint that is a vertex of the polygon, then deleting the Voronoi edge; otherwise, retaining the Voronoi edge, thus obtaining the skeleton diagram of the curved polygon.

[0031] As an alternative implementation method, the specific process of fitting the path between adjacent virtual waypoints using a spiral curve includes:

[0032] The starting position is the location of the first virtual waypoint, and the starting direction is the tangent direction of the virtual waypoint on the skeleton graph.

[0033] The location of the second virtual waypoint is obtained as the termination position, and the tangent direction of this waypoint on the skeleton graph is the termination direction.

[0034] A virtual path is fitted using a spiral curve fitting method based on the starting position, starting direction, ending position, and ending direction. The starting and ending points of this path are the starting and ending positions, respectively, and the tangent directions of the starting and ending points are the starting and ending directions, respectively.

[0035] A predictive rerouting controller virtual roadmap generation system, comprising:

[0036] The scene segmentation module is configured to perform curved polygon segmentation on a given virtual scene and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene.

[0037] The scene skeleton processing module is configured to perform skeleton processing on a given virtual scene to obtain a polygon skeleton;

[0038] The visibility module is configured to calculate the visible polygon region of the user's current location based on the shortest path tree;

[0039] The waypoint generation module is configured to extract virtual waypoints based on the intersections of the visible polygonal regions and the polygonal skeleton.

[0040] The path fitting module is configured to fit the path between adjacent virtual waypoints using a spiral curve;

[0041] The virtual road map generation module is configured to determine whether the current waypoint depth meets the given depth. If not, the visibility module, waypoint generation module, and path fitting module are repeatedly called with the next virtual waypoint as the user's current location until a virtual road map that meets the given depth is generated.

[0042] A computer-readable storage medium storing a plurality of instructions adapted for loading by a processor of a terminal device and executing steps in the method.

[0043] A terminal device includes a processor and a computer-readable storage medium, the processor being configured to implement instructions; the computer-readable storage medium being configured to store a plurality of instructions adapted to be loaded by the processor and executed in accordance with the steps of the method described therein.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0045] 1. This invention uses a curve polygon subdivision algorithm based on Voronoi diagrams and a curve polygon skeleton extraction method to process complex curve boundaries, thereby improving the applicability of the prediction retargeting controller to complex scenes containing curve boundaries.

[0046] 2. The solution described in this invention achieves automatic generation of virtual paths that are more in line with human walking habits based on the virtual scene by using a visible polygon waypoint generation mechanism and a path fitting based on a spiral curve, enabling developers to quickly develop predictive redirection controllers in any virtual scene.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. Attached Figure Description

[0048] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0049] Figure 1 This is a schematic diagram of a virtual road map generation process in one embodiment;

[0050] Figure 2 This is a schematic diagram of a virtual scene input in one embodiment;

[0051] Figure 3 This is a schematic diagram of a Voronoi diagram of a virtual scene in one embodiment;

[0052] Figure 4 This is a schematic diagram of the skeleton of a virtual scene based on a Voronoi diagram in one embodiment;

[0053] Figure 5 This is a schematic diagram of the partitioning of a virtual scene based on a Voronoi diagram in one embodiment;

[0054] Figure 6 This is a schematic diagram of a visible polygon in a virtual scene in one embodiment;

[0055] Figure 7 This is a schematic diagram of virtual waypoints and virtual paths in a virtual scene in one embodiment. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0059] Example 1

[0060] A method for generating virtual roadmaps for predictive relocation controllers, such as Figure 1 As shown, the following steps are included:

[0061] Step 1: Perform curved polygon subdivision on the given virtual scene, and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene;

[0062] Step 2: Perform skeletonization on the given virtual scene to obtain a polygon skeleton;

[0063] Step 3: Calculate the visible polygon region of the user's current location based on the shortest path tree;

[0064] Step 4: Extract virtual waypoints based on the intersections of the visible polygonal regions and the polygonal skeleton;

[0065] Step 5: Fit the path between adjacent virtual waypoints using a spiral curve;

[0066] Step 6: Determine if the current waypoint depth meets the given depth. If not, use the next virtual waypoint as the user's current location and go to Step 3; if yes, output the virtual road map, such as... Figure 7 .

[0067] The process of performing curve polygon subdivision on a given virtual scene includes:

[0068] Step (1.1): For the input curved polygon virtual scene, proceed to step (1.2).

[0069] Step (1.2): Calculate the Voronoi diagram of the curved polygon, such as... Figure 2 As shown, proceed to step (1.3);

[0070] Step (1.3): Calculate the set of subdivided polygons of the curve polygon based on the Voronoi diagram.

[0071] Specifically, step (1.3) includes the following steps:

[0072] Step (1.3.1): For each Voronoi vertex, execute step (1.3.2); after all are executed, proceed to step (1.3.4).

[0073] Step (1.3.2): Calculate the perpendicular points on the three stations associated with the Voronoi vertex, then proceed to step (1.3.3).

[0074] Step (1.3.3): Connect the three perpendicular points in pairs to obtain a diagonal line, then go to step (1.3.1).

[0075] Step (1.3.4): All diagonals divide the curved polygon into a set of sub-polygons.

[0076] In this embodiment, the steps of scene skeleton processing include:

[0077] Step (2.1): For the input curved polygon virtual scene, calculate the Voronoi diagram of the curved polygon;

[0078] Step (2.2): Calculate the skeleton graph of the curve polygon based on the Voronoi diagram. Specifically, for each Voronoi edge, if there is an endpoint that is a vertex of the polygon, delete the Voronoi edge; otherwise, retain the Voronoi edge. Figure 4 As shown.

[0079] In this embodiment, the process of calculating the visible polygonal region of the user's current location based on the shortest path tree includes:

[0080] Step (3.1): For the virtual scene represented by the input curved polygon, combine the subdivision results of the curved polygon, such as... Figure 5 As shown, and the user's virtual location, proceed to step (3.2) for calculation;

[0081] Step (3.2): Calculate the shortest path tree of the user's virtual location in the curved polygon, then proceed to step (3.3).

[0082] Step (3.3): Based on the shortest path tree, calculate the visible polygon of the user's virtual location within the curved polygon, such as... Figure 6 As shown.

[0083] Specifically, step (3.2) includes:

[0084] Step (3.2.1): Obtain the sub-polygon containing the user's current position in the set of sub-polygons, then proceed to step (3.2.2).

[0085] Step (3.2.2): Add the sub-polygon to the queue. If the queue is not empty, repeat step (3.2.3); otherwise, go to step (3.2.4).

[0086] Step (3.2.3) removes the first sub-polygon from the queue, calculates the shortest path tree from all vertices of the sub-polygon to the user's current position using the funnel data structure, and then adds the unprocessed neighboring sub-polygons of the sub-polygon to the queue, proceeding to step (3.2.2).

[0087] Step (3.2.4): Obtain the shortest path tree with the user's current location as the root node.

[0088] Specifically, step (3.3) includes:

[0089] Step (3.3.1): For each edge in the virtual scene, calculate the visible area of ​​this edge relative to the user's current position, and proceed to step (3.3.2).

[0090] Step (3.3.2): Connect the visible areas of each edge sequentially to obtain the visible polygon of the user's current position, such as... Figure 6 As shown.

[0091] Specifically, step (3.3.1) includes:

[0092] Step (3.3.1.1): Find the shortest path from the user's current position to the two vertices of the edge in the shortest path tree, and go to step (3.3.1.2);

[0093] Step (3.3.1.2): Starting from the user's current position, draw rays from the tangent direction of the starting position of the first segment of each of the two shortest paths and find the intersection point with the edge, then proceed to step (3.3.1.3).

[0094] Step (3.3.1.3): If there are two intersection points, the line segment connecting the two intersection points is the visible area of ​​the edge; otherwise, the edge is not visible to the user's current position.

[0095] The process of extracting virtual waypoints based on the intersections of the visible polygonal regions and the polygonal skeleton includes:

[0096] Step (4.1): For each edge e1 of the visible polygon and each edge e2 of the polygon skeleton, if e1 and e2 intersect, add them to set R.

[0097] Step (4.2): Output R as a virtual waypoint.

[0098] The process of fitting the path between adjacent virtual waypoints using a spiral curve includes:

[0099] Step (5.1): Obtain the position of the first virtual waypoint as the starting position, and take the tangent direction of the virtual waypoint on the skeleton graph as the starting direction.

[0100] Step (5.2): Obtain the position of the second virtual waypoint as the termination position, and the tangent direction of this waypoint on the skeleton graph is the termination direction.

[0101] Step (5.3): Fit a virtual path using a spiral curve fitting method with the starting position, starting direction, ending position, and ending direction. The starting point and ending point of the path are the starting position and ending position, respectively, and the tangent directions of the starting point and ending point of the path are the starting direction and ending direction, respectively.

[0102] Example 2

[0103] A predictive rerouting controller virtual roadmap generation system, comprising:

[0104] The scene segmentation module is configured to perform curved polygon segmentation on a given virtual scene and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene.

[0105] The scene skeleton processing module is configured to perform skeleton processing on a given virtual scene to obtain a polygon skeleton;

[0106] The visibility module is configured to calculate the visible polygon region of the user's current location based on the shortest path tree;

[0107] The waypoint generation module is configured to extract virtual waypoints based on the intersections of the visible polygonal regions and the polygonal skeleton.

[0108] The path fitting module is configured to fit the path between adjacent virtual waypoints using a spiral curve;

[0109] The virtual road map generation module is configured to determine whether the current waypoint depth meets the given depth. If not, the visibility module, waypoint generation module, and path fitting module are repeatedly called with the next virtual waypoint as the user's current location until a virtual road map that meets the given depth is generated.

[0110] The specific execution steps of the module have been described in detail in Example 1, so they will not be repeated here.

[0111] Example 3

[0112] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a predictive relocation controller virtual roadmap generation step as described in Embodiment 1.

[0113] Example 4

[0114] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements a predictive relocation controller virtual roadmap generation step as described in Embodiment 1.

[0115] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0116] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0119] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0120] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for generating a virtual roadmap for a predictive rerouting controller, characterized in that, Includes the following steps: Perform curved polygon subdivision on a given virtual scene, and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene; Perform skeletonization on a given virtual scene to obtain a polygon skeleton; Based on the shortest path tree, calculate the visible polygon region of the user's current location; Virtual waypoints are extracted based on the intersections of the visible polygonal regions and the polygonal skeleton. Use a spiral curve to fit the path between adjacent virtual waypoints; Determine whether the current waypoint depth meets the given depth. If not, repeat the steps of calculating the visible polygon area to the fitted path with the next virtual waypoint as the user's current location until a virtual roadmap that meets the given depth is generated. The process of performing curve polygon subdivision on a given virtual scene includes: Calculate the Voronoi diagram for a given virtual scene; For each Voronoi vertex in the Voronoi diagram, obtain its perpendicular points to the three sites associated with it, and connect them in pairs to obtain a set of subdivided polygons. The process of performing skeleton processing on a given virtual scene to obtain a polygon skeleton includes: for the input curved polygon virtual scene, calculating the Voronoi diagram of the curved polygon; based on the Voronoi diagram, for each Voronoi edge, if there is an endpoint that is a vertex of the polygon, then the Voronoi edge is deleted; otherwise, the Voronoi edge is retained, thus obtaining the skeleton diagram of the curved polygon. The process of extracting virtual waypoints based on the intersections of the visible polygonal region and the polygonal skeleton includes: For each edge of the visible polygon and each edge of the polygon skeleton, if they intersect, add them to set R, and output set R as a virtual waypoint. The specific process of fitting the path between adjacent virtual waypoints using a spiral curve includes: obtaining the position of the first virtual waypoint as the starting position, and taking the tangent direction of the virtual waypoint on the skeleton graph as the starting direction; The location of the second virtual waypoint is obtained as the termination position, and the tangent direction of this waypoint on the skeleton graph is the termination direction. A virtual path is fitted using a spiral curve fitting method based on the starting position, starting direction, ending position, and ending direction. The starting and ending points of this path are the starting and ending positions, respectively, and the tangent directions of the starting and ending points are the starting and ending directions, respectively.

2. The method for generating a virtual roadmap for a predictive rerouting controller as described in claim 1, characterized in that, The process of calculating the shortest path tree for the user's current position in a scene using the shortest path tree algorithm includes: obtaining the sub-polygons containing the user's current position from the set of sub-polygons; Add the sub-polygon to the queue. If the queue is not empty, repeat the next step. The first sub-polygon is dequeued, and the shortest path tree from all vertices of the sub-polygon to the user's current position is calculated using the funnel data structure. The unprocessed neighboring sub-polygons of the sub-polygon are then added to the queue. Obtain the shortest path tree with the user's current location as the root node.

3. The method for generating a virtual roadmap for a predictive rerouting controller as described in claim 1, characterized in that, Based on the shortest path tree, calculate the visible polygon region of the user's current location, including: For each edge in the virtual scene, calculate the visible area of ​​that edge relative to the user's current position; Connect the visible areas of each edge sequentially to obtain the visible polygon of the user's current location.

4. The method for generating a virtual roadmap for a predictive relocation controller as described in claim 3, characterized in that, For each edge in the virtual scene, calculating the visible area of ​​that edge relative to the user's current position includes: Find the shortest paths from the user's current position to the two vertices of the edge from the shortest path tree; Starting from the user's current location, rays are emitted from the tangent direction of the starting position of the first segment of the two shortest paths mentioned above, and the intersection point with the edge is determined. If there are two intersection points, the line segment connecting the two intersection points is the visible area of ​​that edge; otherwise, the edge is not visible to the user's current location.

5. A predictive rerouting controller virtual roadmap generation system, characterized in that, include: The scene segmentation module is configured to perform curved polygon segmentation on a given virtual scene and use the shortest path tree algorithm to calculate the shortest path tree of the user's current position in the scene. The scene skeleton processing module is configured to perform skeleton processing on a given virtual scene to obtain a polygon skeleton; The visibility module is configured to calculate the visible polygon region of the user's current location based on the shortest path tree; The waypoint generation module is configured to extract virtual waypoints based on the intersections of the visible polygonal regions and the polygonal skeleton. The path fitting module is configured to fit the path between adjacent virtual waypoints using a spiral curve; The virtual road map generation module is configured to determine whether the current waypoint depth meets the given depth. If not, the visibility module, waypoint generation module, and path fitting module are repeatedly called with the next virtual waypoint as the user's current location until a virtual road map that meets the given depth is generated. The process of performing curve polygon subdivision on a given virtual scene includes: Calculate the Voronoi diagram for a given virtual scene; For each Voronoi vertex in the Voronoi diagram, obtain its perpendicular points to the three sites associated with it, and connect them in pairs to obtain a set of subdivided polygons. The process of performing skeleton processing on a given virtual scene to obtain a polygon skeleton includes: for the input curved polygon virtual scene, calculating the Voronoi diagram of the curved polygon; based on the Voronoi diagram, for each Voronoi edge, if there is an endpoint that is a vertex of the polygon, then the Voronoi edge is deleted; otherwise, the Voronoi edge is retained, thus obtaining the skeleton diagram of the curved polygon. The process of extracting virtual waypoints based on the intersections of the visible polygonal region and the polygonal skeleton includes: For each edge of the visible polygon and each edge of the polygon skeleton, if they intersect, add them to set R, and output set R as a virtual waypoint. The specific process of fitting the path between adjacent virtual waypoints using a spiral curve includes: obtaining the position of the first virtual waypoint as the starting position, and taking the tangent direction of the virtual waypoint on the skeleton graph as the starting direction; The location of the second virtual waypoint is obtained as the termination position, and the tangent direction of this waypoint on the skeleton graph is the termination direction. A virtual path is fitted using a spiral curve fitting method based on the starting position, starting direction, ending position, and ending direction. The starting and ending points of this path are the starting and ending positions, respectively, and the tangent directions of the starting and ending points are the starting and ending directions, respectively.

6. A computer-readable storage medium, characterized in that, It stores multiple instructions, which are adapted to be loaded by the processor of the terminal device and executed as steps in the method of any one of claims 1-4.

7. A terminal device, characterized in that, It includes a processor and a computer-readable storage medium, the processor being used to implement various instructions; the computer-readable storage medium being used to store a plurality of instructions adapted to be loaded by the processor and executed as steps in the method of any one of claims 1-4.

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