CN106383596B - Virtual reality anti-dizzy system and method based on space positioning - Google Patents
Virtual reality anti-dizzy system and method based on space positioning Download PDFInfo
- Publication number
- CN106383596B CN106383596B CN201611005962.1A CN201611005962A CN106383596B CN 106383596 B CN106383596 B CN 106383596B CN 201611005962 A CN201611005962 A CN 201611005962A CN 106383596 B CN106383596 B CN 106383596B
- Authority
- CN
- China
- Prior art keywords
- data
- posture data
- processing unit
- positioning
- experience
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
- G06F3/0325—Detection arrangements using opto-electronic means using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Processing Or Creating Images (AREA)
- User Interface Of Digital Computer (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a virtual reality anti-dizzy system and method based on space positioning, comprising an absolute positioning device, at least one carrying device and a system server, wherein the carrying device comprises an angle positioning module, a data processing module and a VR experience module, and the data processing module further comprises a positioning data processing unit and an image analysis processing unit. When the positioning data processing unit is used, the positioning data processing unit acquires second pose data and first pose data of a user, and acquires accurate pose data through a correction algorithm; the positioning data processing unit sends accurate pose data to a system server; the image analysis processing unit acquires accurate pose data of the user, acquires pose data of other users from the system server, generates VR experience data, and converts the VR experience data into VR experience information through the VR experience module so as to be presented to the user. The invention can meet the accurate positioning requirement of the VR system aiming at a plurality of users in a large-area long-time scene.
Description
Technical Field
The invention relates to a virtual reality system, in particular to a virtual reality anti-dizzy system and method based on space positioning.
Background
Virtual Reality (VR) technology takes intelligent computing equipment as a core, combines a sensing technology to generate a realistic Virtual environment, and immerses a user in the environment through system simulation of interactive three-dimensional dynamic views and entity behaviors of multi-source information fusion.
The immersive experience of VR is divided into two types, one is an angle-positioned immersive experience that includes only 360 ° field of view rotation, which can be observed by freely rotating the body or head, such as the cell phone box of GearVR; another is that the spatially localized immersion experience not only allows 360 deg. rotation of the field of view but also free movement in the field, such as HTC save, PSVR (PlayStation VR), etc. In contrast, only spatially localized immersion experiences can produce an immersive experience.
Virtual reality scratch storms are now becoming increasingly powerful, ranging from a wide variety of helmets and glasses, to a variety of fanciful interaction devices, to content production and experience library creation attempts. The most important ring of construction of the VR experience library is an inexpensive, flexible and accurate positioning scheme. In order to update the virtual environment information to be displayed in the space positioning type immersion experience in real time, the position tracking device is required to track the motion gesture, position and other information of the human body, determine the absolute space position of the participants in the experience hall in a large-area venue space, feed back the absolute space position to the game server, and meanwhile, the data of all players participating in the game are required to be interacted, so that various game logics necessary for the group game can be executed.
For the positioning equipment of the virtual reality system of the VR venue, firstly, the most serious technical defect of the virtual reality system, namely time delay, is solved, the visual landscape is discontinuous or distorted due to the time delay, and is not matched with the actual movement of the user, and the motion sickness of the user can be caused by using the equipment with the defect for a long time; secondly, accurate positioning can be realized in a large-area VR venue; furthermore, accurate positioning can still be maintained over a longer period of use; in addition, the method can realize simultaneous positioning of a plurality of participants in the same space and interactive sharing of positioning data; in addition, the cost of the system as a whole should be reduced as much as possible.
The techniques employed by prior art devices for implementing location tracking are generally of the following types: inertial positioning, optical positioning, lightrouse, visual-inertial Odometry (VIO), time of Flight (TOF) ranging. The application of these techniques to VR stadium scenarios has the following problems:
inertial positioning performs position tracking through an accelerometer, a gyroscope and a magnetometer. Because the position and the posture are measured by the angular velocity meter, the gyroscope and the magnetometer, and the magnetometer is extremely easy to be influenced by surrounding magnetic materials (such as building materials, especially part of VR stadium sites are positioned in the basement), and electromagnetic waves emitted by equipment such as mobile phones and the like interfere, errors and drifting are generated in initial data measured by the magnetometer, and therefore, under the use scene of larger area or longer time, larger deviation of positioning information is more easily caused by inertial positioning. And the deviation can cause distortion of visual landscapes, thereby bringing discomfort such as dizziness and the like.
The optical positioning device calculates the rotation and displacement of the object relative to the acquisition device through the perspective result, and can accurately measure the positioning information of the object. However, there is a limitation in optical positioning to determine the position of an object by marking points, because a plurality of marking points cannot be infinitely combined, and if two sets of marking points are too close (for example, two players working back to back), misdetection or unrecognizable situations are also liable to occur. In addition, too complicated venue environment can also let the mark point shelter from by the barrier more easily to take place to leak and survey the problem. In addition, the refreshing frequency of the optical measurement device is low, so that the position information is easy to delay, the visual landscape is distorted, and discomfort such as dizziness is brought.
The lightrouse technology cannot realize large-area coverage due to the exclusive limitation of the self-scanning period, and cannot receive signals due to the fact that too many shielding objects cannot exist, so that the lightrouse technology is difficult to be compatible with the requirement that multiple stadiums use the same space together.
When the VIO technology is started, complex operation equipment is required to be added to confirm the starting position of the VIO technology, meanwhile, when the VIO technology is used for a long distance and a long time, accumulated errors can be generated to cause data drift and further image positioning accuracy, and the generated data deviation can cause visual landscape distortion to bring discomfort such as dizziness. In addition, the vision sensor adopted by the VIO technology is single and expensive, the information quantity of the sampled data is large, a large operation load is caused, and the performance requirement on the image processing equipment is high.
The pulses emitted from the emitter by the TOF technique are sector-shaped areas so that when a plurality of moving objects are crowded together, they will be hidden from each other, and the rear object will be in the "shadow zone" of the front object, resulting in undetectable, and thus resulting data bias. And the pulse measurement can not identify different objects, and the requirement of the same space common use of multiple participants in a venue is not met. In addition, if the measurement is carried out through light pulse, the requirement on components is high, the limitation on working conditions is more severe, and the price is more expensive as the scanning frequency is higher and the detection distance is longer; if the measurement is performed through pulse and electromagnetic pulse, the measurement is easy to be interfered by the surrounding environment, and the generated data deviation can cause visual landscape distortion.
Disclosure of Invention
In view of the foregoing drawbacks of the prior art, the present invention is directed to providing a low-cost, high-performance, and highly practical solution, which can reduce the delay of position tracking, reduce dizziness caused when a user uses the device in a scene with a large area and a long time, and simultaneously satisfy simultaneous positioning of multiple participants in the same space, and can interactively share positioning data between the participants.
The invention provides a virtual reality anti-dizzy system based on space positioning, which comprises:
the absolute positioning device comprises a controller and at least one positioner, wherein the controller is connected with the positioner;
the device comprises at least one carrying device, a first image processing module, a second image processing module and a third image processing module, wherein the carrying device comprises an angle positioning module, a data processing module and a VR experience module;
the positioning data processing unit is connected with the controller of the absolute positioning device to acquire first position and posture data of the carrying device, and the positioning data processing unit is connected with the angle positioning module of the carrying device to acquire second position and posture data of the carrying device;
the positioning data processing unit corrects the data deviation in the second position and posture data by using the first position and posture data through a correction algorithm, so as to obtain accurate position and posture data of the portable device;
the positioning data processing unit is connected with the image analysis processing unit, and sends the accurate position posture data of the portable device to the image analysis processing unit to generate VR experience data, the image analysis processing unit is connected with the VR experience module, and the image analysis processing unit sends the VR experience data to the VR experience module and converts the VR experience data into VR experience information for presentation through the VR experience module.
Preferably, the virtual reality anti-dizzy system based on spatial positioning has a plurality of carrying devices, and further comprises a system server, wherein the positioning data processing unit of each carrying device is respectively connected with the system server and is used for respectively sending the accurate position and posture data of each carrying device to the system server, the system server is respectively connected with the image analysis processing unit of each carrying device, and the image analysis processing unit of each carrying device can acquire the accurate position and posture data of other carrying devices from the system server and is used for adding the position information of other carrying devices in the VR experience data.
The virtual reality anti-dizzy system based on space location, wherein, the locator is a plurality of, the locator sets up the headspace at a VR scene district, the locator includes a plurality of wide angle lens locators and a plurality of narrow angle lens locators, narrow angle lens locators place at the edge, the corner in this VR scene district, be close to the limited position in visual field such as barrier, wide angle lens locators set up the comparatively open position in visual field such as the center of this VR scene.
The virtual reality anti-dizzy system based on space positioning, wherein the correction algorithm comprises the following contents:
a positioning data processing unit of the portable device acquires the first position and posture data of the portable device through the positioner, and acquires the second position and posture data of the portable device through the angle positioning module;
the positioning data processing unit carries out zero resetting correction on the initial second position and posture data according to the first position and posture data, namely, an initial compensation value is calculated through the deviation of an initial rotation angle in the acquired second position and posture data and another initial rotation angle in the first position and posture data, and the existing compensation value is updated by using the initial compensation value;
the positioning data processing unit is used for calling the existing compensation value, correcting the acquired second position and posture data, further acquiring accurate position and posture data of the portable device, and outputting the corrected accurate position and posture data;
thereafter, when new second position and orientation data is acquired, it is determined whether new first position and orientation data is generated by the positioner at this time:
if not, the existing compensation value is called to correct the newly acquired second position and posture data, and corrected accurate position and posture data are output;
if new first position and posture data are generated, calculating a new compensation value through the deviation of the initial rotation angle in the newly acquired second position and posture data and the other initial rotation angle in the newly acquired first position and posture data, updating the existing compensation value by using the newly calculated compensation value, retrieving the updated compensation value, correcting the acquired second position and posture data, and outputting corrected accurate position and posture data.
The invention also provides a virtual reality anti-dizzy method based on space positioning, which is characterized in that at least one carrying device is respectively connected with an absolute positioning device and a system server, each carrying device comprises an angle positioning module, a positioning data processing unit, an image analysis processing unit and a VR experience module, and the method comprises the following steps:
step one: acquiring second position and posture data and first position and posture data of each carrying device through a positioning data processing unit of each carrying device;
step two: correcting the second position and posture data by the positioning data processing unit through a correction algorithm by using the first position and posture data to obtain accurate position and posture data;
step three: the refreshing frequency of the accurate position and posture data is reduced through the positioning data processing unit and then the accurate position and posture data is sent to the system server;
step four: acquiring accurate position and posture data of the portable device by the image analysis processing unit of each portable device, acquiring position and posture data of other portable devices with reduced refreshing frequency from the system server, and generating VR experience data;
step five: the VR experience data is sent to the VR experience module through the image analysis processing unit, and the VR experience module converts the VR experience data into VR experience information for presentation.
By adopting the technical scheme, the invention corrects the first position posture data which are obtained by optical tracking (positioning) and have lower refreshing frequency but accurate initial rotation angle positioning by adopting a correction algorithm, so that offset errors are easy to generate, and the second position posture data with higher refreshing frequency are refreshed, thereby ensuring that the positioning data have higher refreshing frequency and overcoming the discontinuity or distortion of visual landscapes caused by delay; meanwhile, the positioning data still has higher accuracy when being used for a long time in a large area, and the VR experience information of the VR equipment is ensured to be matched with the actual motion condition of the user. Meanwhile, the problem of missing detection of position information in a complex venue environment is solved by adopting a mode of positioning by a plurality of angle positioning modules and correcting and positioning by a special locator array structure. In addition, the system server is arranged to provide interaction of the position information between the non-portable devices, and the data compression processing for reducing the refreshing frequency is carried out on the position information of the local portable devices, so that the system server is uploaded and then transmitted to other non-local portable devices, and the system burden is reduced as much as possible under the condition of ensuring user experience. Meanwhile, the adopted locator and angle locating module are easy to manufacture, and compared with other accurate locating equipment in the prior art, the locating device has the advantage of low cost, particularly has low manufacturing cost when being paved in a large area, and can meet the requirements of VR system experience.
Drawings
Fig. 1 is a schematic diagram of a first embodiment of a virtual reality anti-dizzy system based on spatial positioning according to the present invention.
Fig. 2 is a schematic diagram of a second embodiment of the virtual reality anti-dizzy system based on spatial positioning of the present invention.
Fig. 3 is a flowchart of the correction algorithm of the virtual reality anti-dizzy system based on spatial positioning of the present invention.
Fig. 4 is a flow chart of the virtual reality anti-dizzy method based on spatial positioning of the present invention.
Fig. 5a is a schematic view of VR scene area and subinterval division of the virtual reality anti-dizzy system based on spatial localization of the present invention.
Fig. 5b is a schematic layout diagram of an embodiment of a VR scene area subinterval locator array of the virtual reality anti-dizzy system based on spatial localization of the present invention.
Fig. 5c is a schematic layout diagram of another embodiment of a VR scene area subinterval locator array of the virtual reality anti-dizzy system based on spatial localization of the present invention.
Detailed Description
The technical means adopted by the present invention to achieve the intended purpose of the present invention will be further described below with reference to the drawings and preferred embodiments of the present invention.
Referring to fig. 1, a schematic diagram of a first preferred embodiment of a virtual reality anti-dizzy system based on spatial positioning according to the present invention comprises an absolute positioning device 1 and a carrying device 2. The absolute positioning apparatus 1 is connected to the carrying apparatus 2 by a connection method including, but not limited to, a wired connection, a wireless connection, etc. The carrying device 2 may be carried by a VR user.
The absolute positioning apparatus 1 comprises a controller 11 and at least one positioner 12. The controller 11 is connected to each of the positioners 12, and each of the positioners 12 may be an optical tracker capable of emitting optical signals such as visible light, infrared light, etc. to a VR field, and the optical tracker further comprises an optical detection device that converts the optical signals reflected back by the VR user into first position and orientation data by an optical motion capture algorithm when the optical detection device receives the optical signals, and transmits the position and orientation data back to the controller 11.
The portable device 2 comprises an angle positioning module 21, a data processing module 22, and a VR experience module 23. Preferably, the angular positioning module 21 may be a nine-axis positioning device, and performs position and posture tracking on the VR user through an accelerometer, a gyroscope and a magnetometer, and converts the position and posture of the VR user into second position and posture data, and further preferably, the second position and posture data may be further subjected to linear filtering through a kalman filter to primarily filter interference. The data processing module 22 further includes a positioning data processing unit 221 and an image processor 222, where the positioning data processing unit 221 is respectively connected to the angular positioning module 21 and the controller 11, and the positioning data processing unit 221 is capable of acquiring the second position and posture data of the VR user (i.e. the carrying device 2) from the angular positioning module 21, and is capable of acquiring the first position and posture data of the VR user (i.e. the carrying device 2) from the controller 11, and correcting the data deviation in the second position and posture data by a correction algorithm using the first position and posture data, so as to acquire the accurate position and posture data of the VR user (i.e. the carrying device 2). The positioning data processing unit 221 is connected to the image analysis processing unit 222, and the positioning data processing unit 221 transmits the position and posture data of the VR user to the image analysis processing unit 222, and the position and posture data is processed and analyzed into image data by the image analysis processing unit 222. The image analysis processing unit 222 is connected to the VR experience module 23, and the image analysis processing unit 222 transmits VR experience data of the processing analysis to the VR experience module 23, converts the VR experience data into VR experience information including but not limited to audio information, video information, somatosensory information, and the like, and presents the VR experience information to the VR experience user.
Referring to fig. 2, a schematic diagram of a second preferred embodiment of the spatial positioning-based virtual reality anti-dizzy system according to the present invention includes an absolute positioning device 1', a plurality of carrying devices 2', and a system server 3. The absolute positioning apparatus 1' is connected to each of the carrying apparatuses 2', and the carrying apparatuses 2' are connected to the system server 3, respectively. The connection mode includes but is not limited to wired connection, wireless connection and the like. The carrying device 2' may be carried by a plurality of different VR users, respectively. The present embodiment is illustrated by taking three VR users A, B, C carrying 3 carrying devices 2'a, 2' b, 2'c respectively, but the number of carrying devices 2' in actual use is not limited thereto.
The absolute positioning apparatus 1' comprises a controller 1'1 and at least one positioner 1'2. The controller 1'1 is connected to each of the positioners 1'2, and each of the positioners 1'2 may be an optical tracker capable of emitting optical signals such as visible light and infrared light to a VR field, and the optical tracker further comprises an optical detection device, which converts the optical signals reflected back by a VR user into first position and orientation data by an optical motion capturing algorithm when receiving the optical signals, and sends the position and orientation data back to the controller 1'1.
The internal structure of each carrying device 2' a, 2' b, 2' c is substantially the same, and in the following, the carrying device 2' a includes an angular positioning module 2' a1, a data processing module 2' a2, and a VR experience module 2' a3. The data processing module 2' a2 further includes a positioning data processing unit 2' a21 and an image analysis processing unit 2' a22.
The positioning data processing unit 2'a21 is connected to the controller 1'1 and the angular positioning module 2'a1, where the positioning data processing unit 2' a21 is capable of acquiring first position and posture data of the VR user a (i.e. first position and posture data of the carrying device 2'a carried by the VR user a) from the controller 1'1, and the positioning data processing unit 2'a21 is also capable of acquiring second position and posture data of the VR user a (i.e. second position and posture data of the carrying device 2' a carried by the VR user a) from the angular positioning module 2'a1, preferably, the angular positioning module 2' a1 is a nine-axis sensor, and further preferably, the second position and posture data is further capable of performing linear filtering by a kalman filter to primarily filter interference. The positioning data processing unit 2'a21 corrects the data deviation in the second position and orientation data by a correction algorithm using the first position and orientation data of the VR user a, so as to obtain accurate position and orientation data of the VR user a (i.e., accurate position and orientation data of the carrying device 2' a carried by the VR user a). The positioning data processing unit 2' a21 is also connected to the system server 3, and transmits the generated accurate position and posture data of the user a to the system server 3 after reducing the refresh frequency. Since the carrying devices 2'b, 2' c have substantially the same structure and function, the positioning data processing units 2'b21 and 2' c21 will also transmit the generated accurate position and orientation data of the user B, C with reduced refresh frequency to the system server 3.
The image analysis processing unit 2' a22 is connected to the positioning data processing unit 2' a21 and the system server 3, the image analysis processing unit 2' a22 obtains accurate position and posture data of the user a with a higher refresh frequency from the positioning data processing unit 2' a21 to generate VR experience data of the view angle view of the user a, and at the same time, the image analysis processing unit 2' a22 obtains accurate position and posture data of the user B and the user C after the refresh frequency is reduced from the system server 3 to generate real-time position and posture of the user B and the user C in the VR experience data of the view angle view of the user a.
The image analysis processing unit 2' a22 is further connected to the VR experience module 2' a3, and the image analysis processing unit 2' a22 transmits VR experience data of the view angle of the user a including the real-time position and posture of the user B and the user C to the VR experience module 2' a3, and converts the VR experience data into VR experience information including but not limited to audio information, video information, somatosensory information, and the like via the VR experience module 2' a3, and presents the VR experience information to the user a.
Fig. 3 is a flowchart of a correction algorithm of the virtual reality anti-dizzy system based on spatial positioning, and after the system is started, the positioning data processing unit acquires first position and posture data of a user through the positioner, and simultaneously acquires second position and posture data of the user through the angle positioning module. The positioning data processing unit firstly carries out zero-resetting correction on the initial rotation angle of the system, namely calculates an initial compensation value through the deviation of the initial rotation angle in the acquired second position and posture data and the initial rotation angle in the first position and posture data, and updates the existing compensation value in the system by using the initial compensation value. And calling the updated compensation value, correcting the acquired second position and posture data, further acquiring accurate position and posture data of the user, and outputting the corrected accurate position and posture data. Thereafter, when new second position and orientation data is acquired, it is determined whether new first position and orientation data is generated by the positioner at the time: if not, the existing compensation value is called to correct the newly acquired second position and posture data, and the corrected accurate position and posture data is output; if new first position and orientation data are generated, calculating a new compensation value through deviation of an initial rotation angle in the newly acquired second position and orientation data and an initial rotation angle in the newly acquired first position and orientation data, updating an existing compensation value by using the newly calculated compensation value, retrieving the updated existing compensation value, correcting the acquired second position and orientation data, and outputting corrected accurate position and orientation data. Thereafter, the correction process is repeated, achieving the purpose of compensation correction of the second position and orientation data using the first position and orientation data.
The specific calculation method of the compensation value is as follows:
measuring the space position coordinate X of the user through an angle positioning module 1 ，Y 1 ，Z 1 And the tilt angle θ of the user with respect to the horizontal 1 And a rotation angle phi 1 The horizontal displacement X of the user can be obtained according to the following formula 1 ’，Y 1 ’：
X 1 ’＝X 1 ×cos(φ 1 )+Y 1 ×sin(θ 1 )×sin(φ 1 )-Z 1 *cos(θ 1 )×sin(φ 1 )………(1)
Y 1 ’＝Y 1 ×cos(θ 1 )+Z 1 ×sin(θ 1 )…………………………………………(2)
According to the horizontal coordinate X of the user 1 ’，Y 1 The' value is combined with the following algorithm to obtain the initial rotation angle Azimuth in the second position and posture data of the user 1 ：
Algorithm to calculate Azimuth 1 ＝arctan(Y 1 ’/X 1 ’)
Azimuth 1 (X 1 ’＝0,Y 1 ’<0)＝90°
Azimuth 1 (X 1 ’＝0,Y 1 ’>0)＝270°
Azimuth 1 (X 1 ’<0)＝{180-[arctan(Y 1 ’/X 1 ’)]×180/π}°
Azimuth 1 (X 1 ’>0,Y 1 ’<0)＝{-[arctan(Y 1 ’/X 1 ’)]×180/π}°
Azimuth 1 (X 1 ’>0,Y 1 ’<0)＝{360-[arctan(Y 1 ’/X 1 ’)]×180/π}°
Based on a similar method, the locator measures the spatial position coordinates X of the user 2 ，Y 2 ，Z 2 And the tilt angle θ of the user with respect to the horizontal 2 And a rotation angle phi 2 The horizontal displacement X of the user can be obtained according to the following formula 2 ’，Y 2 ’：
X 2 ’＝X 2 ×cos(φ 2 )+Y 2 ×sin(θ 2 )×sin(φ 2 )-Z 2 *cos(θ 2 )×sin(φ 2 )………(1)
Y 2 ’＝Y 2 ×cos(θ 2 )+Z 2 ×sin(θ 2 )…………………………………………(2)
According to the horizontal coordinate X of the user 2 ’，Y 2 The' value is combined with the following algorithm to obtain the initial rotation angle Azimuth in the first position and posture data of the user 2 ：
Algorithm to calculate Azimuth 2 ＝arctan(Y 2 ’/X 2 ’)
Azimuth 2 (X 1 ’＝0,Y 1 ’<0)＝90°
Azimuth 2 (X 1 ’＝0,Y 1 ’>0)＝270°
Azimuth 2 (X 1 ’<0)＝{180-[arctan(Y 1 ’/X 1 ’)]×180/π}°
Azimuth 2 (X 1 ’>0,Y 1 ’<0)＝{-[arctan(Y 1 ’/X 1 ’)]×180/π}°
Azimuth 2 (X 1 ’>0,Y 1 ’<0)＝{360-[arctan(Y 1 ’/X 1 ’)]×180/π}°
By calculating an initial rotation angle Azimuth in the second position and orientation data 1 An initial rotation angle Azimuth from the first position and orientation data 2 The deviation of (2) can obtain the correction compensation value. The initial rotation angle in the second position and posture data can be further corrected through the correction compensation value, so that an accurate initial rotation angle can be obtained, and the accurate user position information and angle information can be reversely pushed out by the positioning data processing unit through the accurate initial rotation angle, so that the accurate position and posture data of the user are determined.
Fig. 4 is a flowchart of a virtual reality anti-dizzy method based on spatial positioning according to the present invention, which has at least one carrying device respectively connected to an absolute positioning device and a system server, each carrying device including an angle positioning module, a positioning data processing unit, an image analyzing processing unit and a VR experience module, the method includes the steps of:
step one: acquiring second position and posture data and first position and posture data of each carrying device through a positioning data processing unit of each carrying device;
step two: correcting the second position and posture data by the positioning data processing unit through a correction algorithm by using the first position and posture data to obtain accurate position and posture data;
step three: the refreshing frequency of the accurate position and posture data is reduced through the positioning data processing unit and then the accurate position and posture data is sent to the system server;
step four: acquiring accurate position and posture data of the portable device by the image analysis processing unit of each portable device, acquiring position and posture data of other portable devices with reduced refreshing frequency from the system server, and generating VR experience data;
step five: the VR experience data is sent to the VR experience module through the image analysis processing unit, and the VR experience module converts the VR experience data into VR experience information for presentation.
In the prior art, the magnetic force element of the inertial positioning device is easily interfered by surrounding facilities and materials, so that the initial information rotation angle is inaccurate, the position tracking accuracy is further affected, and the magnetic force element is easy to generate data drift when used for a long time (more than 15 minutes, namely, obvious initial rotation angle deviation) in a wide range, and the position tracking misalignment is also caused. The position tracking misalignment can cause mismatching of VR experience information presented to a VR user and the actual motion situation of the user, so that motion sickness is caused, and discomfort such as dizziness and the like is caused; although the initial rotation angle can be accurately determined by optical tracking (positioning), the refreshing frequency of the information collected by the optical tracking (positioning) is low, so that the time delay of the position information collection is caused, and the time delay can also cause that VR experience information presented to a VR user is not matched with the actual motion condition of the user, thereby causing motion sickness, dizziness and other uncomfortable feelings; in addition, the accuracy of the information collected by optical tracking (positioning) except for the initial rotation angle is far less than that of the inertial positioning device such as a nine-axis sensor, the inertial positioning device is used for correcting the second position and posture data acquired by the inertial positioning device by using the first position and posture data collected by optical tracking (positioning), so that the acquired tracking and positioning data can be more accurate; in addition, optical tracking (positioning) also easily causes misdetection or unrecognizable situations, and too complex venue environments can also enable marked points to be shielded by obstacles more easily, so that the problem of missed detection occurs, and the loss of position information causes mismatching of VR experience information presented to VR users and actual motion conditions of the users. According to the invention, by adopting a correction algorithm, the position and posture data of each user are respectively measured by using an inertial positioning system with high refreshing frequency, so that the problems of position information acquisition delay and position information acquisition omission are solved; meanwhile, the position and posture of each user are accurately determined through optical tracking (positioning) acquisition and used for correcting the initial position and posture information drift and errors of each inertial positioning system, so that a plurality of users can simultaneously and continuously acquire accurate position and posture information, and the problem that VR experience information presented to the VR user and the actual motion condition of the user are not matched when the conventional VR device is used for a long time in a large area is solved.
In the aspect of multi-user collaborative interaction, the requirement of the user on VR experience information of the user's own view angle is most sensitive and harsh, and the perception of real-time position information of other users is relatively slow. Therefore, when VR experience data of the user's own view angle is generated, original position and posture data with higher refreshing frequency (more than 500 frames per second) obtained locally through a correction algorithm is directly used for generation, so that VR experience information is ensured to be matched with the actual motion condition of the user; accordingly, the refreshing frequency of the real-time position information of other users can be guaranteed only if the motion perceived by human eyes is in a continuous state (the aim can be achieved by about 30 frames per second), so that when the image analysis processing unit sends position and posture data for interaction to the server, the refreshing frequency of the original position and posture data is reduced and then sent, the data quantity of communication between modules is greatly reduced, the data transmission speed is improved, the data processing pressure of a system is reduced, the smoothness of the operation of the system is guaranteed, and the cost of system equipment is reduced.
The positioning modules 12 and 1'2 of the virtual reality anti-dizzy system positioning modules 1 and 1' based on space positioning are multiple and are in an array arrangement structure when used in a large-area scene. As shown in fig. 5a, a VR scene area 4, the positioners 12, 1'2 are disposed in the head space of the VR scene area 4, and the VR scene area 4 can be further divided into a plurality of subintervals 4A1, 4A2, 4A3 … …. For convenience of description, the VR scene area 4 and the sub-areas are represented by squares, but in practice, the VR scene area 4 and the sub-areas are not limited to the squares, but may be circles, rectangles, irregular patterns or other shapes, and in order to fully divide the VR scene area 4, the sub-areas may be divided into combinations of different shapes, for example, when the VR scene area 4 is circular, the sub-areas in the field are squares or rectangles, and the edges of the sub-areas in the field are circular. As shown in fig. 5B, taking one sub-section 4A1 as an example of the arrangement structure of the positioner array, the positioners 12, 1'2 are disposed on the edge line of each sub-section, and the positioners 12, 1'2 are divided into a wide-angle lens positioner a and a narrow-angle lens positioner B according to the used visual angles of the lenses, wherein the detectable range of the wide-angle lens positioner a is larger, but the detectable range of the narrow-angle lens positioner B is shorter, but the detectable range is longer. In the locator arrangement array structure, the narrow-angle lens locators B are placed at the positions with limited visual fields such as edges, corners, close to obstacles and the like of a scene, and at least one pair of narrow-angle lens locators B are symmetrically arranged on one side, close to the corner, of one group of side of each corner of a subinterval 4A 1; the wide-angle lens positioner a is disposed at a position with a relatively wide field of view, such as the center of the scene, preferably, at least one wide-angle lens positioner a is disposed at the midpoint of the edge of one subinterval 4A1, and more preferably, at least one wide-angle lens positioner a may be disposed at the bisector and the quarter of one subinterval 4 A1. In another preferred embodiment, as shown in fig. 5C, an arrangement structure of the positioner array is illustrated by taking one subinterval 4A1 as an example, in this embodiment, a full-angle lens C with a larger detection range and a longer detection distance can be used, at least one full-angle lens C is disposed at the midpoint of the edge of one subinterval 4A1, at least one pair of wide-angle lens positioners a are symmetrically disposed at other equally divided points on both sides of the full-angle lens C, and at least one pair of narrow-angle lens positioners B are symmetrically disposed on one side of each corner of one subinterval 4A1 near the corner.
Through the array structure of arranging, the positions of various lenses are reasonably matched, so that the locators can detect the position and the gesture of a user without dead angles under a complex venue environment, and in order to further improve accuracy, the optical position tracking algorithm is preferably adopted, so that the user can output position and gesture data under the condition that at least three locators are detected simultaneously, the accurate and rapid detection of the user is realized, the situation that misdetection or recognition cannot be realized is avoided as much as possible, in addition, the optimal scheme adopts a plurality of locators to mutually assist in correction, the requirement on the precision of each locator device is more relaxed, and the laying cost of the locator array can be reduced.
The present invention is not limited to the above-mentioned embodiments, but is capable of modification and variation in all embodiments without departing from the spirit and scope of the present invention.
Claims (13)
1. Virtual reality anti-dizzy system based on space location, characterized by comprising:
the absolute positioning device comprises a controller and at least one positioner, wherein the controller is connected with the positioner;
the device comprises at least one carrying device, a first image processing module, a second image processing module and a third image processing module, wherein the carrying device comprises an angle positioning module, a data processing module and a VR experience module;
the positioning data processing unit is connected with the controller of the absolute positioning device to acquire first position and posture data of the carrying device, and the positioning data processing unit is connected with the angle positioning module of the carrying device to acquire second position and posture data of the carrying device;
the positioning data processing unit corrects the data deviation in the second position and posture data by using the first position and posture data through a correction algorithm, so as to obtain accurate position and posture data of the portable device; the correction algorithm comprises the steps of calculating an initial compensation value through the deviation of the initial rotation angle in the acquired second position and posture data and the initial rotation angle in the first position and posture data, and updating the existing compensation value in the system by using the initial compensation value; the updated compensation value is called, the acquired second position and posture data is corrected, the accurate position and posture data of the user are further acquired, the corrected accurate position and posture data are output, and the correction process is repeated, so that the compensation correction of the second position and posture data by using the first position and posture data is realized;
the positioning data processing unit is connected with the image analysis processing unit, and sends the accurate position posture data of the portable device to the image analysis processing unit to generate VR experience data, the image analysis processing unit is connected with the VR experience module, and the image analysis processing unit sends the VR experience data to the VR experience module and converts the VR experience data into VR experience information for presentation through the VR experience module.
2. The system of claim 1, further comprising a system server, wherein the positioning data processing unit of each carrying device is connected to the system server, and is configured to send the accurate position and posture data of each carrying device to the system server, and the system server is connected to the image analysis processing unit of each carrying device, and the image analysis processing unit of each carrying device is configured to obtain the accurate position and posture data of other carrying devices from the system server, and is configured to add the position information of the other carrying devices to the VR experience data.
3. The virtual reality anti-dizzy system based on spatial localization of claim 2, wherein the localization data processing unit of each carrying device transmits an accurate position and orientation data with reduced refresh frequency to the system server.
4. A virtual reality anti-glare system based on spatial localization as claimed in any one of claims 1 to 3, wherein each of the positioners is an optical tracker.
5. A virtual reality anti-glare system based on spatial localization as in any one of claims 1 to 3, wherein the angular localization module is a nine axis sensor.
6. The virtual reality anti-dizzy system based on spatial localization of claim 5, wherein the angular localization module further comprises a kalman filter, the second position and orientation data obtained by the angular localization module is obtained by the localization data processing unit after being filtered by the kalman filter.
7. A virtual reality anti-dizzy system based on spatial positioning according to any one of claims 1 to 3, wherein when the number of positioners is plural, the positioners are disposed in a top space of a VR scene area, the positioners include a plurality of wide-angle lens positioners and a plurality of narrow-angle lens positioners, the narrow-angle lens positioners are disposed at the limited-view positions such as edges, corners, approaching obstacles, etc. of the VR scene area, and the wide-angle lens positioners are disposed at the relatively wide-view positions such as the center of the VR scene area.
8. The virtual reality anti-dizzy system based on spatial localization of claim 7, wherein the VR scene area is divided into a plurality of subintervals, the locators are disposed on edge lines of the subintervals, and at least a pair of narrow angle lens locators are symmetrically disposed on a set of sides of each corner of each subinterval near the corner.
9. The virtual reality anti-dizzy system based on spatial localization of claim 7, wherein the VR scene area is divided into a plurality of subintervals, the localizer is disposed on an edge line of the subintervals, and at least one wide-angle lens localizer is disposed at a midpoint of an edge of each subinterval.
10. The system of claim 7, wherein the locator includes a full angle lens having a large detection range and a long detection distance, the VR scene area is divided into a plurality of sub-areas, the locator is disposed on an edge line of the sub-areas, a full angle lens is disposed at least at a midpoint of an edge of each sub-area, a pair of wide angle lens locators is disposed at least symmetrically at other equally divided points on both sides of the full angle lens, and at least a pair of narrow angle lens locators is disposed at a side of each corner of each sub-area near the corner.
11. A virtual reality anti-dizzy system based on spatial localization as claimed in any one of claims 1 to 3, characterized in that:
the positioning data processing unit of the carrying device acquires the first position and posture data of the carrying device through the positioner, and acquires the second position and posture data of the carrying device through the angle positioning module;
the correction process is repeated in the correction algorithm, so that the compensation correction of the second position and posture data by using the first position and posture data is realized, and the method specifically comprises the following steps:
when new second position and posture data are acquired, judging whether new first position and posture data are generated by the positioner at the moment:
if not, the existing compensation value is called to correct the newly acquired second position and posture data, and corrected accurate position and posture data are output;
if new first position and posture data are generated, calculating a new compensation value through the deviation of the initial rotation angle in the newly acquired second position and posture data and the other initial rotation angle in the newly acquired first position and posture data, updating the existing compensation value by using the new compensation value, retrieving the updated compensation value, correcting the acquired second position and posture data, and outputting corrected accurate position and posture data.
12. The virtual reality anti-dizzy system based on spatial localization of claim 11, wherein the second position and orientation data obtained by the angular localization module is obtained by the localization data processing unit after being filtered by a kalman filter.
13. The utility model provides a virtual reality anti-dizzy method based on space location, its characterized in that has an at least portable device and connects an absolute positioner and a system server respectively, and each portable device includes an angle location module, a location data processing unit, an image analysis processing unit and a VR experience module, and this method includes following step:
step one: acquiring second position and posture data and first position and posture data of each carrying device through a positioning data processing unit of each carrying device;
step two: correcting the second position and posture data by the positioning data processing unit through a correction algorithm by using the first position and posture data to obtain accurate position and posture data; the correction algorithm comprises the steps of calculating an initial compensation value through the deviation of the initial rotation angle in the acquired second position and posture data and the initial rotation angle in the first position and posture data, and updating the existing compensation value in the system by using the initial compensation value; the updated compensation value is called, the acquired second position and posture data is corrected, the accurate position and posture data of the user are further acquired, the corrected accurate position and posture data are output, and the correction process is repeated, so that the compensation correction of the second position and posture data by using the first position and posture data is realized;
step three: the refreshing frequency of the accurate position and posture data is reduced through the positioning data processing unit and then the accurate position and posture data is sent to the system server;
step four: acquiring the accurate position and posture data of the carrying device by the image analysis processing unit of each carrying device, meanwhile, position and posture data of other carrying devices with reduced refreshing frequency are obtained from the system server, and VR experience data are generated;
step five: the VR experience data is sent to the VR experience module through the image analysis processing unit, and the VR experience module converts the VR experience data into VR experience information for presentation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611005962.1A CN106383596B (en) | 2016-11-15 | 2016-11-15 | Virtual reality anti-dizzy system and method based on space positioning |
| PCT/CN2017/099558 WO2018090692A1 (en) | 2016-11-15 | 2017-08-30 | Spatial positioning based virtual reality dizziness prevention system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611005962.1A CN106383596B (en) | 2016-11-15 | 2016-11-15 | Virtual reality anti-dizzy system and method based on space positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106383596A CN106383596A (en) | 2017-02-08 |
| CN106383596B true CN106383596B (en) | 2023-08-29 |
Family
ID=57958608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611005962.1A Active CN106383596B (en) | 2016-11-15 | 2016-11-15 | Virtual reality anti-dizzy system and method based on space positioning |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106383596B (en) |
| WO (1) | WO2018090692A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106383596B (en) * | 2016-11-15 | 2023-08-29 | 北京当红齐天国际文化科技发展集团有限公司 | Virtual reality anti-dizzy system and method based on space positioning |
| US10713848B2 (en) * | 2017-04-06 | 2020-07-14 | Htc Corporation | System and method for providing simulated environment |
| CN109426332B (en) * | 2017-08-23 | 2023-02-28 | 中兴通讯股份有限公司 | Information processing method and device and virtual reality equipment |
| CN107490866B (en) * | 2017-09-20 | 2019-11-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of method of the wearable display system of pilot and its positioning head posture |
| CN108011884B (en) * | 2017-12-07 | 2022-07-01 | 指挥家（厦门）科技有限公司 | Attitude data transmission optimization method and device |
| US11932263B2 (en) * | 2018-03-14 | 2024-03-19 | Panasonic Intellectual Property Management Co., Ltd. | Travel sickness estimation system, moving vehicle, travel sickness estimation method, and travel sickness estimation program |
| WO2020078354A1 (en) * | 2018-10-16 | 2020-04-23 | 北京凌宇智控科技有限公司 | Video streaming system, video streaming method and apparatus |
| CN110427104B (en) * | 2019-07-11 | 2022-11-04 | 成都思悟革科技有限公司 | System and method for calibrating motion trail of finger |
| CN110519247B (en) * | 2019-08-16 | 2022-01-21 | 上海乐相科技有限公司 | One-to-many virtual reality display method and device |
| CN111369619B (en) * | 2020-02-28 | 2023-04-07 | 神华铁路装备有限责任公司 | VR visual angle correction method, device, system and storage medium |
| CN112656404B (en) * | 2020-12-30 | 2023-05-02 | 浙江凡聚科技有限公司 | System and method for measuring virtual reality dizziness degree based on image processing |
| CN113419471B (en) * | 2021-07-19 | 2023-01-24 | 歌尔科技有限公司 | Movement control device and movement control method |
| CN115442581B (en) * | 2021-12-29 | 2024-01-16 | 北京罗克维尔斯科技有限公司 | Vehicle-mounted VR glasses control method and device and computer equipment |
| CN114998556A (en) * | 2022-05-18 | 2022-09-02 | 北京航空航天大学江西研究院 | Virtual-real fusion method for mixed reality flight simulation system |
| WO2024108394A1 (en) * | 2022-11-22 | 2024-05-30 | 北京小米移动软件有限公司 | Posture acquisition method, apparatus, virtual reality device, and readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101034309A (en) * | 2007-04-10 | 2007-09-12 | 南京航空航天大学 | System and method for virtual implementing helmet anti-dazzle based on multiple acceleration transducers |
| CN105843397A (en) * | 2016-04-12 | 2016-08-10 | 公安部上海消防研究所 | Virtual reality interactive system based on pupil tracking technology |
| CN106095113A (en) * | 2016-06-27 | 2016-11-09 | 南京睿悦信息技术有限公司 | The measuring and calculating of user's attitude and the virtual reality follow-up method that a kind of nine axle sensors merge |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060050070A1 (en) * | 2004-09-07 | 2006-03-09 | Canon Kabushiki Kaisha | Information processing apparatus and method for presenting image combined with virtual image |
| CN102192727A (en) * | 2010-03-19 | 2011-09-21 | 阿尔卡特朗讯 | Mobile handheld device and method |
| EP3067783A1 (en) * | 2015-03-11 | 2016-09-14 | ETH Zurich | Method and system to track human locomotion by relative positional tracking of body parts of the human |
| CN106383596B (en) * | 2016-11-15 | 2023-08-29 | 北京当红齐天国际文化科技发展集团有限公司 | Virtual reality anti-dizzy system and method based on space positioning |
-
2016
- 2016-11-15 CN CN201611005962.1A patent/CN106383596B/en active Active
-
2017
- 2017-08-30 WO PCT/CN2017/099558 patent/WO2018090692A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101034309A (en) * | 2007-04-10 | 2007-09-12 | 南京航空航天大学 | System and method for virtual implementing helmet anti-dazzle based on multiple acceleration transducers |
| CN105843397A (en) * | 2016-04-12 | 2016-08-10 | 公安部上海消防研究所 | Virtual reality interactive system based on pupil tracking technology |
| CN106095113A (en) * | 2016-06-27 | 2016-11-09 | 南京睿悦信息技术有限公司 | The measuring and calculating of user's attitude and the virtual reality follow-up method that a kind of nine axle sensors merge |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018090692A1 (en) | 2018-05-24 |
| CN106383596A (en) | 2017-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106383596B (en) | Virtual reality anti-dizzy system and method based on space positioning | |
| CN106774844B (en) | Method and equipment for virtual positioning | |
| Yang et al. | Evaluating and improving the depth accuracy of Kinect for Windows v2 | |
| You et al. | Hybrid inertial and vision tracking for augmented reality registration | |
| CN102681661B (en) | Using a three-dimensional environment model in gameplay | |
| Bostanci et al. | User tracking methods for augmented reality | |
| US20110046915A1 (en) | Use of positioning aiding system for inertial motion capture | |
| CN102508578B (en) | Projection positioning device and method as well as interaction system and method | |
| CN111091587B (en) | Low-cost motion capture method based on visual markers | |
| CN103134387B (en) | Low altitude low speed small target detection and interception system calibration method | |
| JP2003514298A (en) | How to capture motion capture data | |
| CN109993798A (en) | Method, equipment and the storage medium of multi-cam detection motion profile | |
| Aliakbarpour et al. | An efficient algorithm for extrinsic calibration between a 3d laser range finder and a stereo camera for surveillance | |
| CN110044357A (en) | A kind of interior high-precision three-dimensional wireless location method | |
| US20070076096A1 (en) | System and method for calibrating a set of imaging devices and calculating 3D coordinates of detected features in a laboratory coordinate system | |
| CN103472434A (en) | Robot sound positioning method | |
| US10416305B2 (en) | Positioning device and positioning method | |
| CN206601680U (en) | Dizzy system is prevented based on sterically defined virtual reality | |
| Glas et al. | SNAPCAT-3D: Calibrating networks of 3D range sensors for pedestrian tracking | |
| Muffert et al. | The estimation of spatial positions by using an omnidirectional camera system | |
| CN105183142B (en) | A kind of digital information reproducing method of utilization space position bookbinding | |
| Madritsch et al. | CCD‐Camera Based Optical Beacon Tracking for Virtual and Augmented Reality | |
| US20200159339A1 (en) | Desktop spatial stereoscopic interaction system | |
| Chen et al. | Low cost and efficient 3D indoor mapping using multiple consumer RGB-D cameras | |
| Wu et al. | Passive ranging based on planar homography in a monocular vision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 515, 5th Floor, Building 3, Yard 1, Shangdi 10th Street, Haidian District, Beijing, 100085 Applicant after: Beijing danghong Qitian international culture and Technology Development Group Co.,Ltd. Address before: Room 515, 5th Floor, Building 3, Yard 1, Shangdi 10th Street, Haidian District, Beijing, 100085 Applicant before: BEIJING DANG HONG QI TIAN INTERNATIONAL CULTURE DEVELOPMENT GROUP Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |