CN106780617A - A kind of virtual reality system and its localization method - Google Patents
A kind of virtual reality system and its localization method Download PDFInfo
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- CN106780617A CN106780617A CN201611045598.1A CN201611045598A CN106780617A CN 106780617 A CN106780617 A CN 106780617A CN 201611045598 A CN201611045598 A CN 201611045598A CN 106780617 A CN106780617 A CN 106780617A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/10—Image acquisition modality
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Abstract
The invention discloses a kind of virtual reality system and its localization method, the system includes the spherical source being arranged in target to be positioned, the first camera being arranged in around target to be positioned and second camera and the processing unit being respectively connected with first camera and second camera；First camera and second camera according to identical frequency collection spherical source image, spherical source is presented circular light spot in the picture；Processing unit receives the two field pictures of first camera and the collection of second camera synchronization, it is determined that the first straight line of the photocentre by the center of circle and first camera of the circular light spot in the image of first camera collection, and by second camera gather image in circular light spot the center of circle and second camera photocentre second straight line, and the position of spherical source is determined according to first straight line and second straight line, the relation between the diameter of the distance and circular light spot of spherical source and camera need not be carried out curve fitting in advance, it is to avoid the accuracy of influence positioning.
Description
Technical field
The present invention relates to technical field of virtual reality, and in particular to a kind of virtual reality system and its localization method.
Background technology
Existing virtual reality system targeting scheme is typically spherical in target to be positioned to being arranged on single camera
Light source is tracked positioning, and the center of circle of the circular light spot that spherical source is presented on the image that camera shoots is equivalent to spherical source
Direction in camera coordinates；Using near big and far smaller principle, when the diameter of spherical source is fixed, spherical source and camera it
Between distance and the diameter of circular light spot between be monotonic decreasing function relation, with reference to distance and direction can determine its space
Position.
But, not straight-line decline function between the distance between spherical source and camera and the diameter of circular light spot is needed
Carrying out strict curve matching can just reach preferable locating effect, and curve fitting process turns into the bottleneck of positioning, and influence is fixed
The accuracy of position.
The content of the invention
The invention provides a kind of virtual reality system and its localization method, to solve existing virtual reality targeting scheme
Need the functional relation between the diameter to the distance between spherical source and camera with circular light spot to carry out strict curve to intend
Close, influence the problem of the accuracy of positioning.
According to an aspect of the present invention, the invention provides a kind of virtual reality system, including：It is arranged on mesh to be positioned
The spherical source put on, the first camera being arranged in around target to be positioned and second camera and with first camera and second
The processing unit that camera is respectively connected with；
First camera and second camera according to spherical source described in identical frequency collection image, the spherical source exists
Circular light spot is presented in described image；
The processing unit, the two field pictures for receiving first camera and the collection of second camera synchronization, it is determined that through
The first straight line of the photocentre in the center of circle and first camera of the circular light spot crossed in the image of first camera collection, and by second
The second straight line of the photocentre in the center of circle and second camera of the circular light spot in the image of camera collection, and according to first straight line and the
Two straight lines determine the position of the spherical source.
According to another aspect of the present invention, the invention provides a kind of virtual reality localization method, including：
One spherical source is set in target to be positioned, first camera and second camera are arranged around target to be positioned；
Using first camera and second camera according to identical frequency collection image, spherical source is presented in described image
Circular light spot；
For the two field pictures that first camera and second camera synchronization are gathered, it is determined that the figure gathered by first camera
As in circular light spot the center of circle and first camera photocentre first straight line, and by second camera gather image in
The center of circle of circular light spot and the second straight line of the photocentre of second camera；
The position of the spherical source is determined according to first straight line and second straight line.
The beneficial effects of the invention are as follows：The embodiment of the present invention arranges two camera collection images around spherical source,
It is determined that the first straight line of the photocentre by the center of circle and first camera of the circular light spot in the image of first camera collection, Yi Jijing
The second straight line of the photocentre in the center of circle and second camera of the circular light spot crossed in the image of second camera collection, finally according to first
Straight line and second straight line determine the position of spherical source.Due to not being related to spherical source in the picture in whole position fixing process
Diameter, therefore also avoid the need in advance carrying out the relation between the diameter of the distance and circular light spot of spherical source and camera
Curve matching, it is to avoid the accuracy of the process influence positioning of curve matching.
Brief description of the drawings
Fig. 1 is a kind of functional block diagram of virtual reality system that one embodiment of the invention is provided；
Fig. 2 is a kind of positioning schematic of virtual reality system that one embodiment of the invention is provided；
Fig. 3 is a kind of flow chart of the localization method of virtual reality system that one embodiment of the invention is provided.
Specific embodiment
Design concept of the invention is：Existing virtual reality system targeting scheme uses a camera, using near big remote
Small principle is, it is necessary to the relation between diameter to the distance between spherical source and camera with circular light spot carries out strict song
Line fitting can just reach preferable locating effect, and curve fitting process turns into the bottleneck of positioning, influences the accuracy of positioning.For
Such case, the present invention follows the trail of spherical source using two cameras simultaneously, obtains the space that diverse location observes spherical source
Direction, the principle of any is met at using two straight lines, directly measures the position of spherical source.Due to not being related in position fixing process
Spherical source diameter in the picture, therefore also avoid the need for the straight of distance prior to spherical source and camera and circular light spot
Relation between footpath carries out curve fitting, it is to avoid the accuracy of the process influence positioning of curve matching.
Embodiment one
Fig. 1 is a kind of functional block diagram of virtual reality system that one embodiment of the invention is provided, as shown in figure 1, this reality
Applying the virtual reality system of example offer includes the spherical source 110 being arranged in target to be positioned, is arranged in target week to be positioned
The first camera 120 and second camera 130 enclosed and the processing unit being respectively connected with first camera 120 and second camera 130
140.Spherical source 110 can be infrared light supply, or visible light source.Compared to visible light source, infrared light supply has stronger
Antijamming capability, such as interference of background color, ambient light, thus using infrared light supply effect it is more preferable.Spherical source 110 can
To be arranged on the wearing on display device of virtual reality system, the motion for following the trail of user's head；Or hand can be arranged on
On handle controller, the motion for following the trail of user's hand.
First camera 120 and second camera 130 according to identical frequency collection spherical source 110 image, in the first phase
In the image that machine 120 and second camera 130 are collected, spherical source 110 is rendered as a circular light spot respectively.
Processing unit 140 receives the two field pictures of first camera 120 and the collection of the synchronization of second camera 130, and determines
By the first straight line of the photocentre in the center of circle and first camera 120 of the circular light spot in the image that first camera 120 is gathered, and
By the second straight line of the photocentre in the center of circle and second camera 130 of the circular light spot in the image that second camera 130 is gathered, and root
The position of spherical source 110 is determined according to first straight line and second straight line.
Processing unit 140 includes image processing module 141 and coordinate calculation module 142.Coordinate calculation module 142 is with first
The photocentre of camera 120 sets up space coordinates for origin, x-axis parallel to the image plane of first camera 120 base, y-axis perpendicular to
The base of the image plane of first camera 120, z-axis is the optical axis of first camera 120.Coordinate calculation module 142 is according to second camera 130
With the relative position between first camera 120, the coordinate of the photocentre of second camera 130 is determined.
The virtual reality system of the present embodiment during use, the relative position of first camera 120 and second camera 130
It is fixed to put, and can be adjusted during production by manufacturer and fix two relative positions of camera, is allowed to non-adjustable；Or
The relative position of two cameras can also be adjusted to specific value by person before the use by user.For the mistake of simplified operation
Journey, speed up processing, it is preferable that first camera 120 and second camera 130 in the present embodiment are the camera of same model,
Therefore the size of the image that two camera pictures are collected is identical, and the distance of image plane to photocentre is equal.First camera 120
Image plane perpendicular to ground, and image plane base parallel to ground；The image plane of second camera 130 and first camera 120
Image plane at grade, and the image plane of second camera 130 base with first camera as the base of 120 planes is same
On bar straight line, the spacing between first camera and second camera is default apart from x0.Thus, coordinate calculation module 142 determines
The coordinate for going out the photocentre of first camera 120 is (0,0,0), and the photocentre coordinate of second camera 130 is (x0, 0,0).
Image processing module 141 receives the two field pictures of first camera 120 and the collection of the synchronization of second camera 130, leads to
The modes such as overscanning recognize the circular light spot in two field pictures, and determine the central coordinate of circle of circular light spot respectively.Due to the first phase
Machine 120 is the camera of same model with second camera 130, and the distance of image plane to photocentre is z0, therefore image processing module
The central coordinate of circle for determining the circular light spot in the image of the collection of first camera 120 is (x1, y1, z0), second camera 130 is gathered
Image in circular light spot central coordinate of circle be (x2, y2, z0), as shown in Figure 2.
Coordinate calculation module 142 is gathered according to the coordinate (0,0,0) and first camera 120 of the photocentre of first camera 120
The central coordinate of circle (x1, y1, z0) of the circular light spot in image determines to pass through 2 points of the first straight line, the equation of first straight line
For：
Coordinate (x of the coordinate calculation module 142 according to the photocentre of second camera 1300, 0,0) and the collection of second camera 130
Central coordinate of circle (the x of the circular light spot in image2, y2, z0) determine to pass through 2 points of the second straight line, the equation of second straight line is：
Processing unit 140 also includes linear relation judge module 143 and position determination module 144.Linear relation judges mould
Block 143 is used to judge the position relationship of first straight line and second straight line.In theory, first straight line and second straight line are all by spherical
The center of light source 110, therefore two straight lines necessarily have an intersection point, but it is affected by errors, first for actually calculating is straight
Line and second straight line are likely to no intersection point.Therefore linear relation judge module 143 first determines whether first straight line and second straight line
Position relationship, when judging that first straight line and second straight line are intersecting, position determination module 144 according to the equation of first straight line and
The equation of second straight line calculates two intersection points of straight line, using the coordinate of the intersection point as spherical source 110 space coordinates；When sentencing
When disconnected first straight line and second straight line antarafacial, position determination module 144 is by the common vertical line section of first straight line and second straight line
Point coordinate as spherical source 110 space coordinates.
The present embodiment is not it is determined that during the position of spherical source 110, use spherical source 110 in the picture
The diameter of the circular light spot of presentation, therefore also avoid the need for distance and circular light spot in advance to spherical source 110 and camera
Relation between diameter carries out curve fitting, it is to avoid the accuracy of the process influence positioning of curve matching.
Embodiment two
Fig. 3 is a kind of flow chart of the localization method of virtual reality system that one embodiment of the invention is provided, such as Fig. 3 institutes
Show, the localization method of the virtual reality system that the present embodiment is provided includes：
Step S310：One spherical source is set in target to be positioned, around target to be positioned arrange first camera and
Second camera.Spherical source can be infrared light supply or visible light source, and infrared light supply effect is more preferable.Spherical source can be arranged on
Virtual reality system is worn on display device, motion for following the trail of user's head；Can also be arranged on handle controller,
Motion for following the trail of user's hand.
Step S320：Using first camera and second camera according to identical frequency collection image, spherical source is in image
Middle presentation circular light spot.
Step S330：For the two field pictures that first camera and second camera synchronization are gathered, it is determined that by the first phase
The first straight line of the photocentre in the center of circle and first camera of the circular light spot in the image of machine collection, and gathered by second camera
Image in circular light spot the center of circle and second camera photocentre second straight line.
Preferably, step S330 is specifically included：Space coordinates are set up by origin of the photocentre of first camera, x-axis is parallel
In the base of first camera image plane, perpendicular to the base of first camera image plane, z-axis is the optical axis of first camera to y-axis；And root
According to the relative position between second camera and first camera, the coordinate of second camera photocentre is determined；In first camera and the second phase
In the two field pictures of machine synchronization collection, the coordinate of circular light spot is determined respectively；According in the image that first camera is gathered
The coordinate in the circular light spot center of circle and the coordinate of first camera photocentre, it is determined that by 2 points of the first straight line；According to the second phase
Machine collection image in the circular light spot center of circle coordinate and the coordinate of second camera photocentre, it is determined that by this 2 points second
Straight line.
For the process of simplified operation, speed up processing, the present embodiment also included adjustment before collection image is started
The position of first camera, makes the image plane of first camera perpendicular to ground, and image plane base parallel to ground；Adjustment the
The position of two cameras, makes the image plane of the image plane of second camera and first camera at grade, and second camera picture is flat
The base in face is with the base of first camera image plane on same straight line；Between between adjustment first camera and second camera
Away from making it equal to default distance.
Step S340：The position of spherical source is determined according to first straight line and second straight line.First determine whether first straight line
With the position relationship of second straight line, when judging that first straight line and second straight line are intersecting, by the friendship of first straight line and second straight line
Point coordinate as spherical source space coordinates；When first straight line and second straight line antarafacial is judged, by first straight line and
Two straight lines common vertical line section midpoint coordinate as spherical source space coordinates.
The above, specific embodiment only of the invention, under above-mentioned teaching of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention should be defined by scope of the claims.
It should be noted that：
All parts embodiment of the invention can be realized with hardware, or be run with one or more processor
Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that can use in practice
Microprocessor or digital signal processor (DSP) are come one of some or all parts in realizing according to embodiments of the present invention
A little or repertoire.The present invention is also implemented as being set for performing some or all of method as described herein
Standby or program of device (for example, computer program and computer program product).It is such to realize that program of the invention be deposited
Storage on a computer-readable medium, or can have the form of one or more signal.Such signal can be from because of spy
Downloaded on net website and obtained, or provided on carrier signal, or provided in any other form.
Virtual reality system of the invention conventionally comprise processor and with the computer program product of form of memory or
Person's computer-readable medium.Memory can be such as flash memory, EEPROM (Electrically Erasable Read Only Memory), EPROM,
The electronic memory of hard disk or ROM etc.Memory has the program for performing any method and step in the above method
The memory space of code.For example, can include being respectively used to realize above method for the memory space of program code
Each program code of various steps.These program codes can be read from one or more computer program product or
It is written in this one or more computer program product.These computer program products include such as hard disk, compact-disc
(CD), the program code carrier of storage card or floppy disk etc.Such computer program product is usually portable or solid
Determine memory cell.The memory cell can be with the memory paragraph of similar arrangement, memory space etc..Program code can for example with appropriate shape
Formula is compressed.Generally, memory cell includes the computer-readable code for performing steps of a method in accordance with the invention, you can
With the code read by such as processor, when these codes are run, the virtual reality system is caused to perform described above
Each step in method.
It should be noted that above-described embodiment the present invention will be described rather than limiting the invention, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.Word " including " do not arrange
Except there is element or step not listed in the claims.The present invention can by means of the hardware for including some different elements with
And realized by means of properly programmed computer.If in the unit claim for listing equipment for drying, in these devices
Several can be embodied by same hardware branch.
In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be put into practice in the case of without these details.In some instances, known method, knot is not been shown in detail
Structure and technology, so as not to obscure the understanding of this description.The language used in this specification is primarily to readable and religion
The purpose led and select, selected rather than in order to explain or limit subject of the present invention.
Claims (10)
1. a kind of virtual reality system, it is characterised in that including：The spherical source that is arranged in target to be positioned, it is arranged in and treats
Position first camera and second camera around target and the processing unit being respectively connected with first camera and second camera；
First camera and second camera according to spherical source described in identical frequency collection image, the spherical source is described
Circular light spot is presented in image；
The processing unit, the two field pictures for receiving first camera and the collection of second camera synchronization, it is determined that by the
The first straight line of the photocentre in the center of circle and first camera of the circular light spot in the image of one camera collection, and by second camera
The center of circle of the circular light spot in the image of collection and the second straight line of the photocentre of second camera, and it is straight according to first straight line and second
Line determines the position of the spherical source.
2. the system as claimed in claim 1, it is characterised in that the processing unit includes that image processing module and coordinate are calculated
Module；
The coordinate calculation module, for setting up space coordinates by origin of the photocentre of first camera, x-axis is parallel to the first phase
The base of machine image plane, perpendicular to the base of first camera image plane, z-axis is the optical axis of first camera to y-axis；And according to second
Relative position between camera and first camera, determines the coordinate of second camera photocentre；
Described image processing module, the two field pictures for receiving first camera and the collection of second camera synchronization, identification two
Circular light spot in two field picture, and the central coordinate of circle of circular light spot is determined respectively；
The coordinate calculation module, is additionally operable to the circle in the image gathered according to the coordinate and first camera of first camera photocentre
The central coordinate of circle of shape hot spot determines to pass through 2 points of the first straight line；And coordinate and the second phase according to second camera photocentre
The central coordinate of circle of the circular light spot in the image of machine collection determines to pass through 2 points of the second straight line.
3. system as claimed in claim 2, it is characterised in that the processing unit also includes linear relation judge module and position
Put determining module；
The linear relation judge module, the position relationship for judging first straight line and second straight line；
When the linear relation judge module judges that first straight line and second straight line are intersecting, the position determination module is by first
The coordinate of the intersection point of straight line and second straight line as spherical source space coordinates；
When the linear relation judge module judges first straight line and second straight line antarafacial, the position determination module is by first
Straight line and second straight line common vertical line section midpoint coordinate as spherical source space coordinates.
4. the system as described in claim any one of 1-3, it is characterised in that
The spherical source is infrared light supply；Or, the spherical source is visible light source.
5. the system as described in claim any one of 1-3, it is characterised in that
First camera and the camera that second camera is same model；
The image plane of first camera perpendicular to ground, and image plane base parallel to ground；
The image plane of second camera and the image plane of first camera at grade, and the base of second camera image plane and the
The base of one camera image plane is on same straight line；
Spacing between first camera and second camera is default distance.
6. a kind of localization method of virtual reality system, it is characterised in that including：
One spherical source is set in target to be positioned, first camera and second camera are arranged around target to be positioned；
Using first camera and second camera according to identical frequency collection image, spherical source is presented circle in described image
Hot spot；
For the two field pictures that first camera and second camera synchronization are gathered, it is determined that in the image gathered by first camera
Circular light spot the center of circle and first camera photocentre first straight line, and by second camera gather image in circle
The center of circle of hot spot and the second straight line of the photocentre of second camera；
The position of the spherical source is determined according to first straight line and second straight line.
7. method as claimed in claim 6, it is characterised in that the circle in the image that the determination is gathered by first camera
The center of circle of hot spot and the first straight line of the photocentre of first camera, and by the circular light spot in the image of second camera collection
The second straight line of the photocentre of the center of circle and second camera, specifically includes：
Space coordinates are set up by origin of the photocentre of first camera, x-axis parallel to the base of first camera image plane, hang down by y-axis
Directly in the base of first camera image plane, z-axis is the optical axis of first camera；And according to the phase between second camera and first camera
To position, the coordinate of second camera photocentre is determined；
In the two field pictures that first camera and second camera synchronization are gathered, the coordinate of circular light spot is determined respectively；
According to the coordinate and the coordinate of first camera photocentre in the circular light spot center of circle in the image that first camera is gathered, it is determined that through
Cross 2 points of the first straight line；
According to the coordinate and the coordinate of second camera photocentre in the circular light spot center of circle in the image that second camera is gathered, it is determined that through
Cross 2 points of the second straight line.
8. method as claimed in claim 7, it is characterised in that described that the ball is determined according to first straight line and second straight line
The position of shape light source, specifically includes：
When first straight line and intersecting second straight line, the coordinate of the intersection point of first straight line and second straight line is calculated, as spherical light
The space coordinates in source；
When first straight line and second straight line antarafacial, the coordinate at the midpoint of the common vertical line section of first straight line and second straight line is calculated,
As the space coordinates of spherical source.
9. the method as described in claim any one of 6-8, it is characterised in that
The spherical source is infrared light supply；Or, the spherical source is visible light source.
10. the method as described in claim any one of 6-8, it is characterised in that first camera is same model with second camera
Camera；Before collection image is started, methods described also includes：
Adjust the position of first camera, make the image plane of first camera perpendicular to ground, and image plane base parallel to ground
Face；
The position of second camera is adjusted, makes the image plane of the image plane of second camera and first camera at grade, and the
The base of two camera image planes is with the base of first camera image plane on same straight line；
Spacing between adjustment first camera and second camera, makes the spacing be equal to default distance.
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| CN112837375A (en) * | 2021-03-17 | 2021-05-25 | 北京七维视觉传媒科技有限公司 | Method and system for camera positioning inside real space |
| CN112837375B (en) * | 2021-03-17 | 2024-04-30 | 北京七维视觉传媒科技有限公司 | Method and system for camera positioning inside real space |
| CN115307559A (en) * | 2022-07-08 | 2022-11-08 | 国网湖北省电力有限公司荆州供电公司 | A target positioning method, long-distance laser cleaning method and system |
| CN115307559B (en) * | 2022-07-08 | 2023-10-24 | 国网湖北省电力有限公司荆州供电公司 | A target positioning method, long-distance laser cleaning method and system |
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