CN106599930A - Virtual reality space locating feature point selection method - Google Patents
Virtual reality space locating feature point selection method Download PDFInfo
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- CN106599930A CN106599930A CN201611200542.9A CN201611200542A CN106599930A CN 106599930 A CN106599930 A CN 106599930A CN 201611200542 A CN201611200542 A CN 201611200542A CN 106599930 A CN106599930 A CN 106599930A
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- 238000010187 selection method Methods 0.000 title abstract 2
- 238000003384 imaging method Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000012216 screening Methods 0.000 claims description 17
- 230000007547 defect Effects 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
- G06F18/2413—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
- G06F18/24133—Distances to prototypes
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- Bioinformatics & Cheminformatics (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a virtual reality space locating feature point selection method. The method comprises the steps that: a condition that all infrared point sources are in an opening state is ensured, a processing unit controls an infrared camera to take the image of a virtual reality helmet and calculates the coordinate of the light spot of each infrared point source image; the processing unit carries out ID identification on each light spot in an imaging picture and finds the IDs corresponding to all light spots; the processing unit calculates the six-degree-of-freedom information of the virtual reality helmet and finds at least four infrared point sources just facing the infrared camera; and the processing unit controls the at least four infrared point sources just facing the infrared camera to be in a lighted state and closes other infrared point sources, and the processing unit controls the infrared camera to take the image of the virtual reality helmet and uses a PnP algorithm to carry out operation positioning of the image.
Description
Technical field
The present invention relates to field of virtual reality, more particularly, it relates to a kind of screening of virtual reality space location feature point
Method.
Background technology
Space orientation is typically positioned and calculated using the pattern of optics or ultrasound wave, is derived by setting up model and is treated
Survey the locus of object.General virtual reality space alignment system by the way of infrared point and light sensation photographic head are received come
Determine the locus of object, in the front end of nearly eye display device, in positioning, light sensation photographic head catches infrared point to infrared point
Further extrapolate the physical coordinates of user in position.If it is known that at least three light sources and the corresponding relation of projection, recall PnP
Algorithm is just obtained the locus of the helmet.And realize that the key of this process is just to determine the corresponding light source ID of projection
(Identity, serial number).Current virtual reality space is positioned because picture recognition is inaccurate on certain distance and direction
Cause determine projection corresponding light source ID when correspondence overlong time and picture recognition it is inaccurate, and then have impact on positioning accuracy and
Efficiency.
The content of the invention
In order to solve current virtual realistic space Position location accuracy and inefficient defect, the present invention provides one kind can be with
Improve the virtual reality space location feature point screening technique of Position location accuracy and efficiency.
The technical solution adopted for the present invention to solve the technical problems is：A kind of virtual reality space location feature point is provided
Screening technique, comprises the following steps：
S1：All infrared spotlights are guaranteed in opening, processing unit control infrared camera shoots virtual reality
The image of the helmet, and calculate the coordinate of the light speckle of each infrared spotlight image；
S2：The processing unit carries out ID identifications to each the hot spot point in imaging picture, finds out all smooth speckles correspondences
ID；
S3：The processing unit calculates the six-degree-of-freedom information of the virtual implementing helmet, and according to the virtual reality
The directional information of the helmet is found out just at least 4 infrared spotlights of the infrared camera；
S4：The processing unit control is just in at least 4 infrared spotlights of the infrared camera lights
State, closes remaining described infrared spotlight, and the processing unit controls the infrared camera and shoots the virtual reality
The image of the helmet simultaneously carries out computing positioning using PnP algorithms to it.
Preferably, the processing unit is found out near the light speckle for being imaged picture center as central point,
Keep the infrared spotlight and 3 infrared spotlights immediate with the infrared spotlight of light speckle correspondence ID
In illuminating state, other infrared spotlights are simultaneously closed off.
Preferably, the processing unit controls lighting and closing for the infrared spotlight, it is ensured that on the imaging picture
There are 4 light speckles.
Preferably, when the light speckle of the leftmost side in the imaging picture disappears, the processing unit command range is most right
The nearest infrared spotlight do not opened of the corresponding infrared spotlight of sidelight speckle is lighted.
Preferably, when the light speckle of the rightmost side in the imaging picture disappears, the processing unit command range is most left
The nearest infrared spotlight do not opened of the corresponding infrared spotlight of sidelight speckle is lighted.
Preferably, by the image difference of the imaging picture for comparing present frame and previous frame by determine newly-increased institute
State the corresponding smooth speckle of infrared spotlight, the ID of the as newly-increased infrared spotlights lighted of corresponding ID of the light speckle.
Preferably, processing unit historical information with reference to known to previous frame does one to the light speckle of previous frame image
Small translation makes the light speckle of previous frame image produce corresponding relation with the light speckle of current frame image, according to the corresponding relation
The corresponding ID of each the light speckle for judging to have corresponding relation on current frame image with the historical information of previous frame.
Compared with prior art, the present invention increased fixed using the way for closing the infrared spotlight that complicate can calculating
The efficiency of position, being screened using relative position of the infrared spotlight on imaging picture needs the infrared spotlight closed to give
A kind of screening technique.Light and just facilitate ID to be also possible to prevent to be imaged picture while identification to the infrared spotlight of infrared camera
On light speckle remove imaging picture rapidly and affect sterically defined efficiency.Judge the court of virtual implementing helmet using position location
To can quickly find just to the infrared spotlight of infrared camera.By with closest to the infrared point light of imaging center picture
Source can be searched out quickly just to infrared photography as the method for centre point searching and its immediate three infrared spotlight
Four infrared spotlights of head.When the light amount of speckle being imaged on picture is reduced, processing unit control correspondence infrared spotlight
Light and ensure that the quantity of imaging picture glazing speckle is stablized, conveniently positioned, can effectively prevent the quantity of light speckle not
The quantity for meeting PnP algorithm needs leads to not situation about positioning.By adding the method for a small translation can to light speckle
To ensure that light speckle can correspond to the ID of infrared spotlight when virtual implementing helmet occurs change in location.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is virtual reality space location feature point screening technique principle schematic of the present invention；
Fig. 2 is virtual reality space location feature point screening technique infrared spotlight distribution schematic diagram of the present invention；
Fig. 3 shows one of image that infrared camera shoots；
Fig. 4 shows one of imaging picture of presentation after infrared spotlight is closed；
Fig. 5 shows the two of the image that infrared camera shoots；
Fig. 6 shows the three of the image that infrared camera shoots；
Fig. 7 shows the four of the image that infrared camera shoots；
Fig. 8 shows the five of the image that infrared camera shoots.
Specific embodiment
In order to solve current virtual realistic space Position location accuracy and inefficient defect, the present invention provides one kind can be with
Improve the virtual reality space location feature point screening technique of Position location accuracy and efficiency.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now compare accompanying drawing and describe in detail
The specific embodiment of the present invention.
Refer to Fig. 1-Fig. 2.Virtual reality space location feature point screening technique of the present invention includes virtual implementing helmet
10th, infrared camera 20 and processing unit 30, infrared camera 20 is electrically connected with processing unit 30.Virtual implementing helmet 10 is wrapped
Front panel 11 is included, is distributed with the front panel 11 and four, upper and lower, left and right side panel of virtual implementing helmet 10 multiple infrared
Point source 13.The quantity of infrared spotlight 13 will at least meet the minimum number that PnP algorithms can run.Infrared spotlight 13
Shape has no particular limits.In order to illustrate, we take quantity of the infrared spotlight 13 on front panel 11 for 7,7
The shape of infrared spotlight composition approximate " w ".Multiple infrared spotlights 13 can pass through the firmware interface of virtual implementing helmet 10
Light as needed or close.Infrared spotlight 13 on virtual implementing helmet 10 is by the shooting of infrared camera 20 in figure
As upper formation luminous point, due to the bandpass characteristics of infrared camera, only infrared spotlight energy 13 forms spot projection on image,
Remainder all forms uniform background image.Infrared spotlight 13 on virtual implementing helmet 10 can form light on image
Speckle.
Fig. 3-Fig. 4 is referred to, Fig. 3 shows the imaging picture 41 of the infrared spotlight 13 that infrared camera 20 shoots.Really
All infrared spotlights 13 are protected in opening, the control infrared camera 20 of processing unit 30 shoots virtual implementing helmet 10
Image, has seven light speckles on imaging picture 41.Position of the processing unit 30 first according to light speckle on imaging picture 41
The coordinate of each light speckle is calculated, then ID identifications is carried out to each the hot spot point in imaging picture 41, find out all hot spots
The corresponding ID of point, and draw the six-degree-of-freedom information of virtual implementing helmet 10 using PnP algorithms.Processing unit 30 is according to virtual existing
The six-degree-of-freedom information of the real helmet 10 judges the relative position of virtual implementing helmet 10 and infrared camera 20, and keeps virtual existing
Just opening is in at least 4 infrared spotlights 13 of infrared camera 20 on the real helmet 10, closes other infrared point light
Source 13.4 infrared spotlights 13 opened are screened in the following manner：Processing unit 30 is found out near imaging picture 41
The light speckle of center as central point, keep light speckle correspondence ID infrared spotlight 13 and with the infrared spotlight
Immediate 3 infrared spotlights 13 are in illuminating state, simultaneously close off other infrared spotlights 13.
Now, 4 light speckles are only existed on the imaging picture 41 of next frame, processing unit 30 can track each hot spot
Correspondence ID is put and demarcates, concrete grammar is：In space orientation, due to the sampling time of every frame it is sufficiently small, generally 30ms, institute
With the position difference very little of each the light speckle on each light speckle and present frame of generally previous frame, processing unit 30
The historical information with reference to known to previous frame does a small translation to the light speckle of previous frame image and makes the light of previous frame image
Speckle produces corresponding relation with the light speckle of current frame image, can determine whether according to the historical information of the corresponding relation and previous frame
There is the corresponding ID of each light speckle of corresponding relation on current frame image.In the case of known to all smooth speckle correspondence ID, place
Reason unit 30 draws the space orientation position of virtual implementing helmet 10 by directly invoking PnP algorithms.
Fig. 5-Fig. 8 is referred to, number of spots is reduced in virtual implementing helmet 10 causes to be imaged picture 41 due to movement
When, the control virtual implementing helmet 10 of processing unit 30 is opened corresponding infrared spotlight 13 and is supplemented, and is kept into as on picture 41
The quantity of light speckle is 4.Specific way is, when the light speckle of the leftmost side in imaging picture 41 is due to virtual implementing helmet 10
Motion and when disappearing, the corresponding infrared spotlight 13 of the command range rightmost side light speckle of processing unit 30 is nearest not to be opened
Infrared spotlight 13 is lighted；When the light speckle of the rightmost side in imaging picture 41 is disappeared due to the motion of virtual implementing helmet 10
When, the nearest infrared spotlight 13 do not opened of the corresponding infrared spotlight 13 of the command range leftmost side light speckle of processing unit 30
Light, be kept into as there are 4 light speckles in picture 41, it is ensured that PnP algorithms can be with trouble-free operation.For the infrared point light newly lighted
Source 13, by determining the newly-increased corresponding smooth speckle of infrared spotlight 13 by the image difference for comparing present frame and previous frame,
The ID of the as newly-increased infrared spotlights 13 lighted of the corresponding ID of the light speckle.
After the completion of ID identifications, processing unit 30 recalls the space orientation position that PnP algorithms are just obtained the helmet, and PnP is calculated
It is owned by France in prior art, the present invention is repeated no more.
Compared with prior art, the present invention increased using the way for closing the infrared spotlight 13 that complicate can calculating
The efficiency of positioning, using relative position of the infrared spotlight 13 on imaging picture 41 infrared spotlight for needing to close is screened
13 give a kind of screening technique.Light and just facilitate the ID can also while identification to the infrared spotlight 13 of infrared camera 20
Preventing the light speckle being imaged on picture 41 from removing imaging picture 41 rapidly affects sterically defined efficiency.Judged using position location
The direction of virtual implementing helmet 10, can quickly find just to the infrared spotlight 13 of infrared camera 20.By with closest
The infrared spotlight 13 at imaging picture 41 center is used as centre point searching and the method for its immediate three infrared spotlight 13
Can search out quickly just to four infrared spotlights 13 of infrared camera 20.Light amount of speckle on imaging picture 41
During reduction, the control correspondence infrared spotlight 13 of processing unit 30 lights stablizing for the quantity of the guarantee imaging glazing speckle of picture 41,
Conveniently positioned, can effectively prevent light speckle quantity be unsatisfactory for PnP algorithms needs quantity lead to not position feelings
Condition.Can ensure light when virtual implementing helmet 10 occurs change in location by adding the method for a small translation to light speckle
Speckle can correspond to the ID of infrared spotlight 13.
Embodiments of the invention are described above in conjunction with accompanying drawing, but be the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment is only schematic, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (7)
1. a kind of virtual reality space location feature point screening technique, it is characterised in that comprise the following steps：
S1：All infrared spotlights are guaranteed in opening, processing unit control infrared camera shoots virtual implementing helmet
Image, and calculate the coordinate of the light speckle of each infrared spotlight image；
S2：The processing unit carries out ID identifications to each the hot spot point in imaging picture, finds out the corresponding ID of all smooth speckles；
S3：The processing unit calculates the six-degree-of-freedom information of the virtual implementing helmet, and according to the virtual implementing helmet
Directional information find out just at least 4 infrared spotlights of the infrared camera；
S4：The processing unit control is just in illuminating state at least 4 infrared spotlights of the infrared camera,
Remaining described infrared spotlight is closed, the processing unit controls the infrared camera and shoots the virtual implementing helmet
Image simultaneously carries out computing positioning using PnP algorithms to it.
2. virtual reality space location feature point screening technique according to claim 1, it is characterised in that the process list
Unit is found out near the light speckle for being imaged picture center as central point, keeps the light speckle to correspond to the described red of ID
Outer point source and 3 infrared spotlights immediate with the infrared spotlight are in illuminating state, simultaneously close off other
The infrared spotlight.
3. the virtual reality space location feature point screening technique according to claim, it is characterised in that the process list
Unit controls lighting and closing for the infrared spotlight, it is ensured that have 4 light speckles on the imaging picture.
4. virtual reality space location feature point screening technique according to claim 3, it is characterised in that when the imaging
When the light speckle of the leftmost side disappears in picture, the corresponding infrared point light of the processing unit command range rightmost side light speckle
The nearest infrared spotlight do not opened in source is lighted.
5. virtual reality space location feature point screening technique according to claim 3, it is characterised in that when the imaging
When the light speckle of the rightmost side disappears in picture, the corresponding infrared point light of the processing unit command range leftmost side light speckle
The nearest infrared spotlight do not opened in source is lighted.
6. the virtual reality space location feature point screening technique according to any one of claim 4-5, it is characterised in that logical
Cross and compare present frame and determine that the newly-increased infrared spotlight is corresponding by the image difference of the imaging picture of previous frame
Light speckle, the ID of the as newly-increased infrared spotlight lighted of the corresponding ID of the light speckle.
7. the virtual reality space location feature point screening technique according to any one of claim 1-5, it is characterised in that institute
Stating processing unit historical information with reference to known to previous frame and doing a small translation to the light speckle of previous frame image makes upper one
The light speckle of two field picture produces corresponding relation with the light speckle of current frame image, is believed according to the history of the corresponding relation and previous frame
Breath judges the corresponding ID of each the light speckle for having corresponding relation on current frame image.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611200542.9A CN106599930B (en) | 2016-12-22 | 2016-12-22 | Virtual reality space positioning feature point screening method |
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| CN201611200542.9A CN106599930B (en) | 2016-12-22 | 2016-12-22 | Virtual reality space positioning feature point screening method |
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| CN106599930A true CN106599930A (en) | 2017-04-26 |
| CN106599930B CN106599930B (en) | 2021-06-11 |
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Cited By (3)
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| WO2018113433A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市虚拟现实技术有限公司 | Method for screening and spatially locating virtual reality feature points |
| CN108414195A (en) * | 2018-01-17 | 2018-08-17 | 深圳市绚视科技有限公司 | Detection method, device, system and the storage device of light source emitter to be measured |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018113433A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市虚拟现实技术有限公司 | Method for screening and spatially locating virtual reality feature points |
| CN107390952A (en) * | 2017-07-04 | 2017-11-24 | 深圳市虚拟现实科技有限公司 | Virtual reality handle characteristic point space-location method |
| CN108414195A (en) * | 2018-01-17 | 2018-08-17 | 深圳市绚视科技有限公司 | Detection method, device, system and the storage device of light source emitter to be measured |
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