CN206532257U - Virtual reality characteristic point space positioning apparatus - Google Patents
Virtual reality characteristic point space positioning apparatus Download PDFInfo
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- CN206532257U CN206532257U CN201621386137.6U CN201621386137U CN206532257U CN 206532257 U CN206532257 U CN 206532257U CN 201621386137 U CN201621386137 U CN 201621386137U CN 206532257 U CN206532257 U CN 206532257U
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- 238000000034 method Methods 0.000 abstract description 20
- 230000004807 localization Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
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Abstract
The utility model provides a kind of virtual reality characteristic point space positioning apparatus, including virtual implementing helmet, infrared camera and processing unit, the virtual implementing helmet includes front panel, multiple infrared spotlights are provided with the front panel, wherein at least there are 4 infrared spotlights on the same line.Compared with prior art, the utility model by by infrared spotlight is arranged to special pattern and is identified method there is provided a kind of method for determining hot spot ID, it is accurate and efficiently.By the way that infrared spotlight is set into straight line, infrared spotlight not on straight line is distinguished, and the corresponding infrared spotlight ID of each hot spot point is calculated rapidly by coordinate calculating according to graphics shape, save the substantial amounts of time relative to independent corresponding method.
Description
Technical field
The utility model is related to field of virtual reality, more specifically to a kind of virtual reality characteristic point space orientation
Device.
Background technology
Space orientation is typically positioned and calculated using the pattern of optics or ultrasonic wave, is treated by setting up model to derive
Survey the locus of object.General virtual reality space alignment system by the way of infrared point and light sensation camera are received come
The locus of object is determined, infrared point is in the front end of nearly eye display device, and in positioning, light sensation camera catches infrared point
Position and then the physical coordinates for extrapolating user.If it is known that at least three light sources and the corresponding relation of projection, recall PnP
Algorithm just can obtain the space orientation position of the helmet, and realize the key of this process and be just to determine the corresponding light source ID of projection.
Current virtual reality space is usually present correspondence inaccurate and corresponding overlong time when being positioned at determination projection corresponding light source ID
Shortcoming, have impact on the accuracy and efficiency of positioning.
Utility model content
The not high defect of projection ID accuracy and efficiency is determined in order to solve current virtual realistic space localization method, this
Utility model provides a kind of virtual reality characteristic point space positioning apparatus for determining that projection ID accuracy and efficiencies are higher.
The utility model solves the technical scheme that its technical problem used：A kind of virtual reality feature space of points is provided
Positioner, including virtual implementing helmet, infrared camera and processing unit, the virtual implementing helmet include front panel, institute
State and multiple infrared spotlights are provided with front panel, wherein at least there are 4 infrared spotlights on the same line.
Preferably, the virtual implementing helmet includes 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 and the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th infrared point are not
It is on the same line.
Preferably, the virtual implementing helmet includes 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, and the first infrared point is in the side of the straight line, and the 6th is red
Exterior point and the 7th infrared point are in the opposite side of straight line.
Compared with prior art, the utility model passes through side that infrared spotlight is arranged to special pattern and is identified
Method is accurate and efficient there is provided a kind of method for determining hot spot ID., will not be straight by the way that infrared spotlight is set into straight line
Infrared spotlight on line is distinguished, and calculates according to graphics shape that to calculate each hot spot point rapidly corresponding by coordinate
Infrared spotlight ID, the substantial amounts of time is saved relative to independent corresponding method.During follow-up track and localization, by adding displacement
Mode judge newly-increased hot spot and its correspondence ID, tracing and positioning causes position fixing process simpler, it is not necessary to many times again
It is identified.The ID of the corresponding infrared spotlight of every bit on straight line can be obtained quickly than by way of coordinate pair.Set
Individual infrared spotlight can be prevented because causing the number of spots on image to be unsatisfactory for PnP algorithms and nothing infrared spotlight is blocked
Method is positioned.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the utility model virtual reality characteristic point space positioning apparatus principle schematic；
Fig. 2 is the utility model virtual reality characteristic point space positioning apparatus first embodiment schematic diagram；
Fig. 3 is the infrared dot image of infrared camera shooting in first embodiment.
Fig. 4 is the utility model virtual reality characteristic point space positioning apparatus second embodiment schematic diagram；
Fig. 5 is the infrared dot image of infrared camera shooting in second embodiment.
Embodiment
The not high defect of projection ID accuracy and efficiency is determined in order to solve current virtual realistic space localization method, this
Utility model provides a kind of virtual reality characteristic point space positioning apparatus for determining that projection ID accuracy and efficiencies are higher.
In order to be more clearly understood to technical characteristic of the present utility model, purpose and effect, accompanying drawing is now compareed detailed
Illustrate embodiment of the present utility model.
Refer to Fig. 1-Fig. 2.The utility model virtual reality characteristic point space positioning apparatus includes virtual implementing helmet
10th, infrared camera 20 and processing unit 30, infrared camera 20 are electrically connected with processing unit 30.Virtual implementing helmet 10 is wrapped
Front panel 11 is included, is distributed with the front panel 11 and four, upper and lower, left and right side panel of virtual implementing helmet 10 multiple infrared
Spot light 13, including the first infrared point 131, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point the 134, the 5th are 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 set
Put on front panel 11, wherein, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the row of the 5th infrared point 135
Row are in alignment.Multiple infrared spotlights 13 can as needed be lighted by the firmware interface of virtual implementing helmet 10 or
Close.Infrared spotlight 13 on virtual implementing helmet 10 forms hot spot by infrared camera 20 on image, due to shooting
The hot spot that infrared spotlight 13 on the intrinsic property of head perspective transform, same straight line is formed on image is still in same straight line
On.Using this peculiar pattern, then only need to find 4 point this AD HOCs on the same line on image
Disposably distinguish the numbering of each point.
Fig. 3 shows the infrared dot image that infrared camera is shot, 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 hot spot point.
When ID, which is recognized, to be started, 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 identification accuracy is, it is necessary 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 according to 5 infrared spotlights 13 on image
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 hot spots points in exhaustive 5 hot spot points, and whether judge this 4 hot spot points
On the same line.Due to the error of imaging or data processing, it is possible to cause the second infrared point 132, the 3rd infrared point
133rd, the 4th infrared point 134, the corresponding hot spot point of the 5th infrared point 135 are not located strictly on the same line, at this moment can be
One threshold value is set in system, if straight line is approximately formed within threshold value i.e. for 4 points it is believed that this 4 points are in same straight line
On.4 hot spot points on same straight line can be calculated quickly by exhaustion, it is red that this 4 hot spot points correspond to second respectively
Exterior point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135, another hot spot point correspondence first are infrared
Point 131.The corresponding infrared spotlight 13 of each hot spot point, one of which side can be obtained according to the coordinate relation of 5 hot spot points
Method is the middle point coordinates for the line for calculating 4 hot spot points on same straight line, by the ordinate y of point coordinates in this1With it is right
Answer the ordinate y of the hot spot point of the first infrared point 1312Contrast, if y1＞ y2, then 4 hot spot points on same straight line according to
Abscissa sorts from big to small, and to correspond to the second infrared point 132, the 3rd infrared point 133, the 4th infrared point the 134, the 5th respectively infrared
Point 135；If y1＜ y2, then 4 hot spot points on same straight line sorted 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 hot spot points and 5
Infrared spotlight 13ID one-to-one corresponding.
After ID end of identifications, processing unit 30 can track each hot spot point and demarcate correspondence ID, and specific method is：
During space orientation, because the sampling time of every frame is sufficiently small, the general sampling time is 30ms, so generally previous frame
The position difference very little of each hot spot point on each hot spot point and present frame, the history with reference to known to previous frame of processing unit 30
Information, which does a small translation to the hot spot point of previous frame image, makes the hot spot point of previous frame image and the light of current frame image
Spot produces corresponding relation, is that can determine whether have correspondence to close on current frame image according to the historical information of the corresponding relation and previous frame
The corresponding ID of each hot spot point of system.
Fig. 4-Fig. 5 is referred to, when only existing 5 infrared spotlights on virtual implementing helmet 10, due to object, pedestrian
The reason such as block and be easy to occur the quantity of hot spot point and be unsatisfactory for the situations of PnP algorithm requirements, accordingly we provide
Second embodiment.Second embodiment of the present utility model is essentially identical with first embodiment, and difference is, second embodiment
Including 7 infrared spotlights 13.Virtual implementing helmet 10 include front panel 11, virtual implementing helmet 10 front panel 11 and
Multiple infrared spotlights 13, including the first infrared point 131, the second infrared point is distributed with four, upper and lower, left and right side panel
132nd, 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
One infrared point 131, the second infrared point 132, the 3rd infrared point 133, the 4th infrared point 134, the 5th infrared point 135, the 6th point light
Source 136, the 7th spot light 137 are arranged on front panel 11, wherein, the second infrared point 132, the 3rd infrared point the 133, the 4th are infrared
The 134, the 5th infrared point 135 of point arranges in alignment.Multiple infrared spotlights 13 can consolidating by virtual implementing helmet 10
Part interface is lighted or closed as needed.Infrared spotlight 13 on virtual implementing helmet 10 is by infrared camera 20 in figure
As upper formation hot spot, due to the intrinsic property of camera perspective transform, infrared spotlight 13 on the same straight line shape on image
Into hot spot still on the same line.Using this peculiar pattern, then only need to find on the same line on image
4 point this AD HOCs can disposably distinguish the numbering of each point.
Fig. 5 shows the infrared dot image that infrared camera is shot, 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 hot spot point.
When ID, which is recognized, to be started, 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 identification accuracy is, it is necessary 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 according to 7 infrared spotlights 13 on image
Hot spot, the center point coordinate of these hot spots is obtained according to prior arts such as SimpleBlob methods.In the central point of all hot spots
After coordinate is obtained, the combination of all 4 hot spots points in exhaustive 7 hot spot points, and judge this 4 hot spot points whether in same straight line
On.Due to the error of imaging or data processing, it is possible to cause the second infrared point 132, the 3rd infrared point the 133, the 4th infrared
The point corresponding hot spot point of the 134, the 5th infrared point 135 is not located strictly on the same line, and one at this moment can be set in systems
Individual threshold value, if straight line is approximately formed within threshold value i.e. for 4 points it is believed that this 4 points on same straight line.Can by exhaustion
To calculate 4 hot spot points on same straight line quickly, it is red that this 4 hot spot points correspond to the second infrared point the 132, the 3rd respectively
Exterior point 133, the 4th infrared point 134, the 5th infrared point 135, there is a hot spot point and two light in the both sides of this straight line respectively
Spot, wherein, an isolated hot spot point the first infrared point 131 of correspondence.It can be obtained often according to the coordinate relation of 5 hot spot points
The corresponding infrared spotlight 13 of individual hot spot point, one of which method is the line for calculating 4 hot spot points on same straight line
Middle point coordinates, by the ordinate y of point coordinates in this1With the ordinate y of the hot spot point of corresponding first infrared point 1312Contrast, if
y1＞ y2, then 4 hot spot points on same straight line sorted from big to small according to abscissa 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
Small 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 sorts from small to large according to abscissa corresponds to the second infrared point 132, the 3rd infrared point 133, the 4th infrared point respectively
134th, the 5th infrared point 135, two hot spots in straight line homonymy sort from small to large according to abscissa, and to correspond to the 6th respectively red
The infrared point 137 of exterior point 136 and the 7th.This completes 7 hot spot points and the ID of 7 infrared spotlights 13 one-to-one corresponding.
After the completion of ID identifications, processing unit 30 recalls the space orientation position that PnP algorithms just can obtain the helmet, and PnP is calculated
It is owned by France in prior art, the utility model is repeated no more.
Compared with prior art, the utility model passes through infrared spotlight 13 is arranged to special pattern and is identified
Method is accurate and efficient there is provided a kind of method for determining hot spot ID., will not by the way that infrared spotlight 13 is set into straight line
Infrared spotlight 13 on straight line is distinguished, and calculates each hot spot point rapidly by coordinate calculating according to graphics shape
Corresponding infrared spotlight ID, the substantial amounts of time is saved relative to independent corresponding method.During follow-up track and localization, by adding
Plus the mode of displacement judges newly-increased hot spot and its correspondence ID, tracing and positioning causes position fixing process simpler, it is not necessary to many times
Ground re-starts identification.The corresponding infrared spotlight 13 of every bit on straight line can be obtained quickly than by way of coordinate pair
ID.7 infrared spotlights 13 are set to prevent from causing the number of spots on image to be discontented with because infrared spotlight 13 is blocked
Sufficient PnP algorithms and can not position.
Embodiment of the present utility model is described above in conjunction with accompanying drawing, but the utility model is not limited to
The embodiment stated, above-mentioned embodiment be only it is schematical, rather than restricted, this area it is common
Technical staff is not departing from the utility model objective and scope of the claimed protection situation under enlightenment of the present utility model
Under, many forms can be also made, these are belonged within protection of the present utility model.
Claims (3)
1. a kind of virtual reality characteristic point space positioning apparatus, it is characterised in that including virtual implementing helmet, infrared camera and
Processing unit, the virtual implementing helmet includes front panel, and the front panel is towards the infrared camera, on the front panel
Multiple infrared spotlights are provided with, wherein at least there are 4 infrared spotlights on the same line.
2. virtual reality characteristic point space positioning apparatus according to claim 1, it is characterised in that the virtual reality head
Helmet includes 5 infrared spotlights, is the first infrared point respectively, 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.
3. virtual reality characteristic point space positioning apparatus according to claim 1, it is characterised in that the virtual reality head
Helmet includes 7 infrared spotlights, is the first infrared point respectively, the second infrared point, the 3rd infrared point, the 4th infrared point, the 5th red
Exterior point, the 6th infrared point, the 7th infrared point, wherein, the second infrared point, the 3rd infrared point, the 4th infrared point, at the 5th infrared point
In on 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 another of straight line
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621386137.6U CN206532257U (en) | 2016-12-16 | 2016-12-16 | Virtual reality characteristic point space positioning apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621386137.6U CN206532257U (en) | 2016-12-16 | 2016-12-16 | Virtual reality characteristic point space positioning apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206532257U true CN206532257U (en) | 2017-09-29 |
Family
ID=59921910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621386137.6U Expired - Fee Related CN206532257U (en) | 2016-12-16 | 2016-12-16 | Virtual reality characteristic point space positioning apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206532257U (en) |
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2016
- 2016-12-16 CN CN201621386137.6U patent/CN206532257U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170929 |