CN106648147A - Space positioning method and system for virtual reality characteristic points - Google Patents
Space positioning method and system for virtual reality characteristic points Download PDFInfo
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- CN106648147A CN106648147A CN201611167796.5A CN201611167796A CN106648147A CN 106648147 A CN106648147 A CN 106648147A CN 201611167796 A CN201611167796 A CN 201611167796A CN 106648147 A CN106648147 A CN 106648147A
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- 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
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Abstract
The invention provides a space positioning method and system for virtual reality characteristic points. The system comprises a virtual reality helmet, an infrared camera and a processing unit, wherein the virtual reality helmet comprises a front panel, a plurality of infrared point light sources are arranged on the front panel, and at least four infrared point light sources are located in a same straight line. Compared with the prior art, by virtue of a method of setting the infrared point light sources in specific patterns and recognizing the specific patterns, the invention provides a method of determining IDs of light spots, and the method is accurate and efficient. By arranging the infrared point light sources as a straight line, the infrared point light sources which are not in the straight line are differentiated, and the ID of the infrared point light source corresponding to each of the light spots is quickly calculated through coordinate calculation according to the pattern shapes, so that a lot of time is saved compared with that consumed by an independently corresponding method.
Description
Technical field
The present invention relates to field of virtual reality, more particularly, it relates to a kind of virtual reality characteristic point space-location method
And system.
Background technology
Space orientation is typically positioned and calculated using the pattern of optics or ultrasonic 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 camera are received come
Determine the locus of object, in the front end of nearly eye display device, in positioning, light sensation camera 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 space orientation position of the helmet, and realizes that the key of this process is just to determine the corresponding light source ID of projection
(Identity, sequence number).Current virtual reality space is usually present correspondence not when being positioned at determination projection corresponding light source ID
Accurately with the shortcoming of correspondence overlong time, the accuracy and efficiency of positioning is have impact on.
The content of the invention
In order to solve current virtual realistic space localization method determine projection ID (Identity, sequence number) accuracy and
Inefficient defect, the present invention provides a kind of virtual reality feature space of points for determining that projection ID accuracy and efficiencies are higher and determines
Position method and system.
The technical solution adopted for the present invention to solve the technical problems is：A kind of virtual reality characteristic point space orientation is provided
Method, comprises the following steps：
S1：Confirm that the infrared spotlight on virtual implementing helmet is all lighted, infrared camera shoots virtual implementing helmet
Image and light spot is formed on image, processing unit obtains the center point coordinate of light spot；
S2：The combination of n point in exhaustive light spot, judges whether this n point meets according to the center point coordinate of light spot
The feature of special pattern, it is determined that meeting n point of special pattern feature；
S3：The infrared camera institute is determined according to the position relationship of the n point and remaining light spot that meet special pattern
The ID of the corresponding infrared spotlight of all smooth spot on the image of shooting.
Preferably, the special pattern is straight line.
Preferably, the virtual implementing helmet include 5 infrared spotlights, respectively the first infrared point, the second infrared point,
3rd infrared point, the 4th infrared point, the 5th infrared point, wherein, it is the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point is in a straight line, and the first infrared point is with the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point not
It is on the same line, in the image captured by the exhaustive infrared camera in 5 light spots all 4 light spots group
Close, and whether on the same line to judge this 4 light spots, on the same line 4 light spot is determined, not same
The ID of light spot the first infrared point of correspondence on bar straight line.
Preferably, calculate the middle point coordinates of the line of 4 light spots on same straight line, by this point coordinates it is vertical
Coordinate y1With the ordinate y of the light spot of corresponding first infrared point2Contrast, if y1＞ y2, then 4 light on same straight line
Spot sorting from big to small the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared of correspond to respectively according to abscissa
Point；If y1＜ y2, then 4 hot spot points on same straight line sort from small to large according to abscissa correspond to respectively it is second infrared
Point, the 3rd infrared point, the 4th infrared point, the 5th infrared point.
Preferably, the virtual implementing helmet include 7 infrared spotlights, respectively the first infrared point, the second infrared point,
3rd infrared point, the 4th infrared point, the 5th infrared point, the 6th infrared point and the 7th infrared point, wherein, the second infrared point, the 3rd
Infrared point, the 4th infrared point, the 5th infrared point are in a straight line, side of first infrared point in the straight line, and the 6th is red
The opposite side of exterior point and the 7th infrared point in the straight line, 7 light spots in the image captured by the exhaustive infrared camera
In all 4 light spots combination, and whether on the same line judge this 4 light spots, determine on the same line
4 light spots, the first infrared point ID of only only one light spot correspondence in the side of the straight line.
Preferably, calculate the middle point coordinates of the line of 4 light spots on same straight line, by this point coordinates it is vertical
Coordinate y1With the ordinate y of the light spot of corresponding first infrared point2Contrast, if y1＞ y2, then 4 light on same straight line
Spot sorting from big to small the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared of correspond to respectively according to abscissa
Point, two hot spots in straight line homonymy sorting from big to small the 6th infrared point and the 7th infrared of correspond to respectively according to abscissa
Point；If y1＜ y2, then 4 hot spot points on same straight line sort from small to large according to abscissa correspond to respectively it is second infrared
Point, the 3rd infrared point, the 4th infrared point, the 5th infrared point, two hot spots in straight line homonymy according to abscissa from small to large
Sequence corresponds to respectively the 6th infrared point and the 7th infrared point.
Preferably, it is characterised in that the processing unit combines historical information known to previous frame to previous frame image
Light spot does a small translation makes the light spot of previous frame image produce corresponding relation, root with the light spot of current frame image
The corresponding ID of each the light spot for judging to have corresponding relation on current frame image according to the historical information of the corresponding relation and previous frame.
A kind of virtual reality characteristic point space positioning system, including virtual implementing helmet, infrared camera and process are provided
Unit, the virtual implementing helmet includes front panel, and multiple infrared spotlights are provided with the front panel, and wherein at least has 4
The individual infrared spotlight is on the same line.
Preferably, the virtual implementing helmet include 5 infrared spotlights, be respectively the first infrared point, the second infrared point,
3rd infrared point, the 4th infrared point, the 5th infrared point, wherein, it is the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point is in a straight line, and the first infrared point is with the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point not
It is on the same line.
Preferably, the virtual implementing helmet include 7 infrared spotlights, be respectively the first infrared point, the second infrared point,
3rd infrared point, the 4th infrared point, the 5th infrared point, the 6th infrared point, the 7th infrared point, wherein, it is the second infrared point, the 3rd red
Exterior point, the 4th infrared point, the 5th infrared point are in a straight line, side of first infrared point in the straight line, and the 6th is red
The opposite side of exterior point and the 7th infrared point in straight line.
Compared with prior art, method of the present invention by the way that infrared spotlight to be arranged to special pattern and be identified,
There is provided a kind of method of determination hot spot ID, accurately and efficiently.By the way that infrared spotlight is set into straight line, will not be on straight line
Infrared spotlight distinguish, and calculate that to calculate each light spot rapidly corresponding infrared by coordinate according to graphics shape
Spot light ID, relative to independent corresponding method the substantial amounts of time is saved.During follow-up track and localization, by the side for adding displacement
Formula judges newly-increased hot spot and its correspondence ID, and tracing and positioning causes position fixing process simpler, it is not necessary to re-start with many times
Identification.The ID of the corresponding infrared spotlight of every bit on straight line can be quickly obtained by way of coordinate pair ratio.Arrange individual red
Outer spot light can prevent from causing the number of spots on image to be unsatisfactory for PnP algorithms because infrared spotlight is blocked and without legal
Position.
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 characteristic point space-location method principle schematic of the present invention；
Fig. 2 is virtual reality characteristic point space-location method first embodiment schematic diagram of the present invention；
Fig. 3 is the infrared dot image that first embodiment mid-infrared camera shoots.
Fig. 4 is virtual reality characteristic point space-location method second embodiment schematic diagram of the present invention；
Fig. 5 is the infrared dot image that second embodiment mid-infrared camera shoots.
Specific embodiment
Determine the not high defect of the accuracy and efficiency of projection ID to solve current virtual realistic space localization method, this
Invention provides a kind of virtual reality characteristic point space-location method for determining that projection ID accuracy and efficiencies are higher and system.
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 characteristic point space-location method of the present invention includes virtual implementing helmet 10, red
Outer camera 20 and processing unit 30, infrared camera 20 is electrically connected with processing unit 30.Virtual implementing helmet 10 includes front
Panel 11, in the front panel 11 and four, upper and lower, left and right side panel of virtual implementing helmet 10 multiple infrared point light are distributed with
Source 13, including the first infrared point 131, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point
135, the first infrared point 131, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135 are arranged
On front panel 11, wherein, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135 are arranged
It is in alignment.Multiple infrared spotlights 13 can as needed be lighted or closed by the firmware interface of virtual implementing helmet 10
Close.Infrared spotlight 13 on virtual implementing helmet 10 forms hot spot by infrared camera 20 on image, due to camera
The intrinsic property of perspective transform, the hot spot that the infrared spotlight 13 on same straight line is formed on image is still in same straight line
On.Using this peculiar pattern, then only need to be found on image 4 point this AD HOCs on the same line
Disposably distinguish the numbering of each point.
Fig. 3 shows the infrared dot image that infrared camera shoots, when the front plate 11 of virtual implementing helmet 10 is towards red
During outer camera (not shown), due to the bandpass characteristics of infrared camera, only infrared spotlight energy 13 forms light on image
Spot is projected, and remainder all forms uniform background image.Infrared spotlight 13 on virtual implementing helmet 10 can on image
To form light spot.
When ID identifications start, virtual implementing helmet 10 is in original state, keeps 5 infrared point light on front panel 11
Source 13 is in illuminating state, in order to ensure recognizing accuracy, needs to ensure that all light sources can be transferred through infrared camera 20 and be formed
Hot spot, be not blocked or the visual field in infrared camera 20 outside.Formed on image according to 5 infrared spotlights 13
Hot spot, processing unit 30 obtains the center point coordinate of these hot spots according to prior arts such as SimpleBlob methods.In all light
After the center point coordinate of spot is obtained, the combination of all 4 light spots in exhaustive 5 light spots, and whether judge this 4 light spots
On the same line.Due to imaging or the error of data processing, it is possible to cause the second infrared point 132, the 3rd infrared point
133rd, the 4th infrared point 134, the corresponding smooth spot of the 5th infrared point 135 are not strictly located on the same line, at this moment can be
One threshold value is set in system, if 4 points approximately form straight line within threshold value and are believed that at this 4 points in same straight line
On.4 light spots on same straight line can quickly be calculated by exhaustion, it is red that this 4 light spots correspond to respectively second
Exterior point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135, another light spot correspondence first is infrared
Point 131.The corresponding infrared spotlight 13 of each light spot, one of which side can be obtained according to the coordinate relation of 5 light spots
Method is the middle point coordinates of the line for calculating 4 light spots on same straight line, by the ordinate y of point coordinates in this1With it is right
Answer the ordinate y of the light spot of the first infrared point 1312Contrast, if y1＞ y2, then 4 hot spot points on same straight line according to
Sort from big to small correspond to respectively the second infrared point 132, the 3rd infrared point 133, the 4th infrared point the 134, the 5th of abscissa is infrared
Point 135；If y1＜ y2, then 4 hot spot points on same straight line sort from small to large according to abscissa correspond to respectively it is second red
Exterior point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135.This completes 5 light spots and 5
The one-to-one corresponding of infrared spotlight 13ID.
After ID end of identifications, processing unit 30 can track each light spot and demarcate correspondence ID, and concrete grammar is：
During space orientation, because the sampling time of every frame is sufficiently small, general sampling time is 30ms, so generally previous frame
The position difference very little of each the light spot on each light spot and present frame, processing unit 30 combines history known to previous frame
Information does the light that a small translation makes the light spot and current frame image of previous frame image to the light spot of previous frame image
Spot produces corresponding relation, can determine whether there is correspondence pass on current frame image according to the historical information of the corresponding relation and previous frame
The corresponding ID of each light spot of system.
Fig. 4-Fig. 5 is referred to, when 5 infrared spotlights are only existed on virtual implementing helmet 10, due to object, pedestrian
The reason such as block and be easy to occur the quantity of light spot and be unsatisfactory for the situation of PnP algorithm requirements, accordingly we provide
Second embodiment.The second embodiment of the present invention is essentially identical with first embodiment, and difference is that second embodiment includes
7 infrared spotlights 13.Virtual implementing helmet 10 include front panel 11, virtual implementing helmet 10 front panel 11 and it is upper and lower,
Left and right four side panels are distributed with multiple infrared spotlights 13, including the first infrared point 131, the second infrared point the 132, the 3rd
Infrared point 133, the 4th infrared point 134, the 5th infrared point 135, the 6th spot light 136, the 7th spot light 137, the first infrared point
131st, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135, the 6th spot light 136,
Seven spot lights 137 are arranged on front panel 11, wherein, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134,
Five infrared points 135 arrange in alignment.Multiple infrared spotlights 13 can pass through the firmware interface root of virtual implementing helmet 10
Light or close according to needing.Infrared spotlight 13 on virtual implementing helmet 10 is formed by infrared camera 20 on image
Hot spot, due to the hot spot that the intrinsic property of camera perspective transform, the infrared spotlight 13 on same straight line are formed on image
Still on the same line.Using this peculiar pattern, then only need to be found on image 4 points on the same line this
One AD HOC can disposably distinguish the numbering of each point.
Fig. 5 shows the infrared dot image that infrared camera 20 shoots, when the direction of front plate 11 of virtual implementing helmet 10
During infrared camera 20, due to the bandpass characteristics of infrared camera 20, only infrared spotlight energy 13 forms hot spot on image
Projection, remainder all forms uniform background image.Infrared spotlight 13 on virtual implementing helmet 10 can be with image
Form light spot.
When ID identifications start, virtual implementing helmet 10 is in original state, keeps 7 infrared point light on front panel 11
Source 13 is in illuminating state, in order to ensure recognizing accuracy, needs to ensure that all light sources can be transferred through infrared camera 20 and be formed
Hot spot, be not blocked or the visual field in infrared camera 20 outside.Formed on image according to 7 infrared spotlights 13
Hot spot, according to prior arts such as SimpleBlob methods the center point coordinate of these hot spots is obtained.In the central point of all hot spots
After coordinate is obtained, the combination of all 4 light spots in exhaustive 7 light spots, and judge this 4 light spots whether in same straight line
On.Due to imaging or the error of data processing, it is possible to cause the second infrared point 132, the 3rd infrared point the 133, the 4th infrared
The point corresponding smooth spot of the 134, the 5th infrared point 135 is not strictly located on the same line, at this moment can in systems arrange one
Individual threshold value, if 4 points approximately form straight line within threshold value and are believed that be on same straight line at this 4 points.Can by exhaustion
To calculate 4 light spots on same straight line quickly, it is red that this 4 light spots correspond to respectively the second infrared point the 132, the 3rd
Exterior point 133, the 4th infrared point 134, the 5th infrared point 135, have respectively a light spot and two light in the both sides of this straight line
Spot, wherein, an isolated light spot the first infrared point 131 of correspondence.Can be obtained often according to the coordinate relation of 5 light spots
The corresponding infrared spotlight 13 of individual light spot, one of which method is the line for calculating 4 light spots on same straight line
Middle point coordinates, by the ordinate y of point coordinates in this1With the ordinate y of the light spot of corresponding first infrared point 1312Contrast, if
y1＞ y2, then 4 hot spot points on same straight line according to abscissa sort from big to small respectively correspond to the second infrared point 132,
3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135, two hot spots in straight line homonymy according to abscissa from
Little sequence is arrived greatly corresponds to the 6th infrared point 136 and the 7th infrared point 137 respectively；If y1＜ y2, then 4 on same straight line
Hot spot point according to abscissa sort from small to large respectively correspond to the second infrared point 132, the 3rd infrared point 133, the 4th infrared point
134th, the 5th infrared point 135, two hot spots in straight line homonymy sort from small to large according to abscissa correspond to respectively it is the 6th red
The infrared point 137 of exterior point 136 and the 7th.This completes the one-to-one corresponding of the ID of 7 light spots and 7 infrared spotlights 13.
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 side by the way that infrared spotlight 13 to be arranged to special pattern and be identified of the invention
A kind of method, there is provided method of determination hot spot ID, accurately and efficiently.By the way that infrared spotlight 13 is set into straight line, will not be
Infrared spotlight 13 on straight line is distinguished, and calculates each light spot pair rapidly by coordinate calculating according to graphics shape
The infrared spotlight ID for answering, relative to independent corresponding method the substantial amounts of time is saved.During follow-up track and localization, by addition
The mode of displacement judges newly-increased hot spot and its correspondence ID, and tracing and positioning causes position fixing process simpler, it is not necessary to many times
Re-start identification.The corresponding infrared spotlight 13 of every bit on straight line can be quickly obtained by way of coordinate pair ratio
ID.Arranging 7 infrared spotlights 13 can prevent from causing the number of spots on image to be discontented with because infrared spotlight 13 is blocked
Sufficient PnP algorithms and cannot position.
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 (10)
1. a kind of virtual reality characteristic point space-location method, it is characterised in that comprise the following steps：
S1：Confirm that the infrared spotlight on virtual implementing helmet is all lighted, infrared camera shoots the figure of virtual implementing helmet
Picture simultaneously forms light spot on image, and processing unit obtains the center point coordinate of light spot；
S2：The combination of n point in exhaustive light spot, judges whether this n point meets specific according to the center point coordinate of light spot
The feature of figure, it is determined that meeting n point of special pattern feature；
S3：According to captured by the position relationship of the n point and remaining light spot that meet special pattern determines the infrared camera
Image on the corresponding infrared spotlight of all smooth spot ID.
2. virtual reality characteristic point space-location method according to claim 1, it is characterised in that the special pattern is
Straight line.
3. virtual reality characteristic point space-location method according to claim 2, it is characterised in that the virtual reality head
Helmet includes 5 infrared spotlights, respectively the first infrared point, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point, wherein, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point are in a straight line, and first is infrared
Point is not on same straight line with the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point, exhaustive described red
In image captured by outer camera in 5 light spots all 4 light spots combination, and judge that whether this 4 light spots exist
On same straight line, on the same line 4 light spot is determined, the light spot correspondence first being not arranged on the same straight line is red
The ID of exterior point.
4. virtual reality characteristic point space-location method according to claim 3, it is characterised in that calculate 4 same
The middle point coordinates of the line of the light spot on bar straight line, by the ordinate y of point coordinates in this1With the hot spot of corresponding first infrared point
The ordinate y of point2Contrast, if y1＞ y2, then 4 hot spot points on same straight line sort from big to small minute according to abscissa
Dui Ying not the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point；If y1＜ y2, then 4 on same straight line
Hot spot point sorting from small to large according to abscissa the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red of correspond to respectively
Exterior point.
5. virtual reality characteristic point space-location method according to claim 2, it is characterised in that the virtual reality head
Helmet includes 7 infrared spotlights, respectively the first infrared point, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point, the 6th infrared point and the 7th infrared point, wherein, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point
It is in a straight line, the first infrared point is in the side of the straight line, and the 6th infrared point and the 7th infrared point are in the straight line
Opposite side, in the image captured by the exhaustive infrared camera in 7 light spots all 4 light spots combination, and judge
Whether on the same line this 4 light spots, determine on the same line 4 light spot, in the side of the straight line only
The first infrared point ID of some only one light spot correspondences.
6. virtual reality characteristic point space-location method according to claim 1, it is characterised in that calculate 4 same
The middle point coordinates of the line of the light spot on bar straight line, by the ordinate y of point coordinates in this1With the hot spot of corresponding first infrared point
The ordinate y of point2Contrast, if y1＞ y2, then 4 hot spot points on same straight line sort from big to small minute according to abscissa
Not Dui Ying the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point, two hot spots in straight line homonymy according to
Abscissa sorting from big to small the 6th infrared point and the 7th infrared point of correspond to respectively；If y1＜ y2, then 4 on same straight line
Hot spot point sorting from small to large according to abscissa the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red of correspond to respectively
Exterior point, two hot spots in straight line homonymy sorting from small to large the 6th infrared point and the 7th infrared of correspond to respectively according to abscissa
Point.
7. the virtual reality characteristic point space-location method according to any one of claim 1-6, it is characterised in that the place
Reason unit historical information with reference to known to previous frame does a small translation to the light spot of previous frame image makes previous frame figure
The light spot of picture produces corresponding relation with the light spot of current frame image, is sentenced according to the historical information of the corresponding relation and previous frame
There is the corresponding ID of each light spot of corresponding relation on disconnected current frame image.
8. a kind of virtual reality characteristic point space positioning system, it is characterised in that including virtual implementing helmet, infrared camera and
Processing unit, the virtual implementing helmet includes front panel, and multiple infrared spotlights, wherein at least are provided with the front panel
There are 4 infrared spotlights on the same line.
9. virtual reality characteristic point space positioning system according to claim 8, it is characterised in that the virtual reality head
Helmet includes 5 infrared spotlights, is respectively the first infrared point, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point, wherein, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point are in a straight line, and first is infrared
Point is not on same straight line with the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point.
10. virtual reality characteristic point space positioning system according to claim 8, it is characterised in that the virtual reality
The helmet include 7 infrared spotlights, be respectively the first infrared point, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th
Infrared point, the 6th infrared point, the 7th infrared point, wherein, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point
It is in a straight line, the first infrared point is in the side of the straight line, and the 6th infrared point and the 7th infrared point are in straight line
Opposite side.
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| CN107300378A (en) * | 2017-05-23 | 2017-10-27 | 北京小鸟看看科技有限公司 | A kind of personal identification method for positioning object, device and system |
| 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 |
| CN110555879A (en) * | 2018-05-31 | 2019-12-10 | 京东方科技集团股份有限公司 | Space positioning method, device, system and computer readable medium thereof |
| CN111354018A (en) * | 2020-03-06 | 2020-06-30 | 合肥维尔慧渤科技有限公司 | Object identification method, device and system based on image |
| CN117522926A (en) * | 2024-01-08 | 2024-02-06 | 四川迪晟新达类脑智能技术有限公司 | Infrared light spot target identification and tracking method based on FPGA hardware platform |
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| CN107300378A (en) * | 2017-05-23 | 2017-10-27 | 北京小鸟看看科技有限公司 | A kind of personal identification method for positioning object, device and system |
| 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 |
| CN110555879A (en) * | 2018-05-31 | 2019-12-10 | 京东方科技集团股份有限公司 | Space positioning method, device, system and computer readable medium thereof |
| US11270456B2 (en) | 2018-05-31 | 2022-03-08 | Beijing Boe Optoelectronics Technology Co., Ltd. | Spatial positioning method, spatial positioning device, spatial positioning system and computer readable medium |
| EP3806039A4 (en) * | 2018-05-31 | 2022-03-30 | Boe Technology Group Co., Ltd. | Spatial positioning method and device, system thereof and computer-readable medium |
| CN110555879B (en) * | 2018-05-31 | 2023-09-08 | 京东方科技集团股份有限公司 | Space positioning method, device, system and computer readable medium thereof |
| CN111354018A (en) * | 2020-03-06 | 2020-06-30 | 合肥维尔慧渤科技有限公司 | Object identification method, device and system based on image |
| CN111354018B (en) * | 2020-03-06 | 2023-07-21 | 合肥维尔慧渤科技有限公司 | Object identification method, device and system based on image |
| CN117522926A (en) * | 2024-01-08 | 2024-02-06 | 四川迪晟新达类脑智能技术有限公司 | Infrared light spot target identification and tracking method based on FPGA hardware platform |
| CN117522926B (en) * | 2024-01-08 | 2024-04-02 | 四川迪晟新达类脑智能技术有限公司 | Infrared light spot target identification and tracking method based on FPGA hardware platform |
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