Entity Controller Positioning via Relative Pose and Dual Exposure
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Solution Overview
Problem
Existing XR devices face limitations in positioning entity controllers due to occlusion by body parts, leading to reduced positioning accuracy and stability, especially during large actions.
Innovation Solution
The method involves determining a relative pose relationship between the entity controller and its associated part using images captured with different exposure policies, allowing for accurate positioning even when the entity controller is occluded.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If optical positioning and tracking is used on the entity controller, then positioning can be performed, but the positioning fails when the entity controller is occluded by body parts during large actions
Solution Approach 1:
The patent introduces an intermediary approach by using the hand (associated part) as a mediator to infer the entity controller's position. When the controller is occluded, the system tracks the hand's pose and applies a pre-calculated relative pose relationship to estimate the controller's position, thereby maintaining positioning reliability without requiring direct visual contact with the controller.
Solution Approach 2:
The patent segments the positioning task into two independent parts: tracking the hand (associated part) and determining the relative pose relationship between the hand and controller. This segmentation allows the system to maintain positioning capability even when the controller itself is not visible, as the hand tracking can continue independently.
2Measurement precision
If a single exposure policy is used for capturing images, then the imaging process is simple, but the positioning accuracy is reduced when the entity controller is occluded
Solution Approach 1:
The patent segments the image capture process into two separate imaging processes with different exposure policies: one optimized for capturing the entity controller (first exposure policy) and another for capturing the associated part (second exposure policy). This segmentation allows each policy to be optimized for its specific target, improving overall positioning accuracy despite the increased process complexity.
Solution Approach 2:
The patent applies local quality by using different exposure policies tailored to the specific requirements of capturing different objects (controller vs. associated part). The first exposure policy is optimized for controller visibility while the second is optimized for associated part visibility, allowing each local imaging process to operate under optimal conditions.
Data Source
AI summary
The embodiment of this application provides a method and apparatus for positioning an entity controller, device and a storage medium. The method includes following steps: determining a relative pose relationship between an entity controller and an associated part of the entity controller, the relative pose relationship being determined from at least one entity controller pose and at least one associated part pose, the entity controller pose being determined from a first type of image, the associated part pose is determined from a second type of image, and the first type of image and the second type of image using different exposure policies; determining a current associated part pose, the current associated part pose being determined based on a current second type of image that is closest to the current; and determining an estimate pose of the entity controller based on the relative pose relationship and the current associated part pose.