VR Device Position Fixing via Sensor-Image Fusion
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Solution Overview
Problem
Existing techniques for tracking the position and posture of devices in virtual reality environments are not effective when the device is stationary and not being touched by a user, leading to unstable position estimation.
Innovation Solution
An information processing apparatus that includes a photographed image acquisition unit, a sensor data acquisition unit, a contact determination unit, and a stationary determination unit, which together estimate the device's position based on images and sensor data, and fix the position when the device is stationary and not touched.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If position estimation is continuously performed based on image data, then position tracking responsiveness is improved, but position stability deteriorates when the device is stationary
Solution Approach 1:
The system dynamically adjusts position estimation behavior based on device state. When the device is detected as stationary (through sensor data indicating no movement), the system switches from continuous position recalibration to position fixation, preventing spurious position changes while maintaining responsiveness when the device is actually moved.
Solution Approach 2:
The system uses sensor data (accelerometers, gyroscopes) as feedback to detect device movement state. This feedback mechanism allows the system to automatically determine when the device is stationary and switch to position fixation mode, thereby stabilizing position estimation without requiring manual intervention.
2Device complexity
If position estimation relies solely on image data, then system complexity is reduced, but measurement precision deteriorates for stationary devices
Solution Approach 1:
The system merges image-based position estimation with sensor-based movement detection. By combining these two data sources, the system achieves higher measurement precision for stationary devices through sensor confirmation, while maintaining the simplicity of image-based tracking when the device is moving. The fusion occurs in the decision logic that determines when to fix the position.
3Speed
If the system continuously updates position based on image data, then tracking responsiveness is improved, but reliability deteriorates when device is stationary
Solution Approach 1:
The system dynamically transitions between two operational modes: continuous position updating when the device is moving, and position fixation when the device is stationary. This dynamic adaptation ensures high reliability by preventing erroneous position changes during stationary states, while maintaining responsiveness when the device is actually moved.
Solution Approach 2:
The system performs preliminary detection of device movement state using sensors before finalizing position estimation. By preliminarily determining whether the device is stationary through accelerometer and gyroscope data, the system prevents unreliable position updates from being applied, thereby improving overall reliability without sacrificing tracking responsiveness.
Data Source
AI summary
A photographed image acquisition unit 212 acquires an image obtained by photographing a device. A sensor data acquisition unit 214 acquires sensor data indicating an acceleration and/or an angular speed of the device. An estimation processing unit 230 estimates a position of the device on the basis of the image obtained by photographing the device. A contact determination unit 232 determines whether or not a user is touching the device. A stationary determination unit 234 determines whether or not the device is stationary on the basis of the sensor data. When it is determined that the user is not touching the device and the device is stationary, the estimation processing unit 230 fixes the estimated position of the device.