CN107122002A - A kind of wear-type visual device - Google Patents
A kind of wear-type visual device Download PDFInfo
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- CN107122002A CN107122002A CN201610101513.0A CN201610101513A CN107122002A CN 107122002 A CN107122002 A CN 107122002A CN 201610101513 A CN201610101513 A CN 201610101513A CN 107122002 A CN107122002 A CN 107122002A
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- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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Abstract
This application discloses location determining method and the recognition methods of dynamic object change procedure of a kind of wear-type visual device, and a kind of wear-type visual device.Need in advance to carry out scene three-dimensional reconstruction for solving prior art, and need to put in advance external device to it is cumbersome caused by ad-hoc location the problem of；And the ad-hoc location in dynamic object is needed, dispose the mark point of specified quantity, caused due to dynamic object inconvenient activity or excessive velocities, the problem of recognition efficiency is not high.The equipment includes：Infrared Projector, infrared signal receiver, processor.
Description
Technical field
The application is related to graph processing technique field, more particularly to a kind of wear-type visual device.
Background technology
With mobile terminal continuing to develop in terms of computing capability, storage capacity, occur in that more and more
Intelligent wearable device, just include among these wear-type visual device (Head Mount Display,
HMD)。
, can be real-time (such as game, virtual reality) in application scenes after user puts on HMD
Ground perceives user's head position, accordingly adjustment picture.Such as, according to the rotation on head, applied field is adjusted
Visual angle effect in scape；According to the movement on head, change at visual angle etc. in application scenarios is adjusted.Prior art,
Realize that two ways is located in HMD.
First way：At least two ad-hoc locations in fixed space (such as room), set at least two
Individual Infrared Projector, and attribute information (size, shape of fixed space are set in alignment system in advance
Shape etc.) and infrared transmitter position, at least one infrared signal receiver is set on HMD, use
To receive the infrared signal from Infrared Projector real time emission, and the infrared signal power received is entered
Row is calculated, and determines HMD position.
The shortcoming of aforesaid way is：Fixed space can not be changed, Infrared Projector can not be moved,
If changed or mobile, need to recalibrate the attribute information of fixed space and Infrared Projector
Position, and activity space is narrow and small.
The second way：At least one position in fixed space, sets at least one camera, and in advance
First being set in alignment system has the recognizable identification point of system in the position of camera, HMD.Pass through reality
When obtain identification point, determine HMD position.
The shortcoming of aforesaid way is：Fixed space can not be changed, can not dollying head, if change
Or it is mobile, then need to recalibrate the position of camera, and activity space is narrow and small, there is also in addition due to
Angle problem causes camera to obtain less than image.
When in application scenes, it is necessary to user's hand participate in apply when, can be determined by recognizing gesture
The position of hand, action etc..
Prior art, it is necessary in ad-hoc location (such as, finger-joint, finger tips, palm etc.) on hand,
The mark point of specified quantity is disposed, the mark point is connected with the processor in HMD, when hand is acted
During change, action of the processor by gathering finger, which changes, determines gesture.
However, the shortcoming of the prior art is：Other equipment are being disposed on hand, in some gesture motions
(such as, clench fist, finger contact etc.) can be due to disposing on hand equipment, influence the identification of gesture, such as,
None- identified gesture caused by can not clenching, or excessive velocities cause equipment to come off, so as to reduce knowledge
Other efficiency.
The content of the invention
The embodiment of the present application provides a kind of wear-type visual device, if solving prior art changes scene,
It is accomplished by again carrying out scene three-dimensional reconstruction, and puts external device again to using caused by ad-hoc location
The problem of limitation that wear-type visual device is positioned.And prior art needs are solved in dynamic mesh
Target ad-hoc location, disposes the mark point of specified quantity, caused due to dynamic object inconvenient activity or speed
It is too fast, the problem of recognition efficiency is not high.
The embodiment of the present application provides a kind of location determining method of wear-type visual device, solves prior art such as
Fruit changes scene, it is necessary to carries out three-dimensional reconstruction to scene again, and puts external device again to certain bits
The problem of limitation positioned caused by putting using wear-type visual device.
The embodiment of the present application provides a kind of recognition methods of dynamic object change procedure, and solving prior art needs
Will dynamic object ad-hoc location, dispose specified quantity mark point, it is caused due to dynamic object activity
Inconvenience or excessive velocities, the problem of recognition efficiency is not high.
The embodiment of the present application uses following technical proposals：
A kind of wear-type visual device, including：Infrared Projector, infrared signal receiver, processing
Device；Wherein,
Infrared Projector, for launching infrared signal；
Infrared signal receiver, for receiving infrared signal of the infrared signal of the transmitting by reflection；
Processor includes three-dimensional reconstruction unit, distance determining unit, position determination unit, wherein,
Three-dimensional reconstruction unit, for according to the infrared signal received, carrying out three-dimensional reconstruction, obtains residing
The three-dimensional information of scene；
The distance determining unit, for according to the three-dimensional information, and the infrared signal received
Intensity, determine at least two mark points selected temporarily in wear-type visual device and three-dimensional information away from
From；
The position determination unit, for according to the distance, determining the space bit of wear-type visual device
Put.
Further, processor also includes：Three-dimensional modeling unit, feature extraction unit, Characteristic Contrast list
Member, change determining unit, wherein,
Three-dimensional modeling unit, for according to the infrared signal received, three-dimensional mould to be set up to dynamic object
Type；
Feature extraction unit, the characteristic point for extracting the threedimensional model；
Characteristic Contrast unit, for by the characteristic point currently extracted, being carried out with the characteristic point that the last time extracts
Contrast；
Change determining unit, for according to comparing result, determining the change procedure of dynamic object.
A kind of wear-type visual device, including：At least two cameras, processor；Wherein,
At least two cameras, for obtaining the image that at least two cameras are gathered simultaneously；
Processor, including：Three-dimensional reconstruction unit, distance determining unit, position determination unit, wherein,
Three-dimensional reconstruction unit, for according between the described image that gets, and each camera away from
From progress three-dimensional reconstruction obtains the three-dimensional information of residing scene；
Distance determining unit, for according between the described image that gets, and each camera away from
From determining the distance of at least two mark points selected in wear-type visual device and three-dimensional information temporarily；
Position determination unit, for according to the distance, determining the locus of wear-type visual device.
Further, processor also includes：Three-dimensional modeling unit, feature extraction unit, Characteristic Contrast list
Member, change determining unit, wherein,
Three-dimensional modeling unit, for according between the described image that gets, and each camera away from
From setting up threedimensional model to the dynamic object；
Feature extraction unit, the characteristic point for extracting the threedimensional model；
Characteristic Contrast unit, for by the characteristic point currently extracted, being carried out with the characteristic point that the last time extracts
Contrast；
Change determining unit, for according to comparing result, determining the change procedure of dynamic object.
A kind of location determining method of wear-type visual device, including：Launch infrared signal；Receive described
Infrared signal of the infrared signal of transmitting by reflection；According to the infrared signal received, Three-dimensional Gravity is carried out
Build, obtain the three-dimensional information of residing scene；According to the three-dimensional information, and the infrared signal received
Intensity, determine at least two mark points selected temporarily in wear-type visual device and three-dimensional information away from
From；According to the distance, the locus of wear-type visual device is determined.
A kind of wear-type visual device method for determining position, including：Obtain at least two cameras simultaneously
The image of collection；The distance between according to the described image got, and each camera, carry out three
Dimension is rebuild, and obtains the three-dimensional information of residing scene；According to the described image got, and each shooting
The distance between head, determines wear-type visual device and at least two marks selected temporarily in three-dimensional information
The distance of point；According to the distance, the position of wear-type visual device is determined.
A kind of recognition methods of dynamic object change procedure, including：Launch infrared signal；Receive the hair
Infrared signal of the infrared signal penetrated by reflection；According to the infrared signal received, dynamic object is built
Vertical threedimensional model；Extract the characteristic point of the threedimensional model；By the characteristic point currently extracted, with the last time
The characteristic point of extraction is contrasted；According to comparing result, the change procedure of dynamic object is determined.
A kind of recognition methods of dynamic object change procedure, including：At least two cameras are obtained while adopting
The image of collection；The distance between according to the described image got, and each camera, to dynamic mesh
Mark sets up threedimensional model；Extract the characteristic point of the threedimensional model；It is and upper by the characteristic point currently extracted
The characteristic point once extracted is contrasted；According to comparing result, the change procedure of dynamic object is determined.
At least one above-mentioned technical scheme that the embodiment of the present application is used can reach following beneficial effect：
Due to Infrared Projector and infrared signal receiver are integrated in wear-type visual device, or will
At least two cameras are integrated in wear-type visual device,
Then the position of wear-type visual device can be determined in any scene comprising static entities, from
And solving prior art needs in advance to carry out scene three-dimensional reconstruction, and need to put external device in advance
The problem of cumbersome caused by ad-hoc location.If also solving replacing scene in addition, it is necessary to again
Three-dimensional reconstruction is carried out to scene, and it is caused visual using wear-type to ad-hoc location to put external device again
The problem of limitation that equipment is positioned；
Threedimensional model can also be set up to dynamic object and characteristic point is extracted, passes through the front and rear change of contrast characteristic's point
Change, recognize the change procedure of dynamic object.The certain bits in dynamic object are needed so as to solve prior art
Put, dispose the mark point of specified quantity, it is caused due to dynamic object inconvenient activity or excessive velocities, identification
Inefficient the problem of.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application,
The schematic description and description of the application is used to explain the application, does not constitute the improper limit to the application
It is fixed.In the accompanying drawings：
Fig. 1-1 is the method schematic diagram that prior art determines wear-type visual device position；
Fig. 1-2 is the method schematic diagram that prior art determines wear-type visual device position；
Fig. 2-1 is a kind of concrete structure schematic diagram for wear-type visual device that the embodiment of the present application 1 is provided；
Fig. 2-2 is the signal that the HMD that the embodiment of the present application 1 is provided is positioned in a certain fixed space
Figure；
Fig. 2-3 is the three-dimensional information at a certain visual angles of HMD after the three-dimensional reconstruction that the embodiment of the present application 1 is provided
Schematic diagram；
Fig. 2-4 is a certain visual angles of HMD after the three-dimensional reconstruction comprising color that the embodiment of the present application 1 is provided
The schematic diagram of three-dimensional information；
Fig. 2-5 is the determination HMD and in three-dimensional information at least two interim choosings that the embodiment of the present application 1 is provided
The schematic diagram of the distance of fixed mark point；
Fig. 3 is a kind of the specific of the location determining method for wear-type visual device that the embodiment of the present application 2 is provided
Implementation process schematic diagram；
Fig. 4-1 is a kind of concrete structure schematic diagram for wear-type visual device that the embodiment of the present application 3 is provided；
Fig. 4-2 is the signal that the HMD that the embodiment of the present application 3 is provided is positioned in a certain fixed space
Figure；
Fig. 5 is a kind of the specific of the location determining method for wear-type visual device that the embodiment of the present application 4 is provided
Implementation process schematic diagram；
Fig. 6-1 is a kind of concrete structure schematic diagram for wear-type visual device that the embodiment of the present application 5 is provided；
Fig. 6-2 is the schematic diagram of the change procedure for the identification dynamic object that the embodiment of the present application 5 is provided；
Fig. 7 is a kind of specific reality of the recognition methods for dynamic object change procedure that the embodiment of the present application 6 is provided
Existing schematic flow sheet；
Fig. 8-1 is a kind of concrete structure schematic diagram for wear-type visual device that the embodiment of the present application 7 is provided；
Fig. 8-2 is a kind of the specific of the recognition methods for dynamic object change procedure that the embodiment of the present application 7 is provided
Implementation process schematic diagram；
Fig. 9 is a kind of specific reality of the recognition methods for dynamic object change procedure that the embodiment of the present application 8 is provided
Existing schematic flow sheet.
Embodiment
It is specifically real below in conjunction with the application to make the purpose, technical scheme and advantage of the application clearer
Apply example and technical scheme is clearly and completely described corresponding accompanying drawing.Obviously, it is described
Embodiment is only some embodiments of the present application, rather than whole embodiments.Based on the implementation in the application
Example, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of the application protection.
Below in conjunction with accompanying drawing, the technical scheme that each embodiment of the application is provided is described in detail.
Embodiment 1
As it was previously stated, when user is by wearing HMD, something true feeling that can be experienced in HMD is known
The shooting game of the application of user's head position and accordingly adjustment picture, such as the first person, in HMD
Middle utilization virtual reality technology, user is placed in a scene of game, can be switched by rotating head
Visual angle in gaming；Realize that the crouching in scene of game is jumped by moving up and down head (user, which squats, to jump)；
And can be realized movable in scene of game by the movable of head.Such as, at one
In fixed space, threedimensional model is set up to the fixed space, three-dimensional scenic is obtained, and the three-dimensional scenic is made
For scene of game, there is specific role in the three-dimensional scenic specified location using virtual reality technology, so as to
Family is shot at operation to specific role, when the user is mobile, it is possible to be embodied in the movement in three-dimensional scenic.
In the prior art, it is necessary to which fixed space is carried out into three-dimensional reconstruction in advance, and obtained three-dimensional information will be rebuild
Be input to the alignment system of this in alignment system can in HMD or a single equipment, e.g.,
Object putting position in spatial form, size, space, and wash with watercolours can also be carried out to Three-dimension Reconstruction Model
Dye, restores the three-dimensional scenic of real space.Some position in space, puts at least two infrared letters
Number transmitter, or put at least one camera, and the position of default Infrared Projector or camera,
In systems.As Figure 1-1, if putting infrared remote receiver, then need to set on HMD to
A few infrared signal receiver, the upper infrared signal receivers of HMD are placed in default external by reception
The infrared signal of infrared transmitter transmitting, by calculating, determines HMD position.As shown in Figure 1-2,
If putting camera, then need to set recognizable identification point on HMD, known by implementing to catch
It is other, determine HMD position.But both the above determines that the method for HMD positions is required in advance to
Fixed space carries out three-dimensional reconstruction, and the position of default Infrared Projector or camera.That is,
If not doing this two pieces thing in advance, it can not be accurately positioned.This is resulted in, and is consolidated if changing another
Determine space, or move the position of Infrared Projector or camera, then need to recalibrate fixed space
The position of three-dimensional information and mobile Infrared Projector or camera, for HMD positioning also just by
The limitation of fixed space and external device is arrived.In view of drawbacks described above, the application provides a kind of wear-type
Visual device, it is not necessary to which doing any preparation in advance can just realize that wear-type is visually set also without external device
The determination of standby locus.The structural representation of the equipment as shown in Fig. 2-1, including：
Infrared Projector 11, infrared signal receiver 12, processor 13, wherein,
Infrared Projector 11, can be used for launching infrared signal.
Specifically, in the HMD provided due to the application, Infrared Projector is integrated with, so,
In any scene, first launch infrared signal, because ultrared wavelength is shorter, to the diffracting power of barrier
Difference.So infrared signal runs into any entity and can all reflected in this scenario.As shown in Fig. 2-2, it is
The schematic diagram that the HMD that the present embodiment is provided is positioned in a certain fixed space.
Infrared signal receiver 12, the infrared signal that can be used for receiving transmitting passes through the infrared signal reflected.
Specifically, in the HMD provided due to the application, infrared signal receiver is integrated with, so, can
Infrared signal being launched with receiving by Infrared Projector 11, being reflected any entity.
Processor 13, can include：Three-dimensional reconstruction unit 131, distance determining unit 132 and position are true
Order member 133, wherein,
Three-dimensional reconstruction unit 131, can be used for, according to the infrared signal received, carrying out three-dimensional reconstruction, obtaining
To the three-dimensional information of residing scene.
Specifically, the reflection due to infrared signal to barrier, can reflect according to the distance change of barrier
Intensity, so, can be according to signal after infrared signal receiver 12 receives the infrared signal of reflection
Intensity, to scene carry out three-dimensional reconstruction, obtain the three-dimensional information of front obstacle, such as size, shape
Deng, so that obtain the three-dimensional information of residing scene, such as, and the three-dimensional information in a fixed room, Yi Jisuo
There is the three-dimensional information (furniture, ornaments etc.) of barrier.As Figure 2-3, it is HMD after three-dimensional reconstruction
The schematic diagram of the three-dimensional information at one visual angle.Three are obtained due to carrying out three-dimensional reconstruction according to the reflected signal received
Information is tieed up, is gray scale, not comprising any color.
So, in one embodiment, in order that obtained three-dimensional information is truer,
Three-dimensional reconstruction unit 131, can include：Three-dimensional reconstruction subelement 1311, camera 1312, render
Subelement 1313, wherein,
Three-dimensional reconstruction subelement 1311, can be used for, according to the infrared signal received, entering residing scene
Row three-dimensional reconstruction, obtains the Three-dimension Reconstruction Model of residing scene；
Specifically, three-dimensional reconstruction can be carried out to scene, front obstacle is obtained according to the intensity of signal
Three-dimensional information, such as, as Figure 2-3.Wherein, the three-dimensional information for gray scale, not comprising appoint
What color.
Camera 1312, can be used for the image for obtaining the residing scene；
In a kind of HMD that the application is provided, can integrated camera wherein, it is residing for obtaining
The image of scene.Because the image that camera is got contains pixel (color) information, so can
With for the Three-dimension Reconstruction Model of gray scale carry out offer foundation is provided.
Subelement 1313 is rendered, can be used for, according to the image got, wash with watercolours being carried out to Three-dimension Reconstruction Model
Dye, obtains the three-dimensional information of residing scene.
After camera 1312 gets image, the pixel information in image can be extracted, and to three-dimensional
Reconstruction model is rendered, as in Figure 2-4, for a certain visual angles of HMD after the three-dimensional reconstruction comprising color
Three-dimensional information schematic diagram.
By integrated camera, it can be rendered during three-dimensional reconstruction, so as to obtain truer
Residing scene three-dimensional information.
Distance determining unit 132, can be used for according to three-dimensional information, and the infrared signal received is strong
Degree, determines the distance of wear-type visual device and at least two mark points selected temporarily in three-dimensional information；
Specifically, the by the agency of when introducing three-dimensional reconstruction unit 131, because infrared signal is to barrier
Reflection, the intensity that can be reflected according to the distance change of barrier, it is possible to according to three-dimensional reconstruction unit 131
Obtained three-dimensional information, and the infrared signal received intensity, such as, be root as shown in Figure 2-5
According to the intensity of the infrared signal received, HMD and at least two marks selected temporarily in three-dimensional information are determined
Remember the schematic diagram of the distance of point.
Position determination unit 133, can be used for according to distance, determine the locus of wear-type visual device.
Specifically, by determining the distance of at least two mark points selected in HMD and three information temporarily,
HMD locus is assured that out, such as, as shown in Figure 2-5, by determining HMD with facing
The distance between Shi Xuanding mark point (A, B, C), determines HMD locus.
The wear-type visual device provided using embodiment 1, due to by Infrared Projector and infrared signal
Receiver is integrated in wear-type visual device, can be determined in any scene comprising static entities
The position of wear-type visual device, so that solving prior art needs to carry out three-dimensional reconstruction to scene in advance,
And need to put in advance external device to it is cumbersome caused by ad-hoc location the problem of.In addition also solve
If changing scene, it is necessary to carry out three-dimensional reconstruction to scene again, and put external device again to specific
The problem of limitation positioned caused by position using wear-type visual device.
Embodiment 2
Based on inventive concept same as Example 1, embodiment 2 provides a kind of wear-type visual device
Location determining method.Need to carry out three-dimensional reconstruction in advance for solving prior art, and need to put in advance
External device to it is cumbersome caused by ad-hoc location the problem of.Assuming that executive agent is to be integrated with infrared emission
The wear-type visual device of device and infrared remote receiver.The schematic diagram of this method is as shown in figure 3, this method includes
Following step：
Step 21：Launch infrared signal；
Step 22：Receive infrared signal of the infrared signal of transmitting by reflection；
Step 23：According to the infrared signal received, three-dimensional reconstruction is carried out, the three-dimensional of residing scene is obtained
Information；
In one embodiment, in order that obtained three-dimensional information is truer,
According to the intensity of institute's three-dimensional information, and the infrared signal received, determine wear-type visual device with
The distance of at least two mark points selected temporarily, can include in three-dimensional information：
According to the infrared signal received, three-dimensional reconstruction is carried out to residing scene, the three of residing scene are obtained
Tie up reconstruction model；
Obtain the image of residing scene；
According to the described image got, Three-dimension Reconstruction Model is rendered, the three of residing scene are obtained
Tie up information.
Step 24：According to the intensity of institute's three-dimensional information, and the infrared signal received, wear-type is determined
The distance of visual device and at least two mark points selected temporarily in three-dimensional information.
Step 25：According to distance, the locus of wear-type visual device is determined.
This method provided using embodiment 2, due to by Infrared Projector and infrared signal receiver collection
Into in wear-type visual device, it can determine that wear-type can in any scene comprising static entities
Depending on the position of equipment, so that solving prior art needs to carry out three-dimensional reconstruction to scene in advance, and need
Put in advance external device to it is cumbersome caused by ad-hoc location the problem of.If also solving replacing in addition
Scene, it is necessary to three-dimensional reconstruction is carried out to scene again, and puts external device again and causes to ad-hoc location
Use wear-type visual device positioned limitation the problem of.
Embodiment 3
Based on inventive concept same as Example 1, inventor has found, can also solve by other means
Prior art needs in advance to carry out scene three-dimensional reconstruction, and needs to put external device to certain bits in advance
The problem of cumbersome caused by putting.So, the application also provides a kind of wear-type visual device, it is not necessary to
Wear-type visual device locus can just be realized really also without external device by doing any preparation in advance
It is fixed.The structural representation of the equipment as shown in Fig. 4-1, including：
At least two cameras 31, processor 32；Wherein,
At least two cameras 31, can be used for obtaining at least two cameras while the image gathered.
Specifically, in the prior art, binocular stereo vision (Binocular Stereo Vision) is computer
A kind of important form of vision, it is based on principle of parallax and utilizes imaging device from different position acquisition quilts
The two images of object are surveyed, by calculating the position deviation between image corresponding points, to obtain object dimensional geometry
The method of information.So based on the prior art, such as, by taking dual camera as an example, obtaining dual camera same
When the image that gathers, i.e., carry out collection simultaneously in the scene to same visual angle, rather than only adopted with a camera
Collection.As shown in the Fig. 4-2, it is the HMD that the present embodiment is provided is positioned in a certain fixed space show
It is intended to.
Processor 32, can include：Three-dimensional reconstruction unit 321, distance determining unit 322, position are determined
Unit 323, wherein,
Three-dimensional reconstruction unit 321, can be used for according to the image got, and between each camera
Distance, carries out three-dimensional reconstruction, obtains the three-dimensional information of residing scene.
By being then based on technique of binocular stereoscopic vision of the prior art, so here is omitted.
In one embodiment, in order that obtained three-dimensional information is truer,
Three-dimensional reconstruction unit 321, can include：Three-dimensional reconstruction subelement 3211, subelement 3212 is rendered,
Wherein,
Three-dimensional reconstruction subelement 3211, can be used for according to the image that gets, and each camera it
Between distance, three-dimensional reconstruction is carried out to residing scene, the Three-dimension Reconstruction Model of residing scene is obtained；
Subelement 3212 is rendered, can be used for, according to the image got, wash with watercolours being carried out to Three-dimension Reconstruction Model
Dye, obtains the three-dimensional information of residing scene.
Due to three-dimensional reconstruction subelement 3211, subelement 3212 is rendered, with the three-dimensional reconstruction in embodiment 1
Subelement 1311, camera 1312, render subelement 1313 realization effect it is similar, so repeating no more.
Range cell 322 is determined, be can be used for according to the image got, and between each camera
Distance, determines the distance of wear-type visual device and at least two mark points selected temporarily in three-dimensional information；
Specifically, based on existing technique of binocular stereoscopic vision, it is possible to achieve ranging, so for how true
Determine HMD and the distance of mark point temporarily selected in three-dimensional information, here is omitted.
Position units 323 are determined, be can be used for according to distance, the locus of wear-type visual device is determined.
It is referred in embodiment 1, the principle of the locus of determination HMD as shown in Figure 2-5, this
Place is repeated no more.
The wear-type visual device provided using embodiment 3, is worn due at least two cameras being integrated in
In formula visual device, wear-type visual device can be determined in any scene comprising static entities
Position, so that solving prior art needs in advance to carry out scene three-dimensional reconstruction, and needs to put in advance
External device to it is cumbersome caused by ad-hoc location the problem of.If also solving replacing scene in addition, just
Need again to carry out scene three-dimensional reconstruction, and put external device again to using head caused by ad-hoc location
The problem of limitation that the formula visual device of wearing is positioned.
Embodiment 4
Based on inventive concept same as Example 3, embodiment 4 provides a kind of wear-type visual device
Location determining method.Need to carry out three-dimensional reconstruction in advance for solving prior art, and need to put in advance
External device to it is cumbersome caused by ad-hoc location the problem of.Assuming that executive agent is to be integrated with least two
The wear-type visual device of camera.The schematic diagram of this method is as shown in figure 5, this method comprises the steps：
Step 41：At least two cameras are obtained while the image gathered；
Step 42：The distance between according to the image got, and each camera, carry out Three-dimensional Gravity
Build, obtain the three-dimensional information of residing scene；
In one embodiment, in order that obtained three-dimensional information is truer,
According to the intensity of institute's three-dimensional information, and the infrared signal received, determine wear-type visual device with
The distance of at least two mark points selected temporarily, can include in three-dimensional information：
According to the infrared signal received, three-dimensional reconstruction is carried out to residing scene, the three of residing scene are obtained
Tie up reconstruction model；
Obtain the image of residing scene；
According to the described image got, Three-dimension Reconstruction Model is rendered, the three of residing scene are obtained
Tie up information.
Step 43：The distance between according to the image got, and each camera, determine wear-type
The distance of visual device and at least two mark points selected temporarily in three-dimensional information；
Step 44：According to distance, the locus of wear-type visual device is determined.
This method provided using embodiment 4, is visually set due at least two cameras are integrated in into wear-type
In standby, the position of wear-type visual device can be determined in any scene comprising static entities, from
And solving prior art needs in advance to carry out scene three-dimensional reconstruction, and need to put external device in advance
The problem of cumbersome caused by ad-hoc location.If also solving replacing scene in addition, it is necessary to again
Three-dimensional reconstruction is carried out to scene, and it is caused visual using wear-type to ad-hoc location to put external device again
The problem of limitation that equipment is positioned.
Embodiment 5
As it was previously stated, when user is by wearing HMD, some applications can be participated in by hand, such as
Boxing game, virtual reality technology is utilized in HMD, user is placed in a scene of game, can be with
By recognizing the gesture (defence gesture, hand position) of user, the action demonstration in scene of game is realized.Such as,
Boxing ring is simulated using virtual reality technology, is played the part of by recognizing that the hand motion of user is realized in game
Personage punch action.
In the prior art, it is necessary in ad-hoc location (finger-joint, finger tips, palm etc.) on hand,
The mark point of specified quantity is disposed, the mark point is connected with the processor in HMD, monitoring user's hand
Action, when hand appearance, which is acted, to be changed, action of the processor by gathering finger, which changes, determines gesture.Than
Such as, user is when doing the action of punch, mark point can monitor quickly, steady shift track, from
And by the action demonstration of punch in scene of game.However, there is some actions may be due on hand wearing
Mark point, influence user acts, such as, it is impossible to None- identified gesture caused by clenching, or speed
Too fast to cause equipment to come off, these can all cause recognition efficiency relatively low.In addition, in user one end, on hand
Thing is placed, inherently the sensation to user " uncomfortable ", the experience of user is influenceed, if again by having
Line is connected with the processor in HMD, and more Consumer's Experience is made a big impact.In view of drawbacks described above, this
There is provided a kind of wear-type visual device on the basis of embodiment 1 for application, it is not necessary to pacifies on dynamic object
Put any equipment, it is possible to recognize the change procedure of dynamic object.The structural representation of the equipment such as Fig. 6-1
It is shown, including：
Infrared Projector 11, infrared signal receiver 12, processor 53.
Due in the present embodiment, Infrared Projector 11, infrared signal receiver 12 with embodiment 1
That introduces is identical, and here is omitted.
Processor 53, can include：Three-dimensional modeling unit 531, feature extraction unit 532, Characteristic Contrast
Unit 533, change determining unit 534, wherein,
Three-dimensional modeling unit 531, can be used for, according to the infrared signal received, three being set up to dynamic object
Dimension module；
Specifically, due to the infrared signal received, in intensity, there is point of power, so, can be with
According to intensity, threedimensional model is set up to dynamic object.Such as, by taking hand as an example, when infrared remote receiver 12,
The infrared signal launched by infrared transmitter 11 is received, by hand, the infrared signal reflected
Afterwards, threedimensional model can be set up to hand according to the varying strength of infrared signal.
Feature extraction unit 532, can be used for the characteristic point for extracting threedimensional model；
Specifically, because dynamic object is mobile, if the entirety before and after by being moved to dynamic object
Contrast to recognize change procedure, it is clear that amount of calculation can be very big, so, generally extract dynamic object three-dimensional
The characteristic point of model, by contrasting the change of mobile front and rear characteristic point, to recognize change procedure.Using hand as
Example, characteristic point can be finger end, finger-joint etc., because these characteristic points are in the three-dimensional model
The turning point of line, the critical surface in face etc. are often presented as, such as joint is exactly the turning point of finger, joint
The face showed is exactly the critical surface of contoured skin.So, it is necessary to extract the characteristic point of threedimensional model.
Characteristic Contrast unit 533, can be used for the characteristic point that will currently extract, the feature extracted with the last time
Point is contrasted.
In feature extraction unit 532 is introduced, it is stated that the change by contrasting mobile front and rear characteristic point
Change, to recognize change procedure.So, in Characteristic Contrast unit 533 by the characteristic point currently extracted, with
After the characteristic point that last time extracts is contrasted,
Change determining unit 534, can be used for according to comparing result, determine the change procedure of dynamic object.
Specifically, such as, comparing result is moved for the characteristic point of finger end, then illustrates that finger has
Action, also just have identified the change procedure of hand.
Such as the schematic diagram of the change procedure of Fig. 6-2 identification dynamic objects provided for the present embodiment.
Return to the present embodiment beginning institute illustrated example, boxing ring simulated using virtual reality technology, when with
Family is done in the action process of punch, can be by contrasting using 3 joints of hand as the movement of characteristic point before and after
Change, recognize the punching action of user, other game roles impacted by punch in game so as to realize.
The wear-type visual device provided using embodiment 5, due to by Infrared Projector and infrared letter
Number receiver is integrated in wear-type visual device, and threedimensional model can be set up to dynamic object and spy is extracted
Levy a little, by the front and rear change of contrast characteristic's point, recognize the change procedure of dynamic object.So as to solve
Prior art need dynamic object ad-hoc location, dispose specified quantity mark point, it is caused due to
Dynamic object inconvenient activity or excessive velocities, the problem of recognition efficiency is not high.
Embodiment 6
Based on inventive concept same as Example 5, embodiment 6 provides a kind of dynamic object change procedure
Recognition methods, need the ad-hoc location in dynamic object, placement specified quantity for solving prior art
Mark point, caused due to dynamic object inconvenient activity or excessive velocities, the problem of recognition efficiency is not high.It is false
If executive agent is the wear-type visual device for being integrated with infrared transmitter and infrared remote receiver.This method is shown
It is intended to as shown in fig. 7, comprises following step：
Step 61：Launch infrared signal.
Step 62：Receive infrared signal of the infrared signal of transmitting by reflection.
Step 63：According to the infrared signal received, threedimensional model is set up to dynamic object.
Step 64：Extract the characteristic point of threedimensional model.
Step 65：By the characteristic point currently extracted, the characteristic point extracted with the last time is contrasted.
Step 66：According to comparing result, the change procedure of dynamic object is determined.
This method provided using embodiment 6, due to by Infrared Projector and infrared signal receiver collection
Into threedimensional model in wear-type visual device, can be set up to dynamic object and characteristic point is extracted, by right
Than the front and rear change of characteristic point, the change procedure of dynamic object is recognized.Needed so as to solve prior art
The ad-hoc location of dynamic object, disposes the mark point of specified quantity, caused due to dynamic object inconvenient activity
Or excessive velocities, the problem of recognition efficiency is not high.
Embodiment 7
Based on inventive concept same as Example 5, inventor has found, can also solve by other means
Prior art needs the ad-hoc location in dynamic object, disposes the mark point of specified quantity, caused due to dynamic
The inconvenience of state goal activities or excessive velocities, the problem of recognition efficiency is not high.In view of drawbacks described above, the application exists
There is provided a kind of wear-type visual device on the basis of embodiment 3, it is not necessary to disposes any on dynamic object
Equipment, it is possible to recognize the change procedure of dynamic object.The structural representation of the equipment as shown in Fig. 8-1,
Including：
At least two cameras 31, processor 72.
Because in the present embodiment, at least two cameras 31 are identical with what is introduced in embodiment 3, herein not
Repeat again.
Processor 72, can include：Three-dimensional modeling unit 721, feature extraction unit 722, Characteristic Contrast
Unit 723, change determining unit 724, wherein,
Three-dimensional modeling unit 721, can be used for according to the image got, and between each camera
Distance, threedimensional model is set up to dynamic object.
Based on technique of binocular stereoscopic vision of the prior art, so here is omitted.
Feature extraction unit 722, can be used for the characteristic point for extracting threedimensional model.
Characteristic Contrast unit 723, can be used for the characteristic point that will currently extract, the feature extracted with the last time
Point is contrasted.
Change determining unit 724, can be used for according to comparing result, determine the change procedure of dynamic object.
Due to feature extraction unit 722, Characteristic Contrast unit 723, change determining unit 724 and embodiment
The effect phase that feature extraction unit 532, Characteristic Contrast unit 533, change determining unit 534 in 5 are realized
Seemingly, so repeating no more.
Such as the schematic diagram of the change procedure of Fig. 8-2 identification dynamic objects provided for the present embodiment.
The wear-type visual device provided using embodiment 7, due at least two cameras are integrated in into head
Wear in formula visual device, threedimensional model can be set up to dynamic object and characteristic point is extracted, by bit
Front and rear change a little is levied, the change procedure of dynamic object is recognized.Needed so as to solve prior art dynamic
The ad-hoc location of state target, disposes the mark point of specified quantity, caused due to dynamic object inconvenient activity
Or excessive velocities, the problem of recognition efficiency is not high.
Embodiment 8
Based on inventive concept same as Example 7, embodiment 8 provides a kind of dynamic object change procedure
Recognition methods, need the ad-hoc location in dynamic object, placement specified quantity for solving prior art
Mark point, caused due to dynamic object inconvenient activity or excessive velocities, the problem of recognition efficiency is not high.It is false
If executive agent is the wear-type visual device for being integrated with least two cameras.The schematic diagram of this method is as schemed
Shown in 9, comprise the steps：
Step 81：At least two cameras are obtained while the image gathered；
Step 82：The distance between according to the image got, and each camera, to dynamic object
Set up threedimensional model；
Step 83：Extract the characteristic point of threedimensional model；
Step 84：By the characteristic point currently extracted, the characteristic point extracted with the last time is contrasted；
Step 85：According to comparing result, the change procedure of dynamic object is determined.
This method provided using embodiment 8, is visually set due at least two cameras are integrated in into wear-type
In standby, threedimensional model can be set up to dynamic object and characteristic point is extracted, passes through the front and rear change of contrast characteristic's point
Change, recognize the change procedure of dynamic object.The certain bits in dynamic object are needed so as to solve prior art
Put, dispose the mark point of specified quantity, it is caused due to dynamic object inconvenient activity or excessive velocities, identification
Inefficient the problem of.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or meter
Calculation machine program product.Therefore, the application can be using complete hardware embodiment, complete software embodiment or knot
The form of embodiment in terms of conjunction software and hardware.Wherein wrapped one or more moreover, the application can be used
Containing computer usable program code computer-usable storage medium (include but is not limited to magnetic disk storage,
CD-ROM, optical memory etc.) on the form of computer program product implemented.
The application is with reference to the method, equipment (system) and computer program product according to the embodiment of the present application
Flow chart and/or block diagram describe.It should be understood that can by computer program instructions implementation process figure and/
Or each flow and/or square frame in block diagram and the flow in flow chart and/or block diagram and/or
The combination of square frame.These computer program instructions can be provided to all-purpose computer, special-purpose computer, embedded
Processor or the processor of other programmable data processing devices are to produce a machine so that pass through computer
Or the instruction of the computing device of other programmable data processing devices is produced for realizing in flow chart one
The device for the function of being specified in flow or multiple flows and/or one square frame of block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or the processing of other programmable datas to set
In the standby computer-readable memory worked in a specific way so that be stored in the computer-readable memory
Instruction produce include the manufacture of command device, the command device realization in one flow or multiple of flow chart
The function of being specified in one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices, made
Obtain and perform series of operation steps on computer or other programmable devices to produce computer implemented place
Reason, so that the instruction performed on computer or other programmable devices is provided for realizing in flow chart one
The step of function of being specified in flow or multiple flows and/or one square frame of block diagram or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output
Interface, network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory
And/or the form, such as read-only storage (ROM) or flash memory (flash RAM) such as Nonvolatile memory (RAM).
Internal memory is the example of computer-readable medium.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by appointing
What method or technique realizes that information is stored.Information can be computer-readable instruction, data structure, program
Module or other data.The example of the storage medium of computer includes, but are not limited to phase transition internal memory
(PRAM), static RAM (SRAM), dynamic random access memory (DRAM), its
Random access memory (RAM), read-only storage (ROM), the electrically erasable of his type are read-only
Memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-
ROM), digital versatile disc (DVD) or other optical storages, magnetic cassette tape, tape magnetic rigid disk are deposited
Storage or other magnetic storage apparatus or any other non-transmission medium, can be visited available for storage by computing device
The information asked.Defined according to herein, computer-readable medium does not include temporary computer readable media
(transitory media), such as modulation data-signal and carrier wave.
It should also be noted that, term " comprising ", "comprising" or its any other variant be intended to it is non-
It is exclusive to include, so that process, method, commodity or equipment including a series of key elements are not only wrapped
Include those key elements, but also other key elements including being not expressly set out, or also include for this process,
Method, commodity or the intrinsic key element of equipment.In the absence of more restrictions, by sentence " including
One ... " limit key element, it is not excluded that in the process including key element, method, commodity or equipment
Also there is other identical element.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer journey
Sequence product.Therefore, the application can using complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the application can be used wherein includes calculating one or more
Machine usable program code computer-usable storage medium (include but is not limited to magnetic disk storage, CD-ROM,
Optical memory etc.) on the form of computer program product implemented.
Embodiments herein is these are only, the application is not limited to.For people in the art
For member, the application can have various modifications and variations.It is all to be made within spirit herein and principle
Any modification, equivalent substitution and improvements etc., should be included within the scope of claims hereof.
Claims (12)
1. a kind of wear-type visual device, it is characterised in that including：Infrared Projector, infrared letter
Number receiver, processor；Wherein,
The Infrared Projector, for launching infrared signal；
The infrared signal receiver, for receiving infrared letter of the infrared signal of the transmitting by reflection
Number；
The processor includes three-dimensional reconstruction unit, distance determining unit, position determination unit, wherein,
The three-dimensional reconstruction unit, for according to the infrared signal received, carrying out three-dimensional reconstruction, obtaining
The three-dimensional information of residing scene；
The distance determining unit, for according to the three-dimensional information, and the infrared signal received
Intensity, determine at least two mark points selected temporarily in wear-type visual device and three-dimensional information away from
From；
The position determination unit, for according to the distance, determining the space bit of wear-type visual device
Put.
2. equipment as claimed in claim 1, it is characterised in that the three-dimensional reconstruction unit, including：
Three-dimensional reconstruction subelement, camera, subelement is rendered, wherein,
The three-dimensional reconstruction subelement, for according to the infrared signal received, three to be carried out to residing scene
Dimension is rebuild, and obtains the Three-dimension Reconstruction Model of residing scene；
The camera, the image for obtaining the residing scene；
It is described to render subelement, for according to the described image got, entering to the Three-dimension Reconstruction Model
Row is rendered, and obtains the three-dimensional information of residing scene.
3. equipment as claimed in claim 1, it is characterised in that the processor, in addition to：It is three-dimensional
Modeling unit, feature extraction unit, Characteristic Contrast unit, change determining unit, wherein,
The three-dimensional modeling unit, for according to the infrared signal received, setting up three-dimensional to dynamic object
Model；
The feature extraction unit, the characteristic point for extracting the threedimensional model；
The Characteristic Contrast unit, for by the characteristic point currently extracted, with the last characteristic point extracted
Contrasted；
The change determining unit, for according to comparing result, determining the change procedure of dynamic object.
4. a kind of location determining method of wear-type visual device, it is characterised in that including：
Launch infrared signal；
Receive infrared signal of the infrared signal of the transmitting by reflection；
According to the infrared signal received, three-dimensional reconstruction is carried out, the three-dimensional information of residing scene is obtained；
According to the three-dimensional information, and the infrared signal received intensity, determine that wear-type is visually set
The standby distance with three-dimensional information at least two mark points selected temporarily；
According to the distance, the locus of wear-type visual device is determined.
5. method as claimed in claim 4, it is characterised in that according to the infrared signal received, enter
Row three-dimensional reconstruction, obtains the three-dimensional information of residing scene, including：
According to the infrared signal received, three-dimensional reconstruction is carried out to residing scene, the three of residing scene are obtained
Tie up reconstruction model；
Obtain the image of the residing scene；
According to the described image got, the Three-dimension Reconstruction Model is rendered, residing scene is obtained
Three-dimensional information.
6. a kind of recognition methods of dynamic object change procedure, it is characterised in that including：
Launch infrared signal；
Receive infrared signal of the infrared signal of the transmitting by reflection；
According to the infrared signal received, threedimensional model is set up to dynamic object；
Extract the characteristic point of the threedimensional model；
By the characteristic point currently extracted, the characteristic point extracted with the last time is contrasted；
According to comparing result, the change procedure of dynamic object is determined.
7. a kind of wear-type visual device, it is characterised in that including：At least two cameras, processing
Device；Wherein,
At least two camera, for obtaining the image that at least two cameras are gathered simultaneously；
The processor includes：Three-dimensional reconstruction unit, distance determining unit, position determination unit, its
In,
The three-dimensional reconstruction unit, for according between the described image got, and each camera
Distance, carry out three-dimensional reconstruction, obtain the three-dimensional information of residing scene；
The distance determining unit, for according between the described image got, and each camera
Distance, determine at least two mark points selected temporarily in wear-type visual device and three-dimensional information away from
From；
The position determination unit, for according to the distance, determining the space bit of wear-type visual device
Put.
8. equipment as claimed in claim 7, it is characterised in that the three-dimensional reconstruction unit, including：
Three-dimensional reconstruction subelement, subelement is rendered, wherein,
The three-dimensional reconstruction subelement, for according to the described image that gets, and each camera it
Between distance, three-dimensional reconstruction is carried out to residing scene, the Three-dimension Reconstruction Model of residing scene is obtained；
It is described to render subelement, for according to the described image got, entering to the Three-dimension Reconstruction Model
Row is rendered, and obtains the three-dimensional information of residing scene.
9. equipment as claimed in claim 7, it is characterised in that the processor, in addition to：It is three-dimensional
Modeling unit, feature extraction unit, Characteristic Contrast unit, change determining unit, wherein,
The three-dimensional modeling unit, for according between the described image got, and each camera
Distance, threedimensional model is set up to the dynamic object；
The feature extraction unit, the characteristic point for extracting the threedimensional model；
The Characteristic Contrast unit, for by the characteristic point currently extracted, with the last characteristic point extracted
Contrasted；
The change determining unit, for according to comparing result, determining the change procedure of dynamic object.
10. a kind of wear-type visual device method for determining position, it is characterised in that including：
At least two cameras are obtained while the image gathered；
The distance between according to the described image got, and each camera, three-dimensional reconstruction is carried out,
Obtain the three-dimensional information of residing scene；
The distance between according to the described image got, and each camera, determine that wear-type is visual
The distance of equipment and at least two mark points selected temporarily in three-dimensional information；
According to the distance, the position of wear-type visual device is determined.
11. method as claimed in claim 10, it is characterised in that according to the described image got,
The distance between and each camera, three-dimensional reconstruction is carried out, the three-dimensional information of residing scene, bag is obtained
Include：
The distance between according to the described image got, and each camera, residing scene is carried out
Three-dimensional reconstruction, obtains the Three-dimension Reconstruction Model of residing scene；
According to the described image got, the Three-dimension Reconstruction Model is rendered, residing scene is obtained
Three-dimensional information.
12. a kind of recognition methods of dynamic object change procedure, it is characterised in that including：
At least two cameras are obtained while the image gathered；
The distance between according to the described image got, and each camera, dynamic object is set up
Threedimensional model；
Extract the characteristic point of the threedimensional model；
By the characteristic point currently extracted, the characteristic point extracted with the last time is contrasted；
According to comparing result, the change procedure of dynamic object is determined.
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| CN201610101513.0A CN107122002A (en) | 2016-02-24 | 2016-02-24 | A kind of wear-type visual device |
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| CN201610101513.0A CN107122002A (en) | 2016-02-24 | 2016-02-24 | A kind of wear-type visual device |
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