公开(公告)号：US20230316608A1

公开(公告)日：2023-10-05

申请号：US18003342

申请日：2021-07-26

Applicant: MATRIXED REALITY TECHNOLOGY CO., LTD.

Inventor： Xianwei Lv ,  Zhenxing You ,  Rui Han

IPC: G06T11/60 ,  G06T7/73 ,  G06T7/90 ,  G06T11/00

CPC classification number: G06T11/60 ,  G06T7/73 ,  G06T7/90 ,  G06T11/001 ,  G06T2207/10024 ,  G06F1/163

Abstract: A method and apparatus for spatial locating. The method includes: acquiring feature area information and a current image captured by a camera (102); searching the current image for a feature area of an interactive device based on the feature area information, to determine position information, the position information being used to indicate the position of the feature area in the current image (104); determining first pose information associated with the position and attitude of the feature area relative to the camera (106) based on the position information; calculating a re-projection error of the feature area in the current image (108) based on the feature area information and the first pose information; and if the re-projection error is less than or equal to a preset threshold, determining current pose information associated with the position and attitude of the interactive device currently in a global coordinate system (110) based on the first pose information.

公开(公告)号：US20240029295A1

公开(公告)日：2024-01-25

申请号：US18252881

申请日：2021-11-16

Applicant: MATRIXED REALITY TECHNOLOGY CO., LTD.

Inventor： Zhenxing You

IPC: G06T7/73 ,  G06T7/246 ,  G06T7/579 ,  G06V10/44 ,  G06V10/75

CPC classification number: G06T7/73 ,  G06T7/246 ,  G06T7/579 ,  G06V10/44 ,  G06V10/751

Abstract: The present disclosure provides a method and apparatus for determining a pose of a tracked object in an image tracking process. In this method, a current frame of image and first point cloud information corresponding to the current frame of image are acquired, the first point cloud information being based on a relative relationship between an image capture device and an ambient space: and a pose of the tracked object in the current frame of image relative to the image capture device is determined according to the first point cloud information and object feature information of the tracked object if the tracked object is in a static state, the object feature information being based on a relative relationship between the tracked object and the ambient space. In this method, by using the first point cloud information to convert the relative relationship of the tracked object, it facilitates determining the pose of the tracked object.

公开(公告)号：US12293443B2

公开(公告)日：2025-05-06

申请号：US18003342

申请日：2021-07-26

Applicant: MATRIXED REALITY TECHNOLOGY CO., LTD.

Inventor： Xianwei Lv ,  Zhenxing You ,  Rui Han

IPC: G06T11/60 ,  G06F1/16 ,  G06F18/22 ,  G06T7/73 ,  G06T7/90 ,  G06T11/00 ,  G06V10/40 ,  G06V20/10

Abstract: A method and apparatus for spatial locating. The method includes: acquiring feature area information and a current image captured by a camera (102); searching the current image for a feature area of an interactive device based on the feature area information, to determine position information, the position information being used to indicate the position of the feature area in the current image (104); determining first pose information associated with the position and attitude of the feature area relative to the camera (106) based on the position information; calculating a re-projection error of the feature area in the current image (108) based on the feature area information and the first pose information; and if the re-projection error is less than or equal to a preset threshold, determining current pose information associated with the position and attitude of the interactive device currently in a global coordinate system (110) based on the first pose information.