Method and associated system for anchoring a virtual object

Abstract

The invention relates to a method for anchoring a virtual object to be displayed on an electronic display of an electronic terminal (T1) at a given position in space, the method comprising:  selecting a virtual object and identifying the virtual object by means of the positioning marker (B1);  measuring an orientation of the electronic terminal (T1) relative to a reference on the basis of a second compass;  generating a command for the output of a first signal;  measuring a transmission parameter of the first signal by means of the positioning marker (B1);  calculating a first position on the basis of the second orientation and of the transmission parameter of the electronic terminal (T1);  anchoring a position of the virtual object at the first position, which anchoring step includes associating the virtual object with the first position.

Description

[0001] Description

[0002] Title: METHOD FOR ANCHORING A VIRTUAL OBJECT, ASSOCIATED SYSTEM

[0003] Field of invention

[0004] The invention relates to methods implemented by computers and / or by systems comprising electronic equipment for exploiting data from a virtual environment in a real environment. The field of the invention relates more particularly to methods for anchoring data in the real world to give access to this data to a third party.

[0005] State of the art

[0006] There are solutions for anchoring data to a given position in a real environment. In this case, it is necessary to vectorize all or part of the real environment. The data is positioned in a reference frame linked to the vectorized environment. It is understood that the data can be virtual objects, media, or even text.

[0007] One advantage is that it allows sharing data located in a real environment with other individuals. However, this solution has the disadvantage of having to be accessible to all parties wishing to exchange information. This configuration is practical when there is access, generally operated by an application, to the real environment, but this is not always the case; in addition, it is very difficult to duplicate the vectorization of a real environment.

[0008] This solution allows you to view data in a real context, such as your living room or office, but only through a terminal or system that has performed the vectorization. However, this solution is restrictive in several ways. Indeed, if you want to see a piece of furniture layout represented within a context that changes over time, you need to perform a new vectorization of the location. Another disadvantage is that each person wishing to access a shared anchored object must have access to the vectorized location or must vectorize the location themselves. This implies, in particular, that a large amount of data is transferred from one device to another.

[0009] Furthermore, there are solutions for locating virtual objects in the real environment. This is particularly the case for a game such as Pokémon Go, which is a registered trademark. The game consists of recovering virtual objects placed in positions in the real environment. However, a limitation of this technology is GPS location, which does not allow for the precise location of objects inside a room, the signal being most often too attenuated and not allowing sufficient precision to be obtained.

[0010] There is a need to localize data in a real environment that is located in enclosed places such as homes, factories, offices, stores, museums or any other place that can be used to exchange localized data between individuals.

[0011] Summary of the invention

[0012] According to a first aspect, the invention relates to a method of anchoring a virtual object to be displayed on an electronic display of an electronic terminal at a given position in space, said method comprising:

[0013] ■ Initialization of a wireless communication between an electronic terminal and at least one positioning terminal to record an identifier of said electronic terminal in a memory of said positioning terminal;

[0014] ■ Selection of a virtual object from the electronic terminal and identification of said virtual object by said positioning terminal;

[0015] ■ Measurement of a first orientation of the positioning terminal with respect to a reference from a first orientation device;

[0016] ■ Measurement of a second orientation of the electronic terminal with respect to a reference from a second orientation device ■ Generation of a command to transmit a first signal generated by a UWB communication interface of the electronic terminal;

[0017] ■ Acquisition by the positioning terminal of a first signal transmitted by means of a UWB communication interface of the electronic terminal;

[0018] ■ Measurement of a transmission parameter of the first signal by the positioning terminal;

[0019] ■ Transmission of a second data encoding the second orientation by the electronic terminal;

[0020] ■ Acquisition by the positioning terminal of the second orientation emitted by the electronic terminal;

[0021] ■ Calculation of a first position from the second orientation and the transmission parameter of said electronic terminal;

[0022] ■ Recording of the first position defined in relation to the terminal;

[0023] ■ Anchoring a position of the virtual object to the first position, said anchoring comprising an association of said virtual object with the first position.

[0024] According to a first aspect, the invention relates to a method of anchoring a virtual object to be displayed on an electronic display of an electronic terminal at a given position in space, said method being implemented by a single terminal and said electronic terminal, said method comprising:

[0025] ■ Initialization of a wireless communication between an electronic terminal and a positioning terminal to record an identifier of said electronic terminal in a memory of said positioning terminal;

[0026] ■ Selection of a virtual object from the electronic terminal and identification of said virtual object by said positioning terminal;

[0027] ■ Measuring a first orientation of the positioning terminal with respect to a reference from a first orientation device; ■ Measuring a second orientation of the electronic terminal with respect to a reference from a second orientation device;

[0028] ■ Generation of a command to transmit a first signal generated by a UWB communication interface of the electronic terminal;

[0029] ■ Acquisition by the positioning terminal of a first signal transmitted by means of a UWB communication interface of the electronic terminal;

[0030] ■ Measurement of a transmission parameter of the first signal by the positioning terminal;

[0031] ■ Transmission of a second data encoding the second orientation by the electronic terminal;

[0032] ■ Acquisition by the positioning terminal of the second orientation emitted by the electronic terminal;

[0033] ■ Calculation of a first position from the second orientation and the transmission parameter of said electronic terminal;

[0034] ■ Recording of the first position defined in relation to the terminal;

[0035] ■ Anchoring a position of the virtual object to the first position, said anchoring comprising an association of said virtual object with the first position.

[0036] An advantage of using only one terminal is to reduce the number of equipment required to locate the terminal and display the virtual object on the display of the electronic terminal. The display is then able, thanks to an augmented reality component, to display the virtual object on the image acquired by the optics of the terminal depending on the position and orientation of said electronic terminal on the one hand and the position of said virtual object in space on the other hand.

[0037] According to a second aspect, the invention relates to a method of anchoring a virtual object to be displayed on an electronic display of an electronic terminal at a given position in space, said method comprising:

[0038] ■ Initializing a wireless communication between an electronic terminal and a plurality of positioning terminals to record an identifier of said electronic terminal in a memory of said positioning terminal; ■ Selecting a virtual object from the electronic terminal and identifying said virtual object by said positioning terminal;

[0039] ■ Generation of a command to transmit a first signal generated by a UWB communication interface of the electronic terminal;

[0040] ■ Acquisition by the positioning terminals of a first signal emitted by means of a UWB communication interface of the electronic terminal;

[0041] ■ Measurement of a transmission parameter of the first signal by the positioning terminals;

[0042] ■ Calculation of a first position from the transmission parameter of said electronic terminal and by means of a trilateration algorithm;

[0043] ■ Recording of the first position defined with respect to a reference terminal chosen from among all the terminals;

[0044] ■ Anchoring a position of the virtual object to the first position, said anchoring comprising an association of said virtual object with the first position.

[0045] According to one embodiment, the second data encoding the second orientation by the electronic terminal is transmitted:

[0046] ■ By means of the emission of a second transmitted signal generated by a Bluetooth communication interface or;

[0047] ■ By means of encoding the second data within the first signal emitted by the UWB interface or;

[0048] ■ By means of the emission of a third signal emitted by a WIFI communication interface.

[0049] An advantage is that it allows calculating a position with more precise precision of the anchor to be generated which will be associated with the virtual object.

[0050] According to one embodiment, the measurement of the orientation of the electronic terminal and / or the positioning terminal carried out by the orientation device is carried out by means of a compass, a compass, a gyrometer or an inertial unit. An advantage is to use the same magnetic reference, the north in the case of a compass or a compass for example. Generally speaking, the orientation measurements of the terminal and the terminal are carried out relative to the same magnetic reference.

[0051] One advantage is having a component directly present in the terminal allowing a measurement to be calculated autonomously.

[0052] According to one embodiment, the first virtual object is selected from:

[0053] ■ An electronic terminal memory;

[0054] ■ A memory of the positioning terminal and accessible from the electronic terminal by activating a data exchange implemented by a WIFI or Bluetooth link;

[0055] ■ A memory of a remote server and accessible from the electronic terminal by activating a data exchange implemented by a WIFI or Bluetooth link.

[0056] One advantage is that it allows a user to have access to libraries of virtual objects that can come from different data sources. Another advantage is that it allows users to be given access based on their rights, interests, or specific areas.

[0057] According to one embodiment, the first UWB signal transmitted by the electronic terminal is a message from a bidirectional UWB data exchange sequence, called “Two way UWB ranging”, in which a measurement of the time of flight makes it possible to calculate the distance between the electronic terminal and the positioning terminal.

[0058] One advantage is that it can exploit the resources of an existing terminal, such as those of a smartphone.

[0059] According to one embodiment, the first UWB signal transmitted by the electronic terminal is a message of a unidirectional UWB data transmission sequence in which a measurement of the arrival time of the first signal makes it possible to calculate the distance between the electronic terminal and the positioning terminal, the calculation of the first distance being calculated from a prior synchronization of the clocks of the first electronic terminal and the positioning terminal.

[0060] An advantage of this solution is to avoid installing a UWB transmitter on one of the equipment such as the positioning terminal. According to one embodiment, the first UWB signal transmitted by the electronic terminal is a message of a UWB data transmission sequence in which a plurality of positioning terminals allows a measurement of the distance of the arrival time differences of the first signal between pairs of positioning terminals making it possible to calculate the distance of the electronic terminal from the positioning terminal.

[0061] One advantage is that it allows for a more precise terminal position to be obtained, without necessarily requiring the use of orientation data. Indeed, with a plurality of positioning terminals, the terminal position can be obtained without using its orientation with respect to magnetic north. Furthermore, the approximation made of the height can be improved by calculating a position in space by trilateration or on the basis of the notion of angle arrival.

[0062] According to one embodiment, the initialization step comprises a calibration of the first and second orientation devices, the calibration comprising a measurement of an orientation indication of the positioning terminal and a measurement of an orientation indication of the electronic terminal, said measurements being carried out at the same reference position of each piece of equipment.

[0063] One advantage is that it avoids calibration errors in the components of each device by taking into account the relative deviations of said components.

[0064] According to one embodiment, the initialization step comprises an initialization of the positioning terminal, said initialization sequence comprising:

[0065] ■ reception by the positioning terminal of a reference orientation of the electronic terminal for a given position of the electronic terminal;

[0066] ■ reception by the positioning terminal of a reference height or arrival angle;

[0067] ■ receipt by the terminal of a user identifier and / or an electronic terminal identifier.

[0068] According to one embodiment, the virtual object is defined by a plurality of points and surfaces delimiting a region associated with a Cartesian reference frame and comprising a 3D representation that can be generated on a display of an electronic terminal according to a viewing angle.

[0069] According to one embodiment, the step of calculating the first position comprises a step of assigning at least one first reference coordinate corresponding to the height of the virtual object defined from a predefined configuration to a coordinate of the first position.

[0070] According to one embodiment, the step of calculating the first position comprises:

[0071] ■ An acquisition of an image of an area of ​​space in which the virtual object is represented in 3D and is positioned in the first position on a display of the first electronic terminal;

[0072] ■ A calculation of a second reference coordinate of at least one reference point associated with an element automatically detected from an algorithm for processing the acquired image in which the virtual object is represented;

[0073] ■ Assignment of the second reference coordinate to a coordinate of the first position.

[0074] According to another aspect, the invention relates to a method of displaying a virtual object having been anchored according to the method of the invention comprising:

[0075] ■ Sending an identification request from a second electronic terminal to the positioning terminal, said identification request comprising an identifier recorded in a memory of the second electronic terminal;

[0076] ■ Generation of a response comprising a virtual object identifier and said anchoring position of said virtual object with respect to the positioning terminal;

[0077] ■ Display of said virtual object on a display of the second electronic terminal superimposed on an image acquired by an optical device of said second electronic terminal.

[0078] According to another aspect, the invention relates to a computer program product comprising at least one calculator and one memory and comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps carried out by the electronic terminal of the method of the invention. According to another aspect, the invention relates to a computer program product comprising at least one calculator and one memory and comprising instructions which, when the program is executed by a computer, cause the latter to implement the steps carried out by the positioning terminal of the method of the invention.

[0079] According to another aspect, the invention relates to a system for anchoring a virtual object, said system comprising:

[0080] ■ A positioning terminal comprising a memory and a calculator and a first UWB communication interface;

[0081] ■ An electronic terminal comprising a second UWB communication interface; the positioning terminal and the electronic terminal being configured to implement the method of the invention.

[0082] According to one embodiment, the method of anchoring a virtual object to be displayed on an electronic display of an electronic terminal at a given position in space, said method comprising:

[0083] ■ Initialization of wireless communication between an electronic terminal and at least one positioning terminal for:

[0084] ■ define orientations of respective orientation devices of each equipment for a reference position of each equipment and;

[0085] ■ record an identifier of said electronic terminal in a memory of said positioning terminal;

[0086] ■ Selection of a virtual object from the electronic terminal and identification of said virtual object by said positioning terminal;

[0087] ■ Measurement of a first orientation of the positioning terminal with respect to a reference from a first orientation device;

[0088] ■ Measurement of a second orientation of the electronic terminal with respect to a reference from a second orientation device

[0089] ■ Generation of a command to transmit a first signal generated by a UWB communication interface of the electronic terminal; ■ Acquisition by the positioning terminal of a first signal transmitted by means of a UWB communication interface of the electronic terminal;

[0090] ■ Measurement of a transmission parameter of the first signal by the positioning terminal or by the electronic terminal;

[0091] ■ Transmission of a second data item encoding the second orientation by the electronic terminal or by the positioning terminal;

[0092] ■ Acquisition by the positioning terminal of the second orientation emitted by the electronic terminal or acquisition by the electronic terminal of the first orientation by the positioning terminal;

[0093] ■ Calculation of a first position from the second orientation and the transmission parameter of said electronic terminal or calculation of a second position from the first orientation and the transmission parameter of said positioning terminal;

[0094] ■ Recording of the first position defined with respect to the terminal or the second position defined with respect to the electronic terminal;

[0095] ■ Anchoring a position of the virtual object to the first position, said anchoring comprising an association of said virtual object with the first position.

[0096] Brief description of the figures

[0097] Other characteristics and advantages of the invention will emerge from reading the detailed description which follows, with reference to the appended figures, which illustrate:

[0098] [Fig. 1]: an example of a system according to the invention comprising a positioning terminal Bi and a terminal Ti;

[0099] [Fig. 2]: an example of an implementation of the anchoring method of the invention;

[0100] [Fig. 3]: an example of a sequence of a bidirectional exchange of data in UWB between the positioning terminal and the electronic terminal of the invention; [Fig. 4]: an example of measurement and calculation from geometric considerations of the parameters of the position of the electronic terminal Ti;

[0101] [Fig. 5]: a representation of the interior of a room in which a user pairs his electronic terminal with a positioning terminal;

[0102] [Fig. 6]: a representation of the interior of a room in which a user anchors a virtual object corresponding in this example to a poster or a display parallel to the plane of a wall of the room;

[0103] [Fig. 7]: a representation of an interior of a room in which another user views the previously anchored virtual object using the display of his electronic terminal, the display taking place in augmented reality, [Fig. 8]: a representation of an interior of a room in which a user views the anchored virtual object using the display of his electronic terminal, the positioning of the virtual object being anchored using a multi-terminal positioning system.

[0104] Description of the invention

[0105] In the remainder of the description, a virtual object is defined as an object having a digital representation in a representation of a real environment. Typically, this virtual object can be viewed in augmented reality by superimposing an image of a real environment such as a room or an office. The method of the invention finds a particularly interesting use in an indoor environment, that is to say a closed one and in which GPS-type satellite positioning is difficult to operate.

[0106] A virtual object can be considered as a digital object that can be viewed and / or edited by means of a computer, preferably having a geometric representation in two dimensions or three dimensions. However, a label-type object that can be activated to trigger the playback of a media is also considered a virtual object within the scope of the invention. The term virtual is only intended to adapt the semantics of the object named and represented in superposition of objects present in a real scene such as a sofa, a wall, a table, etc.

[0107] Figure 1 represents a system according to the invention comprising a positioning terminal Bi and a terminal Ti. The electronic terminal Ti is, for example, a Smartphone, an electronic tablet or a connected object such as a connected watch or connected glasses or a connected headset. The electronic terminal Ti comprises at least a computer, a memory, an optic and a display and a wireless communication interface. The display makes it possible to display an image of a selected virtual object OBVi superimposed on the image acquired by the optics of the electronic terminal Ti.

[0108] The positioning terminal Bi is a powered box placed in a location such as a closed room, a hangar, or any other location likely to be of interest for the application of the invention. This terminal can also be called a “beacon” insofar as it emits a UWB signal to determine a distance between said terminal / beacon and the terminal receiving said UWB message, for example by measuring a time of flight of said message.

[0109] These last two devices Bi, Ti are capable of establishing wireless data links Li , L2 represented in Figure 1 . The wireless link L1 is activated according to a wireless data exchange protocol such as Bluetooth, Wifi, UWB or Lora protocol. Any other wireless data transfer protocol can be implemented.

[0110] When the L1 link is a Bluetooth Low Energy (BLE) type link, the electronic terminal T1 can automatically start a procedure called "Bluetooth Advertising" following a message sent by the positioning terminal B1. The connection can then be established between the two devices.

[0111] According to an exemplary embodiment, once the connection has been established and the data exchanged between the two devices, a period without connection can be configured before the next automatic connection.

[0112] Depending on the protocol and the type of connection used, the terminal T1 and the positioning terminal B1 comprise an electronic chip enabling a data connection to be established. These connections are preferably bidirectional. However, the invention may use a unidirectional connection in embodiments in which such a connection is sufficient to pair the two devices.

[0113] Its objective is to pair the two devices T1, B1 with each other, in particular to exchange identifiers, possibly calibration data such as reference angles and / or clocks before exchanging information later. Other data can be exchanged such as device identifiers, network identifiers, application or user identifiers. In addition, the following data can also be exchanged between the two devices: data specific to the hardware configurations of the devices, the speed of the protocol used to establish the data link, the types of software versions of the devices, or data linked to user or device access rights.

[0114] The L2 link is a link established using the UWB protocol. This protocol is also named after the UWB frequency band that is used to exchange data between the positioning terminal B1 and the terminal T1.

[0115] According to one embodiment, the L2 link is bidirectional between the two devices B1 and T1. In this case, this L2 link allows an exchange of data according to an exchange sequence between the two devices T1 and B1 allowing the transfer of parameters of the position of the terminal T1.

[0116] According to another embodiment, the L2 link is unidirectional between the two devices B1 and T1. In this case, this L2 link allows a transfer of data from the terminal T1 to the terminal B1 in order to receive parameters of the position of the terminal T1 which will make it possible to reconstruct elements of the position POS1 with a clock synchronized between the two devices B1 and T1.

[0117] Figure 1 also shows data networks NET1 and NET2.

[0118] According to a first embodiment, the terminal T1 is connected to a mobile network such as a 5G, LTE with 4G or 4G+ or GSM / EDGE, CDMA2000, TD-SCDMA, UMTS, 3G, H or H+ data network.

[0119] According to a second embodiment, the terminal T1 is connected to a Wifi network, for example the local network accessible from a Wifi access point.

[0120] In both cases, the terminal T1 is connected via the mobile network or the Wi-Fi network to a data network such as the Internet network so that the terminal T1 can access data from a remote data server SERV1. The terminal T1 includes the communications interfaces adapted to the implementation of these data links to receive and transmit data to one or more remote servers.

[0121] As for the Bi positioning terminal, the same two types of network interfaces can be implemented. The Bi positioning terminal can include for example a Wifi interface to be connected to a Wifi box itself connected to the internet network, it can alternatively be connected directly to the internet network or even be configured to be connected to a mobile network as previously defined.

[0122] In this example, the SERVi server includes, for example, a library of 2D or 3D digital objects or media data. These digital objects are also called virtual objects in the rest of the OBVi description.

[0123] Depending on the different implementation modes, this library is accessible:

[0124] ■ from the Ti electronic terminal via a communication interface, such as a mobile or Wi-Fi interface;

[0125] ■ from the Bi positioning terminal via a communication interface, such as a mobile or Wifi interface, the Ti terminal can then access the digital object library via the Li link, such as Bluetooth or Wifi.

[0126] According to different embodiments, the terminal Ti or the positioning terminal Bi can access different remote servers such as the servers SERVi, SERV2 shown in Figure 1. In the example of Figure 1, the server SERVi is a remote server comprising a database of virtual objects OBV, the server SERV2 is a remote server allowing the control of access to the services delivered to the positioning terminal B1. Thus, the positioning terminal B1 records a set of virtual objects OBV of which it knows the relative positions with respect to itself. In order to access these virtual objects OBV, a third party comprising a second electronic terminal T2 is likely to locate an object placed in a previously placed room. The invention makes it possible to organize the access rights to a previously placed virtual object.For example, an individual can pin a post-it note, that is, a text note, on the living room wall for his wife without the children being able to access it.

[0127] When a user with a terminal Ï2 has access to the virtual object OBVi previously placed at a position POSi of a room in which there is the positioning terminal Bi, he can view it using the display of his terminal T2. Access is achieved via an electronic terminal T2 by displaying in augmented reality the virtual object OBVi on the screen of the electronic terminal T2 superimposed on the image acquired by its optics.

[0128] Access to the virtual object OBVi can be achieved via an electronic terminal T2 by accessing either directly the positioning terminal B1 which has user rights access control, or via a remote data server SERV2 which includes a user access module.

[0129] Access control can be carried out by the SERV2 server from the B1 positioning terminal following a request from a T2 terminal.

[0130] Figure 2 represents an exemplary embodiment of the method of the invention. A first step concerns the INITo pairing of the devices T1, B1 with each other. This INITo pairing can be done once and for all or can be updated from time to time depending on the potential drifts of certain components of the equipment. Figure 2 represents the two phases initiated INIT1 and INIT2 by each equipment during the INITo pairing phase.

[0131] In this pairing phase, data can be exchanged between the positioning terminal B1 and the electronic terminal T1, in particular protocol information. According to one example, the positioning terminal B1 transfers to the electronic terminal T1 its configuration parameters such as its Bluetooth BLE protocol parameters and its UWB protocol parameters. This can be, for example, the BLE UUID and a UWB identifier. The electronic terminal T1 in turn sends its own parameters to the positioning terminal B1.

[0132] According to different embodiments, the pairing sequence is initiated by the electronic terminal T1 or by the positioning terminal B1.

[0133] A retransmission sequence can then be undertaken in order to maintain the connection, this sequence is also called “UWB refresh” in English terminology, it consists of initiating the pairing procedure from the Ti terminal in a loop until the UWB connection is maintained.

[0134] The INIT2 phase carried out by the electronic terminal T1 comprises the reading of an orientation indication from a compass, a compass, a parameter from an inertial unit or even an inertial electromechanical microsystem, also called a gyroscope. Navigation systems such as the AHRS designating “Altitude and Heading Reference System” or and TINS ​​designating “Inertial Navigation System” both known to those skilled in the art can also be used within the scope of the invention.

[0135] The orientation indication is commonly a direction with respect to the north considered at a given point, it is therefore a straight line passing through a point or a vector for which we know a point of origin and an angle with respect to a Cartesian reference. Generally speaking, such a component capable of reading an orientation indication with respect to a reference such as magnetic north is noted as an "orientation device". The orientation indication TETA2 is defined with respect to a reference REFo' for example with respect to magnetic north. However, any other reference than magnetic north can be used. This can be for example the azimuth obtained from a compass. The orientation indication TETA2 can be an angle or a direction vector defined in a Galilean reference.

[0136] The INIT1 phase performed by the positioning terminal B1 includes the reading of an orientation indication TETA1 from a compass, a compass, a parameter of an inertial unit or even an inertial electromechanical microsystem, also called a gyroscope. The orientation indication TETA1 can be an angle or a direction vector defined in a Galilean frame of reference. The orientation indication TETA1 is performed with respect to a reference REFo, for example with respect to magnetic North. However, any reference other than magnetic North can be used. It can also be the azimuth obtained from a compass of the terminal B1. Preferably, the same reference will be used for the positioning terminal B1 as for the terminal T1. In this case REFo = REFo'.

[0137] The advantage of having the same reference is to allow calibration of the two devices T1 and B1 between them. This calibration step can be carried out by placing the electronic terminal T1 at the position POSo of the positioning terminal Bi. The comparison of the difference between, on the one hand, the orientation indication TETAci defined by the vector or the straight line passing through the position of the positioning terminal Bi and the magnetic north NM and, on the other hand, the orientation indication TETAC2 defined by the vector or the straight line passing through the position of the electronic terminal Ti and the magnetic north NM makes it possible to evaluate a difference ECi to be reported in the position measurements subsequently carried out on the electronic terminal Ti calculated using the positioning terminal Bi.

[0138] According to one embodiment, the calibrations of the angles of the two devices could be carried out at two different positions: POSREF2 and POSREFI respectively of the electronic terminal Ti and the positioning terminal Bi for which a reference angle at these respective positions is known. In this case, the POSREFI position can be a position of a remarkable point used to position the positioning terminal at its initialization. This can be a corner of the room or another point.

[0139] One advantage of defining notable points to position the Bi positioning terminal in a location is to increase its resilience to a change in position, a shock or a modification of its orientation. In the event of a change in the position of the Bi positioning terminal, the latter can reacquire reference positions using an inertial unit and know its new position.

[0140] According to one embodiment, in order to ensure in this calibration phase that the terminal Ti and the positioning terminal Bi are indeed in the same position, a 2D or 3D code can be used to ensure the co-location of the two objects at the time of calibration. For example, a QR code or a Flash code visible on the positioning terminal Bi can be read optically by the electronic terminal via a software application and be decoded so as to emit a message, for example Bluetooth, so that the terminal initiates the exchange of data with the electronic terminal Ti.

[0141] The INITo pairing phase allows the electronic terminal Ti to be recognized by the positioning terminal Bi. For this purpose, the terminal Ti can send an identifier to the positioning terminal Bi which has been previously recorded in a memory of the terminal or in a remote server such as the SERV2 server. This identifier defines a parameter according to a predefined configuration to access rights. The rights allow, for example, the terminal Ti thus recognized either to insert virtual objects OBVi in an area covered by the positioning terminal Bi or to display virtual objects OBVi already placed in an area of ​​the premises covered by the positioning terminal Bi.

[0142] Figures 5 represent a situation in a room in which a user performs a pairing of his electronic terminal Ti with the terminal by placing himself in the same position. This pairing makes it possible to measure the deviation of the reference angles with respect to magnetic north. The deviation makes it possible to adjust a calibration of the two devices when the positioning terminal Bi will subsequently estimate the position of the electronic terminal Ti.

[0143] Following this pairing, the user equipped with his terminal will place against the wall 10 of the premises at a given position a virtual object OBVi here materialized by a poster or a table arranged on the wall at the position of the electronic terminal Ti. The virtual object OBVi can then be viewed, as shown in Figure 7, at this position in augmented reality from the terminal Ti or another terminal Ti of another user who will be identified with the positioning terminal Bi and who will be in the premises. Figure 7 represents a user observing the virtual object OBV1 through the display of his terminal T2 by pointing the optics of his terminal towards the position of the wall where the virtual object OBVi is located.

[0144] Without a terminal, the OBVi virtual object cannot be viewed; it can only be viewed via a T1 electronic terminal with access rights.

[0145] The method of Figure 2 comprises a step SEL1 executed on the terminal T1 aimed at choosing and selecting a virtual object OBVi which can be recorded in different memories according to the embodiments of the invention or the use chosen by the user. Indeed, according to one embodiment, the virtual objects can be mainly accessible from a data server via the Internet network, but it is understood that the user could in certain cases have a library of virtual objects recorded in a memory of his terminal T1 or even access objects recorded in a memory of the positioning terminal B1.

[0146] When a virtual object OBVi is selected, a command makes it possible to anchor said virtual object OBVi at the current position or near the electronic terminal Ti. For this purpose, a sequence of steps is carried out aimed at transmitting elements of the position of the electronic terminal Ti to the positioning terminal Bi. Among the sequence of steps, a first action consists of measuring an orientation indication, for example an angle with respect to a reference such as an axis, magnetic north or a direction vector oriented in a frame of reference, and sending it to the positioning terminal Bi and a second action aims to send at least one UWB message so that the positioning terminal Bi can determine the distance at which the electronic terminal Ti is located.

[0147] The method of the invention therefore comprises carrying out a first action comprising a measurement MES2 of the orientation indication TETA2 at the instant t when the user activates an anchoring command. The orientation indication is preferably an angle with respect to a reference such as the direction of a compass. The anchoring command can be done by a specific action or by the selection and validation of a chosen virtual object OBV1. The measurement of the orientation indicator corresponds, as detailed previously, to an angle measurement with a reference. It can therefore be the oriented direction vector between the current position of the electronic terminal and magnetic north. This oriented direction vector defines an angle. This angle is advantageously transmitted to the positioning terminal B1. The measurement can be transmitted via the link protocol L1 such as Bluetooth or Wifi or by the link L2 in UWB.

[0148] The second action involves transmitting a UWB message from the electronic terminal T1 to the positioning terminal B1. In order to determine the distance between the electronic terminal and the positioning terminal, two solutions are possible.

[0149] The first is based on the fact that the positioning terminal B1 and the electronic terminal are synchronized and share a common clock with a precision close to the nanosecond, for example. Synchronization can be carried out during pairing or in a separate sequence. Synchronization can be reset regularly between the two devices. Finally, synchronization can alternatively or in combination be carried out with a third-party service.

[0150] In this first solution, the UWB message is transmitted by the electronic terminal T1 with data encoding the date of transmission of said message. Upon receipt of the message, the positioning terminal Bi timestamps the date of arrival of the message and the flight time can be calculated between the two devices. From the flight time, the distance between the two devices is easily calculated.

[0151] Figure 3 illustrates a second solution that does not require a prior synchronization sequence between the two devices, however this solution requires a bidirectional exchange of data in UWB between the two devices. This sequence is better known in English literature as "Two Way Ranging" whose acronym is TWR.

[0152] The electronic terminal Ti sends a "Poil" message to the known address of the positioning terminal Bi. This is called the TSP sending time of the REQi request. The positioning terminal Bi then records the TRP reception time of the REQi request and responds with the RESi response message at the time of sending the TSR response.

[0153] The electronic terminal Ti, upon receipt of the response message RESi, then records the time of receipt of the response TRR and composes the final message FINAL(TSP, TRR, TSF), in which its ID, its TSP, its TRR and its final start time TSF are included.

[0154] Based on the time of receipt of this final FINAL message (TSP, TRR, TSF), the Bi positioning terminal can then determine the time of flight of the UWB signal. An advantage of this method is that no time synchronization is required between UWB devices.

[0155] According to one embodiment, the sequence of UWB message exchanges includes information specific to the protocol, connection times, communication times, equipment identifiers, etc.

[0156] Optionally, the resulting distance can be returned in the report message to the electronic terminal or any given UWB device in the vicinity. An interest is to calculate a terminal position more precisely in the case of a system with several positioning terminals. Experience shows that the maximum distances that can be calculated between the electronic terminal Ti and the positioning terminal Bi to initiate the TWR process can be up to several tens of meters, such as 50m, an optimal operating distance is between 1 meter and 30 meters, which allows use cases suitable for home or office or showrooms for example.

[0157] According to one embodiment, the UWB message transmission sequence is repeated a plurality of times so as to obtain a more precise distance and therefore a more precise position of the virtual object OBVi with respect to the positioning terminal Bi. The position can be obtained by averaging the positions generated according to different UWB message transmission sequences.

[0158] According to one embodiment, the TETA2 orientation indication is transmitted in a UWB message. To this end, this data is encoded to be transmitted using UWB modulation. One advantage is to transmit the angle data at the same time as the message that will be used to calculate the distance. This embodiment is represented in Figure 2 by a dotted arrow between step MES2 and step GEN1.

[0159] According to another embodiment, the orientation indication TETA2 is transmitted according to another data protocol, such as the Bluetooth transmission protocol. Figure 2 represents the transmission step TR1 of the angle data TETA2 to the positioning terminal B1 which acquires this data in step ACQ2.

[0160] Figure 2 represents a case in which the step of generating the UWB message is denoted GEN1 and the step of transmitting the orientation indication is denoted TR1. Figure 2 represents an arrow indicating the two possible types of links L1 or L2, i.e. according to a Bluetooth link for example and according to a UWB link. It is understood in this case that the generation of the transmission command GEN1 of the message can automatically lead to the transmission step TR1 of the orientation indication TETA2.

[0161] The TETA2 orientation indication can be calculated consecutively to the GEN1 generation step or read from a memory if the value was previously calculated at the time of GEN1 generation.

[0162] According to one embodiment, the virtual object selected by means of the electronic terminal T1 comprises an identifier and a locator on a network resource, for example a HyperText link, a URL or an address of a machine accessible from the network. The data making it possible to identify the virtual object and to retrieve all the data making it possible to display it on a display can be transmitted via the link Li between the electronic terminal Ti and the positioning terminal Bi.

[0163] According to another example not shown in Figure 2, the virtual object OBVi is selected from the electronic terminal which is connected to the positioning terminal Bi via the link Li and the data of the virtual object OBVi are retrieved directly from the positioning terminal from a remote server or from a memory of said terminal.

[0164] Figure 2 also represents the steps of the method of the invention carried out at the positioning terminal Bi. During the pairing phase INITi, an orientation indication TETAi is measured during the step MESi. According to one embodiment, this measurement, in addition to being carried out during pairing, is carried out at regular times.

[0165] According to one embodiment, an action by the user on his terminal makes it possible to issue a command, for example via a link Li, to trigger a new measurement of the orientation indication TETAi of the positioning terminal Bi, typically in the case where he moves the positioning terminal Bi.

[0166] According to one example, the Bi positioning terminal comprises a motion detector in order to detect a movement of the Bi positioning terminal and to automatically activate a new TETAi orientation indication measurement. This motion sensor can be of the optical type with a measurement of light information, mechanical for example with the use of a position lug or even with an accelerometer.

[0167] The value of TETAi is used when the positioning terminal Bi acquires a UWB message transmitted by the electronic terminal Ti to deduce the position of the terminal Ti.

[0168] Indeed, the position of the positioning terminal will be deduced from the distance separating the positioning terminal Bi from the terminal Ti by means of the time of flight measurement and the orientation of the terminal with respect to the positioning terminal Bi will be deduced from a calculation taking into account the orientation indication measured by the electronic terminal Ti and the orientation indication measured by the terminal. This calculation can correspond to an angle difference. Figure 4 illustrates an example of calculation from geometric considerations of the parameters of the position of the electronic terminal Ti. The orientation indication is represented by a vector oriented towards magnetic north NM. It is understood from this figure that the angle difference TETAD of the two vectors makes it possible to give an indication of the orientation of the electronic terminal Ti with respect to the position of the positioning terminal Bi.A simple approximation is to consider the triangle as isosceles given the ratio of the lengths of the triangle, the magnetic north NM being theoretically a point much further away than the distance between the electronic terminal Ti and the positioning terminal Bi.

[0169] Another way of doing this is to estimate that there is only one point on the circle represented satisfying the conditions of distances di and angle TETA2 given by the vector V2 in a Galilean frame.

[0170] The positioning terminal B1 includes a calculator K1 for performing the calculations leading to the estimation of the position of the electronic terminal T1 denoted POS1. This position is then recorded in a memory of the positioning terminal B1. This step is denoted ENR1 in Figure 2.

[0171] The position POS1 will then be associated with the selected virtual object OBV1. The method of the invention makes it possible to create a pair of data (IDOBV-I, POS1) of which one data item is an identifier of the object IDOBVI and the other data item is its position POS1 which is associated with it.

[0172] In one example, a predefined height is automatically associated with this object. This feature provides all the information needed to anchor an OBVi virtual object in space. For example, a height of 1 m20 can be predefined and associated with all virtual objects. In another example, the default height is set to 0 relative to the floor level. In another example, the height is set to half the ceiling height. This height can be configured by a user and customized according to the user's height or any data the user wishes to specify during the initial configuration.

[0173] In another example, the height of the person recorded in the configuration phase allows the average height of the phone to be deduced in its average use. This height can be used by default.

[0174] According to one embodiment, the height is a variable data item and is dependent on the selected virtual object class. For example, if the virtual objects are classified according to 3 classes: furniture, display, other, it is possible to associate 3 predefined heights respectively: {0; 1 m60; 1 m20}.

[0175] One advantage is that it allows for a default average positioning of the object's height in the room. A software function can allow this height to be changed once the OBVi virtual object is anchored in the room.

[0176] The positioning terminal includes a memory in which all the associations of the virtual objects OBVi with which it has associated positions are recorded.

[0177] Using Preset Positions

[0178] According to an exemplary embodiment, a user can record in a memory of the Bi positioning terminal some predetermined positions of the room in which the Bi positioning terminal is located. These positions can result for example from previous anchors carried out.

[0179] An advantage is to allow a new anchoring at a later time to an already known position which does not require a new movement of the user with his electronic terminal to the position at which he wishes to carry out a new anchoring. This embodiment allows for example, an individual to associate with a virtual object OBVi remotely. This association is carried out by access to his positioning terminal Bi thanks to an access control and user rights which can be carried out by means of a remote server such as SERV2. Assuming that he has the rights to the positioning terminal B1, for example if the positioning terminal B1 is placed at his home this user could select a predefined position of the room already recorded to associate a new virtual object OBVi selected from his terminal T1.According to an exemplary embodiment, a 3D or 2D representation of the space makes it possible to visualize the position in the room with respect to a reference point corresponding to the positioning terminal.

[0180] This representation of the room can for example be carried out previously during a configuration phase. For example, a user could move around the room covered by the positioning terminal with his electronic terminal T1 to anchor the 4 corners of the room so that the positioning terminal B1 records the dimensions of the room. A software function would then make it possible to define a corresponding volume representing the room and some reference points in order to position already defined positions. An advantage is for example to leave a virtual object such as a message when an individual moves for a member of the family at home.

[0181] Position adjustment

[0182] According to one embodiment of the method of the invention, a user anchoring a new virtual object OBVi to a given position of a room can adjust the position of said virtual object OBVi and its orientation in space.

[0183] This software function allows, for example, to initially display the object in a 3-dimensional space. The user, using a touch screen on the Ti terminal, can move the virtual object OBVi around the room. The height can thus be adjusted, as can the other parameters of the position of the virtual object OBV. The new position can then be retransmitted via the Li link to the positioning terminal to update the position POSi associated with the virtual object OBVi.

[0184] According to one embodiment, the orientation of the virtual object OBVi in space can be modified by the user. In the same way, this change of orientation can be carried out from a touch command on the display of the electronic terminal Ti and then be sent to the positioning terminal Bi. According to a first example, the orientation of the virtual object OBVi can be adjusted to the nearest degree by a movement of the virtual object OBVi on the display of the electronic terminal Ti. According to an alternative, the orientation can be modified according to predefined transformations, for example rotations of 90° according to the 3 rotation angles defined in a Cartesian frame of reference.

[0185] For example, when the 4 corners of the room are defined, the positioning terminal is able to generate a horizon line of the room defined by a segment between two adjacent corners. This possibility makes it possible to define a default orientation of the virtual object in space. It can in fact be oriented with respect to this horizon line.

[0186] Finally, according to one embodiment, the user modifying the orientation and the final position of the virtual object that has just been anchored in a first step can access via the display of his terminal representing an image acquired from his optics the context or the close environment of the virtual object that has just been anchored. Thus, the display will represent the virtual object OBI in its real environment in which it has been anchored, namely the presence of a wall, a table or a lamp or any other object already present in the room. According to one embodiment, the user has the possibility of selecting pixels of the image. A software function can be implemented to identify and generate a surface belonging to a real object of the scene such as a surface of a table or that of a wall.An option of this software function is to enable the activation of a magnetic function aimed at matching a coordinate of the end of a dimension of the virtual object OBVi with a coordinate of a surface of the determined real object and then assigning this coordinate of the real object to a coordinate of the virtual object. The pose of a virtual object can be achieved using a shape detection software function. The acquisition of the image by the optics of the electronic terminal makes it possible to generate an input for a shape and contour detection algorithm so as to segment the real objects in the scene. The software function aimed at moving the virtual object into contact with a detected surface of a shape is achieved by making a coordinate of the position of the object coincide with a surface of an edge of a detected geometric surface.

[0187] In other words, this software function allows the table height to be matched to the object height, for example by considering its lowest dimension. One advantage of such a function is to position the virtual object in a real context while respecting the spaces already occupied by real objects in the room.

[0188] According to an exemplary embodiment, a second user viewing a virtual object OBVi anchored by a first user in space may have the rights to modify, for example, its orientation and not its position.

[0189] According to one embodiment, the user having anchored a virtual object or a user having access to a virtual object already anchored to view it can, from its user interface, zoom the object, move it, change its orientation, or even change its appearance, for example by modifying the colors or the texture of at least one surface of the element.

[0190] According to one embodiment, a user U2 having a terminal T2 and viewing a virtual object OBVi already anchored by another user U1 and therefore by means of another terminal T1, can activate a command to notify the successful reading of the virtual object 0BVi to the user Ui having anchored it. This command can also be generated automatically once the virtual object 0BVi has been viewed by the second terminal T2. For this, the terminal T2 viewing the virtual object anchored at a position POS1 can send a message, for example via the link L1 or L2, to notify the positioning terminal B1 that the virtual object OBV1 has been viewed by the user U2. When the positioning terminal B1 is connected to the internet network either directly or via a Wi-Fi terminal, a message can be sent on the internet network or via a mobile network to notify the first terminal T1 of the viewing of the object OBV1 by the user U2.

[0191] Different types of virtual objects

[0192] In one embodiment, the virtual objects are 3-dimensional statistical objects. In another example, a virtual object OBVi may include an animation such as a chest opening. In another example, a virtual object may be an avatar of an individual or an avatar of a character that can be animated over a period of time. For example, an avatar of a character delivering an audio message may be anchored. In another example, the virtual object is a thumbnail for playing a multimedia file. In another example, the virtual object is a note, for example, to display the shopping list.

[0193] Case of multi-positioning terminals

[0194] Figure 8 illustrates an embodiment in which several positioning terminals are used to obtain a position of the terminal. The position can be obtained:

[0195] ■ either by a combination of orientation indications on the one hand and estimates of the distances between the electronic terminal T1 and each positioning terminal B1 on the other hand, in particular using a method for estimating the differences in the arrival times of the UWB messages received by the positioning terminals {BÏ}Ï;

[0196] ■ either by calculating the position of the terminal solely from the estimates of the differences in arrival times of the UWB messages received by the positioning terminals {BÏ}Ï.

[0197] Figure 8 represents an example of a museum in which an electronic terminal T2 is located by three positioning terminals B1, B2, B3. A user Ui equipped with his terminal T2 seeks to place a virtual object OBV1 such as a digital table at a given position.

[0198] The position can be obtained by a trilateration calculation of the arrival time differences of UWB messages transmitted by the electronic terminal T2 and by calculating the orientation indication of the terminal at the position at which the user U1 wishes to anchor the virtual object.

[0199] In this case, the three beacons Bi, B2, B3 allow to obtain 2 distances. In this case the orientation indication is necessary to reconstruct a complete position. If a fourth additional positioning terminal B4 is used then it is possible to reconstruct a complete position from the calculation of 3 distances between 3 positioning terminals and the electronic terminal T1 without requiring an orientation indication.

[0200] This scenario makes it possible to avoid the transfer of angle between the two devices, however this measurement makes it possible to consolidate the estimation of the position.

[0201] Master terminal

[0202] According to one embodiment, when a positioning terminal Bi is installed, a terminal Ti is determined as being the master terminal TM having administrator rights to assign rights to other terminals with respect to the virtual objects that can be selected or viewed. One advantage is to allow the rights of the virtual object libraries to be administered, for example to allow children to use object libraries and to limit access to other libraries.

[0203] Access to virtual objects

[0204] According to an example, when a user Ui equipped with his terminal Ti anchors a virtual object OBVi at a given position, the method comprises a step aimed at assigning user rights to other terminals referenced to the positioning terminal B1. One advantage is to deliver messages dedicated to a subset of terminals or to a given terminal.

[0205] Thus, a plurality of users having each associated their terminal with the positioning terminal B1 will not all view a virtual object OBVi on the display of their terminal. The display will be activated or not depending on the rights given to them respectively.

[0206] According to one embodiment, the association of a new electronic terminal with the positioning terminal is subject to validation by the master terminal TM. For this purpose, during a sequence of a new pairing of an electronic terminal, the positioning terminal Bi sends a message via a Bluetooth or Wifi link Li to the master terminal. This message can also be sent via the server SERV2 after the positioning terminal B1 has sent a notification of addition of a new electronic terminal to the server SERV2. In this case, the server SERV2 is configured to automatically send a message requesting authorization of a new electronic terminal within a memory of the positioning terminal B1.If validation is carried out with the master terminal, the new terminal is added to the list of equipment that can add a new virtual object to the B1 positioning terminal and / or view virtual objects anchored by the Bi positioning terminal.

[0207] Meshing of positioning terminals

[0208] According to one embodiment, when a positioning terminal is connected to a Wi-Fi terminal such as an internet access terminal, the invention makes it possible to mesh the different positioning terminals within a data network so as to administer and geolocate them from a web application, for example.

[0209] One interest is to offer administration of a plurality of positioning terminals in a place comprising different positioning terminals such as a museum.

[0210] Example of a terminal

[0211] According to one embodiment, a positioning terminal comprises a computer such as a microcontroller, a memory, a compass or an inertial unit, and a set of communication interfaces including in particular a UWB interface and a Bluetooth interface. According to an improved embodiment, the positioning terminal comprises a Wi-Fi interface. According to an improved embodiment, the terminal comprises a secure element, also called in English terminology a "secure element". This secure element is embodied by an electronic chip separate from the microcontroller. Its objective is to secure transactions, that is to say the exchanges of data via the different data protocols implemented between the different devices. According to a first example, the system of the invention can be used to display information in a store from a screen available in the store or from its Smartphone.The virtual object may in this case be information regarding an item or a virtual representation of a real object in another configuration, for example in another size or another color. The system may include in this use case a plurality of beacons in the store. Access rights to the objects may be activated at any terminal having performed a pairing with a pairing terminal at the entrance to the store. Thus, in this embodiment, the positioning terminal may be different from a pairing terminal allowing access to a catalog of virtual objects. According to one embodiment, the pairing terminal may be connected to an access rights management server allowing for example an authentication check to be carried out. An interest may be for example to offer additional services to subscribers such as price discounts or to present an additional catalog, for example of a limited series object.According to one embodiment, a user can associate his terminal identifier with a customer account of the store, which makes it possible to provide the resources necessary for the authentication control to activate or not the service. Thus, in this mode of use, the system of the invention comprises at least one specific pairing terminal at the entrance of the place and an authentication control.

[0212] According to a second example, the system of the invention can be used in exhibition rooms or museums to deliver information near a work. One advantage is to allow a user to access information directly at a position near the work that he is consulting or discovering. One advantage of this solution is to offer rich multimedia content. For example, equipped with a touch screen, a user can read a text constituting all or part of the virtual object next to a painting that constitutes a real object. Then once the text is read, the user can "zap" or change the content by moving his finger on his display to obtain images, or even a sound, a video or another text or the continuation of the first text. Thus, a user can simply access rich content that can be updated at any time by an administrator managing the virtual content.It is understood in this example that the virtual object can be a sequence of multimedia contents ordered or linked together. According to one example, the chain of contents can comprise a text TEXT-i, a video VIDEO-i, a text TEXT2, an image IMAGE1, another video VIDEO2. Thus, the virtual object is a chain thus constituted of virtual elements defining a virtual object: {TEXT2, VIDEO1, TEXT2, IMAGE1, VIDEO1}. In this example, the system of the invention comprises a memory for storing chained virtual objects, access to one or more multimedia libraries, and a display of a terminal allowing navigation among the different elements of a virtual object.

[0213] According to a third example, the virtual object is an animated 3D object, it can also be a hologram visible from a display of an electronic terminal. One advantage of such an application is to anchor at a given position an intervention of a first individual represented by his hologram and visible from a display of an electronic terminal of another individual wishing to view the first individual. The first individual can for example be located at a position in another place and his image can be acquired by means of an optic such as a 3D camera. The 3D image can be processed so as to be separated from the rest of the image from an image processing algorithm making it possible to cut out the 3D video of the first individual. A set of data describing the 3D video and preferably the soundtrack if it is present can then be transmitted via a data network to a library of virtual objects stored on a memory of a remote server.The virtual object can then be downloaded when anchored to the positioning terminal. According to a first variant, the entire video is downloaded to the positioning terminal in order to be generated later at a given position when a second individual views the image of the hologram on his electronic terminal. According to one embodiment, a real-time continuous streaming mode makes it possible to generate the video in real time from a remote server. According to this application, the start of the video can be activated by a user command from his terminal which is sent to the positioning terminal. In this case, the positioning terminal can generate the start of the video on a command from the user at the desired position.

[0214] According to an exemplary embodiment, the terminal comprises a UWB electronic chip comprising 3 UWB receivers oriented within the terminal along different axes in order to detect the angles of arrival of the UWB messages emitted by the beacon. This solution makes it possible in particular to improve the calculations of the orientation of the terminal with respect to the terminal emitting the UWB message. One advantage is to reinforce the measurement of angles, in particular of the terminal with respect to magnetic north and of the terminal with respect to magnetic north, by adding reliability information on the angle of arrival of the UWB signal emitted by the terminal towards the terminal. This solution can be used robustly with a single terminal and an electronic terminal, even with an angle measurement with respect to magnetic north, which can be sensitive depending on the devices and the mobility of the terminal when it is held by a user.

Claims

CLAIMS Method for anchoring a virtual object (0BVi) to be displayed on an electronic display of an electronic terminal (Ti) at a given position in space, said method comprising: ■ Initialization (INITo) of a wireless communication (Li) between an electronic terminal (Ti) and at least one positioning beacon (Bi) to record an identifier of said electronic terminal (Ti) in a memory of said positioning beacon (Bi); ■ Selection (SELi) of a virtual object (OBVi) from the electronic terminal (Ti) and identification of said virtual object (OBVi) by said positioning terminal (Bi); ■ Measurement (MESi) of a first orientation (TETAi) of the positioning terminal (Bi) with respect to a reference (REFo) from a first orientation device (CPi); ■ Measurement (MES2) of a second orientation (TETA2) of the electronic terminal (T1) with respect to a reference (REFo') from a second orientation device (CP2); ■ Generation (GEN1) of an emission command (Cd1) of a first signal (Si) generated by a UWB communication interface of the electronic terminal (T1); ■ Acquisition (ACQ1) by the positioning terminal (B1) of a first signal (Si) emitted by means of a UWB communication interface of the electronic terminal (T1); ■ Measurement of a transmission parameter (di) of the first signal (Si) by the positioning terminal (B1); ■ Transmission (TR1) of a second data (DATA2) encoding the second orientation (TETA2) by the electronic terminal (T1); ■ Acquisition (ACQ2) by the positioning terminal (B1) of the second orientation (TETA2) emitted by the electronic terminal (T1); ■ Calculation (K1) of a first position (POS1) from the second orientation (TETA2) and the transmission parameter (di) of said electronic terminal (T1); ■ Recording (ENRi) of the first position (POSi) defined with respect to the terminal (Bi); ■ Anchoring (ANCi) of a position of the virtual object (OBVi) to the first position (POS-i), said anchoring comprising an association of said virtual object (OBVi) with the first position (POSi). Anchoring method according to claim 1 characterized in that said method is implemented by a single terminal and said electronic terminal. Anchoring method according to claim 1 characterized in that the second data (DATA2) encoding the second orientation (TETA2) by the electronic terminal (T1) is transmitted: ■ By means of the emission of a second signal (S2) generated by a Bluetooth communication interface or; ■ By means of an encoding of the second data (DATA2) within the first signal (Si ) emitted by the UWB interface or; ■ By means of the emission of a third signal (S3) emitted by a WIFI communication interface. Anchoring method according to any one of claims 1 to 3 characterized in that the measurement of the orientation of the electronic terminal (T1) and / or the positioning beacon (B1) performed by the orientation device (CP1, CP2) is carried out by means of a compass, a gyroscope, or an inertial measurement unit. Anchoring method according to any one of claims 1 to 4 characterized in that the first virtual object (OBV1) is selected from: ■ A memory of the electronic terminal (T1); ■ A memory of the positioning terminal (B1) and accessible from the electronic terminal (T1) by activating a data exchange implemented by a WIFI or Bluetooth link; ■ A memory of a remote server (SERVi) and accessible from the electronic terminal (Ti) by activating a data exchange implemented by a WIFI or Bluetooth link.

6. Anchoring method according to any one of claims 1 to 5 characterized in that the first UWB signal (Si) emitted by the electronic terminal (Ti) is a message from a two-way UWB data exchange sequence (TWR-i), known as "Two way UWB ranging", in which a time-of-flight measurement (T0F1) allows the distance (di) between the electronic terminal (Ti) and the positioning beacon (Bi) to be calculated.

7. Anchoring method according to any one of claims 1 to 5 characterized in that the first UWB signal (Si) emitted by the electronic terminal (Ti) is a message from a unidirectional UWB data transmission sequence in which a measurement of the time of arrival (TDOAi) of the first signal (Si) allows the distance (di) between the electronic terminal (Ti) and the positioning beacon (Bi) to be calculated, the calculation of the first distance (di) being calculated from a prior synchronization of the clocks of the first electronic terminal (Ti) and the positioning beacon (Bi).

8. Anchoring method according to any one of claims 1 to 5 characterized in that the first UWB signal (Si) emitted by the electronic terminal (Ti) is a message from a UWB data transmission sequence (TDOAi) in which a plurality of positioning beacons (Bi, B2, B3) allows a measurement of the distance of the differences in arrival time of the first signal (Si) between pairs of positioning beacons ({B1-B2}, {B1-B3}, {B2-B3}) allows the distance (di) of the electronic terminal (T1) with respect to the positioning beacon (B1) to be calculated.

9. Anchoring method according to any one of claims 1 to 8 characterized in that the initialization step (INITo) includes a calibration of the first and second orientation devices (CP1, CP2), the calibration including a measurement of an orientation indication of the positioning beacon (Bi) and a measurement of an orientation indication of the electronic terminal (Ti), said measurements being carried out at the same reference position (POSREF-I , POSREF2) of each piece of equipment (Ti, Bi).

10. Anchoring method according to any one of claims 1 to 9 characterized in that the initialization step (INITo) comprises an initialization (IN ITi) of the positioning terminal (Bi), said initialization sequence comprising: ■ reception by the positioning terminal (Bi) of a reference orientation (TETA2C) of the electronic terminal (Ti) for a given position (POSo) of the electronic terminal (Ti); ■ reception by the positioning terminal (Bi) of a reference height; ■ reception by the terminal of a user identifier (IDu) and / or an electronic terminal identifier (IDTI).

11. Anchoring method according to any one of claims 1 to 10 characterized in that the virtual object (OBVi) is defined by a plurality of points and surfaces delimiting a region associated with a Cartesian coordinate system and comprising a 3D representation that can be generated on a display of an electronic terminal according to a viewing angle.

12. Anchoring method according to claim 1 characterized in that the step of calculating the first position (POSi) comprises: ■ Assignment of at least one first reference coordinate (ZREFI) corresponding to the height of the virtual object (OBVi) defined from a predefined configuration to a coordinate of the first position (POSi).

13. Anchoring method according to any one of claims 1 to 12 characterized in that the step of calculating the first position (POSi) comprises: ■ An acquisition of an image of an area of ​​space in which the virtual object (OBVi) is represented in 3D and is positioned at the first position (POSi) on a display of the first electronic terminal (Ti); ■ A calculation of a second reference coordinate (CREF2) of at least one reference point (PT) associated with an element automatically detected from an acquired image processing algorithm in which the virtual object (OBVi) is represented; ■ Assignment of the second reference coordinate (CREF2) to a coordinate of the first position (POSi).

14. A method for displaying a virtual object (OBVi) that has been anchored according to the method of any one of claims 1 to 13, characterized in that it comprises: ■ Issuance of an identification request from a second electronic terminal (T2) to the positioning terminal (B1), said identification request including an identifier stored in a memory of the second electronic terminal (T2); ■ Generation of a response containing a virtual object identifier (OBV1) and said anchor position of said virtual object with respect to the positioning beacon (B1); ■ Display of said virtual object (OBV1) on a display of the second electronic terminal (T2) in superposition of an image acquired by an optic of said second electronic terminal (T2).

15. Product computer program comprising at least one computer and a memory and comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps performed by the electronic terminal (T1) of the process according to any one of any of claims 1 to 13.

16. Product computer program comprising at least one computer and a memory and comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps performed by the positioning terminal (B1) of the method according to any one of any one of claims 1 to 13. Virtual object anchoring system (OBV1), said system comprising: ■ A positioning terminal (Bi) comprising a memory and a calculator and a first UWB communication interface (INTi); ■ An electronic terminal (Ti) comprising a second UWB communication interface (INT2); the positioning beacon (B1) and the electronic terminal (T1) being configured to implement the method of any one of claims 1 to 13.

Images