WO2025044908A1 - 用于对象追踪的方法、装置、设备和存储介质 - Google Patents

用于对象追踪的方法、装置、设备和存储介质 Download PDF

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Publication number
WO2025044908A1
WO2025044908A1 PCT/CN2024/114069 CN2024114069W WO2025044908A1 WO 2025044908 A1 WO2025044908 A1 WO 2025044908A1 CN 2024114069 W CN2024114069 W CN 2024114069W WO 2025044908 A1 WO2025044908 A1 WO 2025044908A1
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WO
WIPO (PCT)
Prior art keywords
light
emitting element
optical configuration
tracking
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/114069
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English (en)
French (fr)
Inventor
张秀志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Zitiao Network Technology Co Ltd
Original Assignee
Beijing Zitiao Network Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Zitiao Network Technology Co Ltd filed Critical Beijing Zitiao Network Technology Co Ltd
Priority to KR1020267006374A priority Critical patent/KR20260046196A/ko
Priority to EP24761154.4A priority patent/EP4546093A4/en
Priority to US18/823,231 priority patent/US12455617B2/en
Publication of WO2025044908A1 publication Critical patent/WO2025044908A1/zh
Priority to US19/342,140 priority patent/US20260023428A1/en
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

Definitions

  • Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to methods, devices, apparatuses, and computer-readable storage media for object tracking.
  • Extended Reality (XR) technology includes Virtual Reality (VR), Augmented Reality (AR) and Mixed Reality (MR).
  • VR Virtual Reality
  • AR Augmented Reality
  • MR Mixed Reality
  • DoF degrees of freedom
  • a method for object tracking comprises: determining an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light emitting element, the optical configuration being used to control light emission of the at least one light emitting element; and setting the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light emitting element and/or based on sensor data of the motion sensor.
  • a device for object tracking comprises: an optical configuration determination module configured to determine an optical configuration associated with an operating mode of a first device, the first device comprising a motion sensor and at least one light-emitting element, the optical configuration being used to control light emission of the at least one light-emitting element; and a device setting module configured to set the first device based at least on the optical configuration to perform object tracking by tracking light emitted by the at least one light-emitting element and/or according to sensing data of the motion sensor.
  • an electronic device in a third aspect of the present disclosure, includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect.
  • a computer-readable storage medium wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.
  • FIG1 shows a schematic diagram of an example environment in which embodiments of the present disclosure can be implemented
  • FIGS. 2A to 2C are schematic diagrams showing various example structures of a first device according to some embodiments of the present disclosure
  • FIG3A is a schematic diagram showing an example of an attachment method of a first device according to some embodiments of the present disclosure
  • FIG3B is a schematic diagram showing an example of a wearing method of the first device according to some embodiments of the present disclosure
  • FIG4 is a schematic diagram showing a light emission timing of a light emitting element according to some embodiments of the present disclosure
  • FIG5 illustrates a flow chart of an example process for identifying a tracker according to some embodiments of the present disclosure
  • FIG6 illustrates a flow chart of an example process of connecting multiple trackers according to some embodiments of the present disclosure
  • FIG7 is a schematic diagram showing the communication timing between multiple trackers and a head-mounted device according to some embodiments of the present disclosure
  • FIG8 is a schematic diagram showing an example signaling diagram of a back-connection and frequency hopping configuration between a tracker and a headset according to some embodiments of the present disclosure
  • FIG9 illustrates a flow chart of a process for object tracking according to some embodiments of the present disclosure
  • FIG10 shows a block diagram of an apparatus for object tracking according to some embodiments of the present disclosure.
  • FIG. 11 shows a block diagram of a device capable of implementing various embodiments of the present disclosure.
  • a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information.
  • the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.
  • the prompt information in response to receiving an active request from the user, may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form.
  • the pop-up window may also carry a selection control for the user to choose "agree” or “disagree” to provide personal information to the electronic device.
  • Some tracking solutions include outside-in tracking technology, which can rely on external cameras and locators to capture and track body movements. For example, by arranging laser light towers externally, the position information of body parts can be located. Such position information is then transmitted to a PC or all-in-one machine via USB or wirelessly to achieve body movement tracking.
  • this implementation method has some obvious disadvantages. First, the installation process is complicated, and multiple locators (at least two) are required to form 360° coverage to establish three-dimensional position information. Second, it is complicated to use, especially for all-in-one machines, and the positional relationship between the all-in-one machine and the locator needs to be corrected. Third, the position data transmission delay is large. Fourth, if the tracked object is far away from the scanning range of the locator or is blocked by an object, the accurate position cannot be obtained.
  • Embodiments of the present disclosure propose a scheme for object tracking.
  • an optical configuration associated with an operating mode of a first device is determined.
  • the first device includes a motion sensor and at least one light-emitting element.
  • the optical configuration is used to control the light emission of the at least one light-emitting element.
  • the first device is set based at least on the determined optical configuration to perform object tracking by tracking the light emitted by the at least one light-emitting element and/or according to the sensing data of the motion sensor, such as tracking a person wearing the first device or tracking the first device itself.
  • different configurations can be made for different operating modes. In this way, different tracking requirements can be met to achieve a highly scalable tracking device.
  • FIG1 shows a schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented.
  • an object 130 also referred to as a user wears a second device 120.
  • the second device 120 may be a head-mounted or wearable display device, such as a head-mounted display, smart glasses, etc., supporting technologies such as VR, AR, and MR.
  • the second device 120 may communicate with a remote device (not shown) to reconstruct a virtual scene for the object 130 or merge virtual content with a real scene.
  • the second device 120 may be designed to be integrated with the remote device.
  • the environment 100 also involves a first device 110.
  • the first device 110 can be worn by the subject 130.
  • the first device 110 can be worn by the subject 130 on a wrist, an arm, a waist, a knee, a foot, or an ankle.
  • the environment 100 may include multiple first devices 110.
  • multiple first devices 110 are worn by the subject 140 on the left wrist, the right wrist, the left ankle, and the right ankle, respectively.
  • the first device 110 can be in the form of a bracelet, a handle, a belt, an anklet, or the like.
  • the first device 110 can be attached to the object 130 in any suitable manner.
  • the first device 110 can be held by the object 130 or set on a fixed or movable object near the object 130.
  • the object 130 can be an object to which the first device 110 can be attached, such as a club, a handle, a robot dog, etc.
  • the first device 110 may establish communication with the second device 120 via a wired link or a wireless link.
  • the second device 120 may track the object 130 based on the sensor data collected by the second device 120 and/or the data uploaded by the first device 120.
  • first device 110 and the second device 120 are merely exemplary and not restrictive.
  • the first device 110 and the second device 120 can be implemented as devices of various forms, structures or categories, and the embodiments of the present disclosure are not limited in this respect.
  • the first device 110 may include a motion sensor and at least one light emitting element.
  • the light emitting element may include an active light emitting element and/or a passive light emitting element.
  • the active light emitting element may include, for example, a visible light emitting diode, an infrared light emitting diode, etc.
  • the passive light emitting element may include, for example, a marker formed of a reflective material.
  • the second device 120 may include an image sensor (e.g., a camera).
  • the second device 120 may perform object tracking by tracking the light emitted by the light emitting element on the first device 110 and/or according to the sensing data of the motion sensor. For example, the first device 110 itself may be tracked and/or the object 130 wearing the first device 110 may be further tracked.
  • the second device 120 may determine the position of the first device 110 relative to the second device 120 based on the light emitted by the light emitting element on the first device 110 and/or according to the sensing data of the motion sensor. Further, the second device 120 may determine the position of the first device 110 in space based on its own position in space. Thus, the first device 110 may be tracked. Furthermore, the object may be tracked based on the connection relationship between the first device 110 and the object wearing or attached with the first device 110. The tracked object may include but is not limited to a human body, a human body part, an object (such as a racket, a handle, etc.).
  • the first device 110 includes at least a main body 210 (also referred to as a body).
  • the first device 110 may be attached to a base 220 (also referred to as a bracket), for example, by the main body 210.
  • the base 220 may be a part of the first device 110.
  • the main body 210 includes at least one light-emitting element 212, a communication interface 214, and a wireless communication module (not shown).
  • the light-emitting element on the main body is also referred to as a first light-emitting element.
  • Such a first light-emitting element is disposed on a side of the main body 210 facing the second device 120, so that the first device 120 can track the light emitted by the first light-emitting element.
  • the number of first light-emitting elements exceeds a preset number, for example, 2.
  • Multiple first light-emitting elements may be arranged staggered with each other to facilitate identification by the second device 120.
  • the communication interface 214 is disposed on the side or bottom facing the base 220.
  • the main body 210 may establish a wireless communication connection with the second device 120 through the wireless communication module for transmitting various data, such as sensing data, configuration data, etc.
  • the main body 210 and the base 220 are detachable.
  • the same main body can be adapted to different bases, and the same base can be adapted to different main bodies.
  • the installation methods of the main body 210 and the base 220 include but are not limited to elastic buckles, magnetic suction, rotation buckle, press to lock and then press to pop up, etc.
  • the left figure in Figure 2A shows a schematic diagram of the separation of the main body 210 and the base 220, and the right figure shows a schematic diagram of the main body 210 installed on the base 220.
  • the base 220 may include a rigid material (such as PVC or metal), a flexible material (such as an elastic band) or a combination thereof to improve the wearing comfort.
  • the base 220 may include at least one light-emitting element 222.
  • the light-emitting element on the base is also referred to as a second light-emitting element.
  • At least one second light-emitting element is mounted on a side of the base 220 facing the second device 120 so that the second device 120 can track the light emitted by the second light-emitting element.
  • the number of second light-emitting elements exceeds a preset number, such as 2.
  • Multiple second light-emitting elements are arranged at both ends of the base 220 or staggered with the first light-emitting element to facilitate identification by the second device 120.
  • the base 220 may also include a communication interface 224 and a wireless communication module (not shown).
  • the communication interface 224 and the communication interface 214 may be connected to each other.
  • the connection between the communication interface 224 and the communication interface 214 may be any suitable form of connection, including a wired connection (e.g., a hard-wired connection, a slot connection) and/or a wireless connection (e.g., near-field communication, radio frequency identification technology).
  • the base 220 establishes a communication connection with the first device 110.
  • the base 220 may send signals, transmit data, etc. to the first device 110 (e.g., the main body 210).
  • the base 220 may also establish a wireless communication connection with the second device 120 through the wireless communication module for transmitting sensor data, configuration data, etc.
  • the base 220 may also include a vibration motor 226.
  • the vibration motor 226 is used to provide vibration feedback. For example, in a game, when the arm wearing the first device 110 performs a striking action, the vibration motor 226 can provide strong vibration feedback to enhance the immersion of the game. For another example, when a reminder is needed or an abnormal situation occurs, the vibration motor 226 can vibrate slightly to remind the user.
  • the first device 110 may also include a motion sensor (not shown) for collecting sensor data related to the movement of the first device 110.
  • the motion sensor may include a three-axis gyroscope for detecting rotation angles such as pitch, roll, and heading, so that the first device 110 supports 3DoF.
  • the motion sensor may include a three-axis accelerometer so that the first device 110 supports 6DoF.
  • the motion sensor may include a magnetometer for detecting directions such as east, west, south, and north relative to the earth's magnetic field.
  • the motion sensor may include an IMU.
  • the base 220 may further include a battery 228.
  • the battery 228 may be used to power the second light emitting element, the vibration motor 226, and the wireless communication module.
  • the battery 228 may be used to power the body 210 via the communication interface 224 and the communication interface 214 to drive the first light emitting element to emit light, etc.
  • the first device 110 generally includes a main body 230 and is attached to a base 240 through the main body 230.
  • the first device 110 may include a main body 230 and a base 240.
  • the main body 230 includes at least one light-emitting element 232, a communication interface 234, and a wireless communication module (not shown).
  • the base 240 may include at least one light-emitting element 242, a communication interface 244, a wireless communication module (not shown), and a motion sensor (not shown).
  • the difference from the example of FIG. 2A is the installation position of the vibration motor 236 and the battery 238.
  • the main body 230 can establish a wireless communication connection with the second device 120 through the wireless communication module for transmitting various data, such as sensor data, configuration data, etc.
  • the main body 230 may further include a vibration motor 236 and a battery 238.
  • the battery 238 may be used to supply power to the light emitting element 232, and may also be used to supply power to the base 240 via the communication interface 234 and the communication interface 244. That is, the first device 110 may supply power to the base 220. The power supplied by the first device 110 may be used to drive the light emitting element 242 to emit light.
  • the first device 110 may be worn by the subject 130.
  • the first device 110 may be set on an object near the subject 130.
  • the first device 110 includes a body 250 and is attached to a base 260, or the first device 110 may include a base 260.
  • the base 260 is generally annular and includes two light-emitting elements 262.
  • the body 250 is generally cylindrical and includes one light-emitting element 252.
  • the structure of the first device 110 is described above through the examples of Figures 2A to 2C. It should be understood that this is merely exemplary and does not constitute a limitation to the present disclosure.
  • the object tracking method according to the embodiment of the present disclosure may be executed by the first device 110, or by the second device 120, or by both. Alternatively or additionally, the object tracking method according to the embodiment of the present disclosure may also be executed by a remote device. As an example only and without any limitation, the following describes various embodiments by taking the execution of the first device 110 as an example.
  • the optical configuration is used to control the light emission of at least one light-emitting element in the first device 110.
  • the optical configuration is associated with an operating mode of the first device 110.
  • the operating mode may be related to the scene of object tracking. The scene may depend on the application or specific part of the application of the object tracking. For example, different applications may correspond to different scenes. As another example, different types of games, game scenes, or game levels in the same application may correspond to different scenes. Exemplarily, the corresponding operating mode can be determined based on an indication of the scene from the application layer. For example, in the example of Figure 3A, the first device 110 can be applied to shooting games. For another example, in the example of Figure 3B, the first device 110 can be applied to running applications.
  • the operating mode may be related to the base to which the first device 110 is attached or included.
  • the attached or included base may be determined based on an identification signal from the base.
  • the signal from the base may be used as the basis for the operating mode.
  • Such a signal may indicate information corresponding to the wearing position or attachment position of the base.
  • the first device 110 may determine its operating mode.
  • the second device 120 In the presence of the second device 120, the second device 120 is typically worn at a predetermined position of the object 130, also referred to as a wearing position, such as the head.
  • the operating mode may be related to the position of the base relative to the second device 120.
  • the operating mode corresponding to the first base located at the first preset position is a close distance mode
  • the operating mode corresponding to the second base located at the second preset position is a long distance mode.
  • the first preset position and the second preset position are associated with the object 130 wearing the second device 120, and the second preset position is farther away from the wearing position of the second device 120 on the object 130, such as the head, than the first preset position.
  • the first preset position is a position associated with the object 130.
  • the first preset position includes the wearing position of the base in the first device 110 or the base to which it is attached.
  • the first device 110 is worn at the wrist of the object 130 via the base 220, and the first preset position may refer to the wrist.
  • the first preset position includes a position in the first device 110 corresponding to the attachment position of the base.
  • the first device 110 includes a main body 310 and a base 320. When such a first device 110 is held by the object 130, the first preset position may refer to the position of the main body 310.
  • the second preset position is a position associated with the object 130.
  • the second preset position includes a wearing position of a base or a base attached to the first device 110.
  • the first device 110 includes a main body 330 and a base 340.
  • the first device 110 is worn at the ankle of the object 130 through the base 340, and the second preset position may refer to the ankle.
  • the second device 120 can track the object 130 (for example, track the body part of the object 130 or the device associated therewith) by tracking the light emitted by the light-emitting element installed on the first device 110 (for example, collecting the light spot image through the image sensor).
  • a mode may also be called an optical tracking mode.
  • a sensing configuration for a motion sensor (e.g., IMU) associated with the working mode may also be determined, and the first device 110 may be set based on the sensing configuration and the optical configuration.
  • the second device 120 may receive the sensing data of the motion sensor sent by the first device 110, and perform object tracking based on the light emitted by the light-emitting element and the sensing data, such as tracking the object 130. In this way, the combination of light tracking and motion sensing data may improve the accuracy of tracking.
  • the working mode indicates that the first device 110 is beyond the optical tracking range of the object tracking, for example, when the first device 110 is located at a third preset position beyond the optical tracking range, at least one light emitting element in the first device 110 may be disabled. That is, in this case, the first device 110 works in the non-optical tracking mode. For example, the first device 110 is worn at the back waist of the object 130, thereby exceeding the field of view of the image sensor.
  • the second device 120 may receive the sensing data of the motion sensor sent by the first device 110, and track the object 130 based only on the sensing data. In this way, the working scene of the first device 110 may be distinguished by the optical tracking range relative to the second device 120.
  • the first device 110 since the first device 110 is no longer within the optical tracking range of the second device 120, continuing to enable the light emitting element in the first device 110 does not improve the tracking accuracy, but increases the energy consumption of the first device 110. Therefore, in this embodiment, by controlling the first device 110 to be in the non-optical tracking mode, the energy consumption of the first device 110 may be reduced.
  • the base to which the device 110 is attached can be determined based on an identification signal from the base, thereby determining its working mode.
  • an identification signal can specifically indicate that the base is a leg base, a waist base, or a hand base.
  • the working modes of the first device 110 are described above through various embodiments. Multiple working modes are determined by the scene relative to the object tracking, the light tracking range relative to the second device 120, and the identification signal from the base. Further, the first device 110 can determine the optical configuration associated with the working mode. Such an optical configuration can control the light emission of multiple light-emitting elements installed on the first device 110, thereby achieving the effect of saving power and improving battery life while ensuring stable tracking.
  • determining the optical configuration according to the base is a hardware-based implementation.
  • the first device can be properly configured, thereby achieving convenient configuration.
  • the hardware-based implementation is fast and reliable.
  • Determining the optical configuration according to the scene is a software-based implementation. This approach can adapt the first device to any application scenario and is therefore more flexible. Determining the optical configuration according to the base and the scene can combine the hardware and software implementations, further improving flexibility and scalability.
  • the second device 120 collects light (e.g., visible light) emitted by the light-emitting element through an image sensor.
  • the light emitted by each light-emitting element forms a light spot.
  • the distance between the light spots determines the distance. If these light spots are too far from the predetermined position of the second device 120, it may be difficult to identify them because the light spots are too dense.
  • all or part of the light-emitting elements can be selectively enabled or disabled. Controlling the light emission of the light-emitting element can be called optical configuration.
  • the optical configuration may include corresponding enabled states of the plurality of light emitting elements.
  • the first device 110 may disable some of the light emitting elements. In this way, the density of the light spot may be reduced.
  • the main body 210 includes a plurality of light-emitting elements 212.
  • the base 220 includes a plurality of light-emitting elements 222.
  • the arrangement of the plurality of light-emitting elements 212 is relatively dense relative to the arrangement of the plurality of light-emitting elements 222. If such a first device 110 is located at a first preset position, such as being worn on the ankle of the object 130, the first device 110 may disable some or all of the plurality of light-emitting elements 212 on the main body 210, and enable the plurality of light-emitting elements 222 on the base 220. In this way, the distance between the light spots can be increased, thereby reducing the density of the light spots, which is beneficial for the second device 120 to identify.
  • the second light-emitting element on the base can be disabled.
  • the second preset position such as being worn on the wrist of the subject 130
  • all light-emitting elements 222 can be disabled and some or all light-emitting elements 212 can be enabled. In this way, the battery life can be improved.
  • the optical configuration can also be set in a targeted manner.
  • the main body 250 includes a light-emitting element 252.
  • the base 260 includes two light-emitting elements 262. If such a first device 110 is located at the second preset position, only the light-emitting element 252 can be enabled and the light-emitting element 262 can be disabled. If such a first device 110 is located at the first preset position, the light-emitting element 262 can be enabled. In this way, the range of the light spot can be increased, which is conducive to the second device 120 for identification.
  • the optical configuration may include the brightness of the light emitted by the enabled light-emitting element. Therefore, in addition to adjusting the density and range of the light spot, the brightness of the light emitted by the light-emitting element may also be adjusted to achieve the effect of improving the battery life.
  • the first device 110 if the first device 110 is located at the first preset position, it may be determined that the enabled light-emitting element emits light at a higher brightness. If the first device 110 is located at the second preset position, it may be determined that the enabled light-emitting element emits light at a lower brightness. Because when the distance to the predetermined position is closer, even if the brightness of the light spot is lower, it is easy to be recognized by the second device 120.
  • the brightness of the light emitted by the light-emitting element may be appropriately reduced, for example, the light-emitting element emits light at a brightness of 60%. If the first device 110 is located at the first preset position, the brightness of the light emitted by the light-emitting element may be appropriately increased, for example, the light-emitting element emits light at a brightness of 90%.
  • the first device 110 may determine the brightness of each enabled light emitting element, thereby achieving an overall effect of reducing or increasing the brightness. For example, if the first device 110 is located at the second preset position, the brightness of half of the enabled light emitting elements may be controlled at 50%, and the brightness of the other half of the light emitting elements may be controlled at 70%.
  • the main body 310 is mounted on a handle bracket. If such a first device 110 is held by an object 130, all light-emitting elements on the main body 310 may be enabled to facilitate tracking by the second device 120 from various perspectives. However, if the main body is mounted on some special bases (such as a wrap-around bracket), only some of the light-emitting elements may be enabled. In some embodiments, the first device 110 may determine whether there are light-emitting elements designated as not lit among a plurality of light-emitting elements based on an identification signal of the base, thereby disabling these light-emitting elements designated as not lit in order to improve battery life.
  • the main body when the main body is mounted on a wrap-around bracket, one or some light-emitting elements on the main body may be blocked by the bracket.
  • the identification information of the base indicates the presence of a blocked light-emitting element.
  • the first device 110 may disable the corresponding light-emitting element based on such an identification signal.
  • the optical configuration of the first device 110 can also be determined based on whether the light emitting element is within the light tracking range of the second device 120. In some embodiments, if the operating mode indicates that the first device 110 is beyond the light tracking range for object tracking, the first device 110 can disable all light emitting elements. Because these light emitting elements are beyond the light tracking range, whether these light emitting elements emit light does not affect the tracking of the second device 120 based on the sensor data of the motion sensor. In this way, the endurance of the first device 110 can be improved.
  • the optical configuration may also include a light emission timing of the enabled light-emitting elements.
  • the light emission timing may include, but is not limited to, one or more of the light emission moment, light emission frequency, or light emission duration.
  • the light-emitting elements enabled on each first device 110 can be controlled to emit light at different timings.
  • the optical configuration of one first device 110 is associated with the corresponding working modes of these first devices 110.
  • the optical configuration of a first device 110 is not only associated with its own working mode, but also associated with the working modes of other first devices 110.
  • two first devices 110 work simultaneously, for example, one first device 110 works at a first preset position (for example, at the left ankle), and the other first device 110 works at another first preset position (for example, at the right ankle), then the optical configuration of one first device 110 is not only associated with its own working mode, but also associated with the working mode of the other first device 110.
  • such two first devices 110 can be distinguished by optical configuration (for example, different light spot patterns and/or different light emission timings).
  • the optical configuration of one first device 110 may be at least partially different from the optical configuration of another first device 110.
  • the optical configuration may include a light spot pattern formed by the light-emitting elements enabled on each first device 110. These light spot patterns may not be exactly the same or may be at least partially different, so that the second device 120 can distinguish the first device 110 based on the pattern.
  • the two first devices 110 are respectively located at substantially symmetrical first preset positions or substantially symmetrical second preset positions, different light spot patterns may be used to facilitate the second device 120 to distinguish.
  • the light spot pattern of the first device 110 located at the left wrist of the subject 130 is in the shape of a " ⁇ "
  • the light spot pattern of the first device 110 located at the right wrist of the subject 130 may be in the shape of a " ⁇ ".
  • FIG4 shows a schematic diagram of a light emission timing 400 of a light emitting element according to some embodiments of the present disclosure.
  • the first device 110 includes a tracker 1 (for example, located at the position of the user's left hand) and a tracker 2 (for example, located at the position of the user's right hand).
  • the second device 120 includes a head-mounted display (referred to as a head-mounted display, located at the user's head). Cameras 1, 2, 3, and 4 are provided on the head-mounted display. These cameras can collect image data at a preset frequency.
  • the head-mounted device sends a synchronization signal.
  • These cameras can start exposure at their respective time points and continue for a certain period of time, but ensure that the center points of their respective exposure periods are aligned at time t2, so as to collect tracking images of the head-mounted device position in different fields of view.
  • these cameras collect tracking images of the tracker position with the same exposure period and aligned center points of the period.
  • tracker 1 emits light.
  • the center point of the emission light period of tracker 1 is not only aligned with the center point of the exposure period of the camera, but also ensures that the emission light period is greater than the exposure period.
  • the head-mounted device sends a synchronization signal.
  • the camera collects tracking images of the head-mounted device position.
  • tracker 2 emits light.
  • the center point of the emission light period of tracker 2 is not only aligned with the center point of the exposure period of the camera, but also ensures that the emission light period is greater than the exposure period. In this way, head-mounted device recognition is facilitated.
  • a first optical configuration may be determined based on a base to which the first device 110 is attached or included, and a second optical configuration different from the first optical configuration may be determined based on a scene of object tracking.
  • the first optical configuration and the second optical configuration may be configurations of different types.
  • the first optical configuration may be an enabled state of a light emitting element
  • the second optical configuration may be a light emission timing of an enabled light emitting element.
  • two first devices 110 work simultaneously.
  • One first device 110 works at a first preset position (e.g., at the left ankle)
  • another first device 110 works at another first preset position (e.g., at the right ankle).
  • the first optical configuration is determined based on the base to which such two first devices 110 are attached (in this example, the base at the left ankle and the right ankle), for example, each of which may enable a light emitting element thereon.
  • the second optical configuration is determined based on the dancing application scenario. For example, for a dancing scene, the movements of the left foot and the right foot need to be tracked separately, that is, the left foot and the right foot need to be distinguished. Accordingly, the light emission timings of the enabled light emitting elements may be configured so that the light emission timings of the two first devices 110 are staggered with each other.
  • the first optical configuration and the second optical configuration may be determined by the first device 110. In some embodiments, the first optical configuration and the second optical configuration may be determined by the second device 120. In some embodiments, the first optical configuration may be determined by the first device 110, and the second optical configuration may be determined by the second device 120.
  • the light-emitting element on the base may also emit light. Accordingly, the combined light spot of the light emitted by the light-emitting element on the first device 110 and the light emitted by the light-emitting element on the base may be tracked. Thus, object tracking may be performed based on tracking of the combined light spot, such as tracking a human body wearing the first device 110 and/or the first device 110 itself.
  • the optical configuration of the first device 110 is described above. According to various embodiments of the present disclosure, the present disclosure may provide a system solution, including one or more first devices 110 used in conjunction with the second device 120.
  • the first device 110 may be an integral structure or a split structure.
  • the first device 110 may be set on a limb of the object 130 or on a fixed or movable object in a real scene as required.
  • the first device 110 may be optically configured accordingly to meet specific tracking requirements in the scene.
  • Such an optical configuration includes, for example, optically enabling and disabling configurations of various light-emitting elements on the main body and base of the first device 110, brightness configurations of emitted light, light spot pattern configurations, and light emission timing configurations. With reference to FIGS. 5 and 6 below, specific examples of mode control of multiple trackers in different scenes are described.
  • FIG5 shows a flowchart of an example process 500 for identifying a tracker according to some embodiments of the present disclosure.
  • Example process 500 involves a scenario of a tracker and a head-mounted device.
  • the tracker is, for example, a split structure (i.e., a detachable structure) including a main body and a base.
  • a split structure i.e., a detachable structure
  • the main body is mounted to the base, at block 510, the relative position determination of the tracker is started.
  • leg tracker that is, the base to which it is attached is installed on the leg
  • box 514 the main body and the base are paired, and the main body or the base sends a connection identifier.
  • the tracker and the head-mounted device are connected, and it is determined whether to enter the leg tracking mode. If the leg tracking mode is entered, proceed to box 518.
  • the tracker or the head-mounted device can perform an optical configuration associated with the leg mode. For example, some light-emitting elements are enabled with higher brightness and lower density. After the optical configuration, the enabled light-emitting elements on the tracker may not emit light immediately, but may be temporarily in standby mode. When a light-emitting indication (such as a signal sent by the head-mounted device) is received, the enabled light-emitting elements are controlled to emit light, thereby entering the tracking mode.
  • a light-emitting indication such as a signal sent by the head-mounted device
  • process 500 proceeds to box 520.
  • 520 if it is determined that it is a waist tracker, that is, the base to which it is attached is installed on the waist, process 500 proceeds to box 522.
  • the main body and the base are paired, and the main body or the base sends a connection identifier.
  • the tracker and the headset are connected, and it is determined whether to enter the waist tracking mode. If the waist tracking mode is entered, process 500 proceeds to box 526.
  • the tracker or the headset can perform an optical configuration associated with the waist mode. For example, all light-emitting elements are disabled.
  • process 500 proceeds to block 528.
  • the main body and the base are paired, and the base sends a connection identifier.
  • the tracker and the head-mounted device are connected, and it is determined whether to enter a corresponding tracking mode, such as a hand mode. If the corresponding tracking mode is entered, process 500 proceeds to block 526.
  • the tracker or the head-mounted device may perform an optical configuration associated with the tracking mode. Taking the hand mode as an example, some light-emitting elements may be enabled at a lower brightness.
  • FIG6 shows a flowchart of an example process 600 for connecting multiple trackers according to some embodiments of the present disclosure.
  • Example process 600 involves a scenario of tracker 1, tracker 2, and headwear.
  • example process 500 determines that tracker 1 is in leg mode (e.g., corresponding to the user's left ankle), and tracker 2 is in leg mode (e.g., corresponding to the user's right ankle). Further, based on tracker 1 and tracker 2 being located at the left ankle and right ankle, respectively, it is possible to determine which light-emitting elements of each of the two trackers are enabled and the corresponding light emission timings of the two trackers.
  • the tracker 1 is connected to the headset. If it is determined that the tracking mode is entered from the standby mode, the process 600 proceeds to block 612. In block 612, the tracker 1 receives the synchronization signal sent by the headset and synchronizes with the headset. The headset sets the light emission timing of the tracker 1. In block 614, the tracker 1 emits light at the corresponding timing based on the previously determined optical configuration and returns the light-up mark and timestamp.
  • the tracker 2 is connected to the headset. If it is determined that the tracking mode is entered from the standby mode, the process 600 proceeds to box 622. In box 622, the tracker 2 receives the synchronization signal sent by the headset and synchronizes with the headset. The headset sets the light emission timing of the tracker 2. In box 624, the tracker 2 emits light at the corresponding timing based on the previously determined optical configuration and returns the light-up mark and time stamp.
  • the head mounted device captures images of tracker 1 and tracker 2 at corresponding time sequences, thereby performing tracking based on the corresponding images and IMU data.
  • the system solution of the present disclosure may also include configuration of the communication transmission mode between the plurality of first devices 110 and the second device 120, and may also include adjustment of the corresponding tracking algorithm based on the configuration of the first device 110.
  • the following describes a specific example of the communication configuration between the tracker and the headset with reference to FIG7 and FIG8.
  • the communication sequence 700 involves tracker 1, tracker 2, and a headset.
  • Tracker 1 and tracker 2 use their own communication lists.
  • Tracker 1, Tracker 2 and Headset all work on Tracker 1's Channel 1.
  • Tracker 1 is in the receiving state, receives the beacon signal at time t11 and sends data at time t12.
  • the Headset also switches to the receiving state.
  • Tracker 1 and Headset all hop to Tracker 1's Channel 2 to work.
  • Tracker 2 works similarly to Tracker 1.
  • tracker 1 and tracker 2 form a periodic timing transmission, as shown in the figure.
  • Period T1 determines the maximum data transmission frequency of the tracker.
  • Period T1 and the number of trackers determine the communication transmission timing of the system.
  • the headset and tracker can determine the data transmission channel and the time to send data and the time to receive data through their own timing within a certain period of time. By adjusting the period T2, the interference of wireless communication on other frequency bands of the headset, such as WiFi, Bluetooth devices, etc., can be reduced.
  • FIG8 shows a schematic diagram of an example signaling process 800 for backlink and frequency hopping configuration of a tracker and a headset according to some embodiments of the present disclosure.
  • the example signaling process 800 involves a tracker and a headset.
  • the headset and the tracker have a fixed backlink channel.
  • the backlink channel can be a single channel or a fixed channel list. If it is a channel list, the connection logic includes that when the headset and tracker are not successfully connected, the headset update channel period is inconsistent with the tracker update channel period. After the connection is successful, the headset and the tracker use the same periodic frequency hopping to keep the channel updates consistent.
  • the headset is started.
  • the tracker is started.
  • the headset scans channels to determine a data channel list, for example, a channel list exceeding a preset noise floor includes channels 5 to 20.
  • the determined data channel list is included in the connection information.
  • the connection information is broadcasted on the connection channel, and such information includes the data channel list.
  • the headset sends a broadcast signal.
  • the broadcast signal includes the data channel list and a frequency hopping count. If no confirmation information from the tracker is received, it means that the headset and the tracker have not been successfully connected. Therefore, the headset continues to send the broadcast signal. For example, at 810, the headset continues to send the broadcast signal.
  • the frequency hopping count is reduced by 1.
  • the headset sends the broadcast signal.
  • the tracker replies with a confirmation message after receiving the data channel list.
  • the headset determines the time point to use the data channel list.
  • the tracker determines the time point to use the data channel list.
  • the hop count is 0, both the headset and the tracker use the confirmed data channel list simultaneously.
  • the headset scans the external environment interference in real time and generates a new data channel list.
  • the connection information is broadcast on the connection channel, and the connection information includes a new data channel list and an updated frequency hopping count.
  • the headset sends a broadcast signal.
  • the broadcast signal includes a data channel list and a frequency hopping count. Each time a broadcast signal is sent, the frequency hopping count is reduced by 1. When the frequency hopping count is not 0, for example, at 822, the headset sends a broadcast signal.
  • the tracker updates the data channel list and replies with a confirmation message.
  • the headset determines the time point to use the new data channel list.
  • the tracker determines the time point to use the new data channel list. When the frequency hopping count is 0, the headset and the tracker use the new data channel list at the same time.
  • both the headset and the tracker use the new channel list at a certain time point. In this way, the channel interference problem in transmission can be solved. Additionally or alternatively, the frequency hopping count can also use the reverse operation of adding 1.
  • the process 900 may be implemented at the first device 110, at the second device 120, or performed by both, or by other devices capable of communicating with the first device 110 and the second device 120.
  • an optical configuration associated with an operating mode of a first device is determined.
  • the first device includes a motion sensor and at least one light emitting element, and the optical configuration is for controlling light emission of the at least one light emitting element.
  • the first device is configured based at least on the optical configuration to perform object tracking by tracking light emitted by at least one light emitting element and/or based on sensory data of a motion sensor.
  • the operating mode is related to at least one of: a scene in which the object is tracked, or a base to which the first device is attached or included.
  • object tracking is performed by the second device, and the working mode corresponding to the first base located at the first preset position is a close distance mode, and the working mode corresponding to the second base located at the second preset position is a long distance mode.
  • the first preset position and the second preset position are associated with an object wearing the second device, and the second preset position is farther away from the wearing position of the second device on the object than the first preset position.
  • determining the optical configuration includes: if the operating mode is a long-distance mode, disabling a portion of the at least one light-emitting element; and if the operating mode is a short-distance mode, disabling the light-emitting elements on the first base.
  • determining the optical configuration includes: if the working mode is a long-distance mode, determining that the enabled light-emitting element emits light at a first preset brightness; or if the working mode is a short-distance mode, determining that the enabled light-emitting element emits light at a second preset brightness, the first preset brightness being higher than the second preset brightness.
  • process 900 further includes: receiving an identification signal from a pedestal; and determining the pedestal based on the identification signal.
  • determining the optical configuration includes disabling at least one light emitting element if the operating mode indicates that the first device is out of a light tracking range for object tracking.
  • configuring the first device based at least on the optical configuration includes: determining a sensing configuration for the motion sensor associated with the operating mode; and configuring the first device based on the sensing configuration and the optical configuration.
  • the first device is one of a plurality of first devices
  • the optical configuration is associated with a respective operating mode of the plurality of first devices.
  • the first device is one of a plurality of first devices, and an optical configuration of the first device is at least partially different from optical configurations of other devices of the plurality of first devices except the first device.
  • the optical configuration includes at least one of the following: a corresponding enabled state of at least one light-emitting element, a light spot pattern formed by an enabled light-emitting element among at least one light-emitting element, a brightness of light emitted by the enabled light-emitting element, and a light emission timing of the enabled light-emitting element.
  • determining an optical configuration associated with an operating mode of the first device includes: determining a first optical configuration based on the base; and determining a second optical configuration different from the first optical configuration based on the scene.
  • process 900 further includes: in response to the first device being attached to the base, supplying power to the base via the first device.
  • process 900 further includes: tracking a combined light spot of light emitted by the at least one light emitting element and light emitted by the light emitting element on the base; and performing object tracking based on the tracking of the combined light spot.
  • object tracking includes tracking at least one of: a first device, or a human body wearing the first device.
  • FIG. 10 shows a schematic structural block diagram of an apparatus 1000 for object tracking according to some embodiments of the present disclosure.
  • the apparatus 1000 may be implemented as or included in the first device 110 and/or the second device 120.
  • Each module/component in the apparatus 1000 may be implemented by hardware, software, firmware, or any combination thereof.
  • the apparatus 1000 includes an optical configuration determination module 1010, which is configured to determine an optical configuration associated with an operating mode of a first device, the first device includes a motion sensor and at least one light-emitting element, and the optical configuration is used to control light emission of the at least one light-emitting element.
  • the apparatus 1000 also includes a device setting module 1020, which is configured to set the first device based on at least the optical configuration to perform object tracking by tracking light emitted by the at least one light-emitting element and/or according to sensor data of the motion sensor.
  • the operating mode is related to at least one of: a scene in which the object is tracked, or a base to which the first device is attached or included.
  • object tracking is performed by the second device, and the working mode corresponding to the first base located at the first preset position is a close distance mode, and the working mode corresponding to the second base located at the second preset position is a long distance mode.
  • the first preset position and the second preset position are associated with an object wearing the second device, and the second preset position is farther away from the wearing position of the second device on the object than the first preset position.
  • the optical configuration determination module 1010 is further configured to: if the working mode is a long-distance mode, disable some of the at least one light-emitting element; and if the working mode is a short-distance mode, disable the light-emitting element on the first base.
  • the optical configuration determination module 1010 is further configured to: if the working mode is a long-distance mode, determine that the enabled light-emitting element emits light at a first preset brightness; or if the working mode is a short-distance mode, determine that the enabled light-emitting element emits light at a second preset brightness, and the first preset brightness is higher than the second preset brightness.
  • the apparatus 1000 further includes: a signal receiving module configured to receive an identification signal from the base; and a base determining module configured to determine the base based on the identification signal.
  • the optical configuration determination module 1010 is further configured to disable at least one light emitting element if the operating mode indicates that the first device is out of a light tracking range for object tracking.
  • the device setting module 1020 is further configured to: determine a sensing configuration for the motion sensor associated with the operating mode; and set the first device based on the sensing configuration and the optical configuration.
  • the first device is one of a plurality of first devices
  • the optical configuration is associated with a respective operating mode of the plurality of first devices.
  • the first device is one of a plurality of first devices, and an optical configuration of the first device is at least partially different from optical configurations of other devices of the plurality of first devices except the first device.
  • the optical configuration includes at least one of the following: a corresponding enabled state of at least one light-emitting element, a light spot pattern formed by an enabled light-emitting element among at least one light-emitting element, a brightness of light emitted by the enabled light-emitting element, and a light emission timing of the enabled light-emitting element.
  • the optical configuration determination module 1010 is further configured to: determine a first optical configuration based on the base; and determine a second optical configuration different from the first optical configuration based on the scene.
  • the apparatus 1000 further includes: a power supply module configured to supply power to the base through the first device in response to the first device being attached to the base.
  • the device 1000 further includes: a spot tracking module configured to track a combined spot of light emitted by at least one light-emitting element and light emitted by the light-emitting element on the base; and an object tracking module configured to perform object tracking based on tracking the combined spot.
  • a spot tracking module configured to track a combined spot of light emitted by at least one light-emitting element and light emitted by the light-emitting element on the base
  • an object tracking module configured to perform object tracking based on tracking the combined spot.
  • object tracking includes tracking at least one of: a first device, or a human body wearing the first device.
  • FIG11 shows a block diagram of an electronic device 1100 in which one or more embodiments of the present disclosure may be implemented. It should be understood that the electronic device 1100 shown in FIG11 is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. The electronic device 1100 shown in FIG11 may be used to implement the first device 110 and/or the second device 120 of FIG1 .
  • the electronic device 1100 is in the form of a general electronic device.
  • the components of the electronic device 1100 may include, but are not limited to, one or more processors or processing units 1110, a memory 1120, a storage device 1130, one or more communication units 1140, one or more input devices 1150, and one or more output devices 1160.
  • the processing unit 1110 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 1120. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capability of the electronic device 1100.
  • the electronic device 1100 typically includes a plurality of computer storage media. Such media may be any accessible media accessible to the electronic device 1100, including but not limited to volatile and non-volatile media, removable and non-removable media.
  • the memory 1120 may be a volatile memory (e.g., a register, a cache, a random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof.
  • the storage device 1130 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and/or data and may be accessed within the electronic device 1100.
  • a machine-readable medium such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and/or data and may be accessed within the electronic device 1100.
  • the electronic device 1100 may further include additional removable/non-removable, volatile/non-volatile storage media.
  • a disk drive for reading or writing from a removable, non-volatile disk e.g., a "floppy disk”
  • an optical drive for reading or writing from a removable, non-volatile optical disk may be provided.
  • each drive may be connected to a bus (not shown) by one or more data media interfaces.
  • the memory 1120 may include a computer program product 1125 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.
  • the communication unit 1140 implements communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device 1100 can be implemented in a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 1100 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.
  • PC network personal computer
  • the input device 1150 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc.
  • the output device 1160 may be one or more output devices, such as a display, a speaker, a printer, etc.
  • the electronic device 1100 may also communicate with one or more external devices (not shown) through the communication unit 1140 as needed, such as a storage device, a display device, etc., communicate with one or more devices that allow a user to interact with the electronic device 1100, or communicate with any device that allows the electronic device 1100 to communicate with one or more other electronic devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input/output (I/O) interface (not shown).
  • I/O input/output
  • a computer-readable storage medium on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above.
  • a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.
  • These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions/actions specified in one or more boxes in the flowchart and/or block diagram is generated.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and/or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions/actions specified in one or more boxes in the flowchart and/or block diagram.
  • Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions/actions specified in one or more boxes in the flowchart and/or block diagram.
  • each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification.
  • the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved.
  • each square box in the block diagram and/or flow chart, and the combination of the square boxes in the block diagram and/or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

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Abstract

根据本公开的实施例，提供了用于对象追踪的方法、装置、设备和存储介质。该方法包括确定与第一设备的工作模式相关联的光学配置，第一设备包括运动传感器和至少一个发光元件，光学配置用于控制至少一个发光元件的光发射；以及至少基于光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。由此，可以针对不同工作模式进行不同的配置。以此方式，可以满足不同追踪需求并实现可扩展性好的追踪设备。

Description

用于对象追踪的方法、装置、设备和存储介质
本申请要求2023年8月31日递交的、标题为“用于对象追踪的方法、装置、设备和存储介质”、申请号为2023111205911的中国发明专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开的示例实施例总体涉及计算机领域，特别地涉及用于对象追踪的方法、装置、设备和计算机可读存储介质。
 背景技术
扩展现实(Extended Reality，XR)技术包括虚拟现实技术(Virtual Reality，VR)、增强现实技术(Augmented Reality，AR)以及混合现实技术(Mixed Reality，MR)等。随着XR技术的发展，XR设备的体验内容越来越丰富。例如，支持6自由度(Degree of Freedom，DoF)的VR一体机在游戏内容和用户体验上都在快速提升。
发明内容
在本公开的第一方面，提供了一种对象追踪的方法。该方法包括：确定与第一设备的工作模式相关联的光学配置，第一设备包括运动传感器和至少一个发光元件，光学配置用于控制至少一个发光元件的光发射；以及至少基于光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。
在本公开的第二方面，提供了一种用于对象追踪的装置。该装置包括：光学配置确定模块，被配置为确定与第一设备的工作模式相关联的光学配置，第一设备包括运动传感器和至少一个发光元件，光学配置用于控制至少一个发光元件的光发射；以及设备设置模块，被配置为至少基于光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。
在本公开的第三方面，提供了一种电子设备。该设备包括至少一个处理单元；以及至少一个存储器，至少一个存储器被耦合到至少一个处理单元并且存储用于由至少一个处理单元执行的指令。指令在由至少一个处理单元执行时使设备执行第一方面的方法。
在本公开的第四方面，提供了一种计算机可读存储介质。该计算机可读存储介质上存储有计算机程序，计算机程序可由处理器执行以实现第一方面的方法。
应当理解，本内容部分中所描述的内容并非旨在限定本公开的实施例的关键特征或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的描述而变得容易理解。
 附图说明
结合附图并参考以下详细说明，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。在附图中，相同或相似的附图标记表示相同或相似的元素，其中：
图1示出了本公开的实施例能够在其中实现的示例环境的示意图；
图2A至图2C示出了根据本公开的一些实施例的第一设备的多种示例结构的示意图；
图3A示出了根据本公开的一些实施例的第一设备的附接方式的一个示例的示意图；
图3B示出了根据本公开的一些实施例的第一设备的佩戴方式的一个示例的示意图；
图4示出了根据本公开的一些实施例的发光元件的光发射时序的示意图；
图5示出了根据本公开的一些实施例的识别追踪器的一个示例过程的流程图；
图6示出了根据本公开的一些实施例的连接多个追踪器的一个示例过程的流程图；
图7示出了根据本公开的一些实施例的多个追踪器与头戴的通信时序的示意图；
图8示出了根据本公开的一些实施例的追踪器与头戴的回连和跳频配置的一个示例信令图的示意图；
图9示出了根据本公开的一些实施例的用于对象追踪的过程的流程图；
图10示出了根据本公开的一些实施例的用于对象追踪的装置的框图；以及
图11示出了能够实施本公开的多个实施例的设备的框图。
 具体实施方式
可以理解的是，在使用本公开各实施例公开的技术方案之前，均应当依据相关法律法规通过恰当的方式对本公开所涉及个人信息的类型、使用范围、使用场景等告知用户并获得用户的授权。
例如，在响应于接收到用户的主动请求时，向用户发送提示信息，以明确地提示用户，其请求执行的操作将需要获取和使用到用户的个人信息。从而，使得用户可以根据提示信息来自主地选择是否向执行本公开技术方案的操作的电子设备、应用程序、服务器或存储介质等软件或硬件提供个人信息。
作为一种可选的但非限定性的实现方式，响应于接收到用户的主动请求，向用户发送提示信息的方式例如可以是弹窗的方式，弹窗中可以以文字的方式呈现提示信息。此外，弹窗中还可以承载供用户选择“同意”或者“不同意”向电子设备提供个人信息的选择控件。
可以理解的是，上述通知和获取用户授权过程仅是示意性的，不对本公开的实现方式构成限定，其它满足相关法律法规的方式也可应用于本公开的实现方式中。
可以理解的是，本技术方案所涉及的数据(包括但不限于数据本身、数据的获取或使用)应当遵循相应法律法规及相关规定的要求。
下面将参照附图更详细地描述本公开的实施例。虽然附图中示出了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反，提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。
需要注意的是，本文中所提供的任何节/子节的标题并不是限制性的。本文通篇描述了各种实施例，并且任何类型的实施例都可以包括在任何节/子节下。此外，在任一节/子节中描述的实施例可以以任何方式与同一节/子节和/或不同节/子节中描述的任何其他实施例相结合。
在本公开的实施例的描述中，术语“包括”及其类似用语应当理解为开放性包含，即“包括但不限于”。术语“基于”应当理解为“至少部分地基于”。术语“一个实施例”或“该实施例”应当理解为“至少一个实施例”。术语“一些实施例”应当理解为“至少一些实施例”。下文还可能包括其他明确的和隐含的定义。术语“第一”、“第二”等可以指代不同的或相同的对象。下文还可能包括其他明确的和隐含的定义。
如前文所简要提及的，随着XR技术的发展，一些游戏类应用、体育类应用、医疗康复类应用中都开始支持XR设备。例如，一些VR 6DoF游戏和应用主要依赖头戴显示设备和手柄的6DoF功能实现。通过头戴显示设备和手柄能够完成游戏和应用交互的基本动作。然而，一些身体动作还不能实现，诸如步行、跑步、坐下、下蹲、跳舞、踢球、瑜伽，等等。不能对身体动作进行追踪将极大的影响用户体验。
一些追踪解决方案包括外向内追踪技术(outside-in tracking)，可以依靠外部的摄像头和定位器来捕捉和追踪身体动作。例如，通过在外部布置激光光塔，来定位身体部位的位置信息。再将这样的位置信息通过USB或无线传输给PC或一体机，从而实现追踪身体动作。然而，这种实现方式存在一些明显的缺点。第一，安装过程复杂，需要使用多个定位器(至少两个)形成360°覆盖，以建立三维位置信息。第二，使用复杂，尤其是对于一体机，需要校正一体机和定位器的位置关系。第三，位置数据传输延时大。第四，如果被追踪对象远离定位器的扫描范围或被物体遮挡，就无法获得准确位置。
还有一些追踪方案通过在身体上佩戴多个既包含发光元件又包含惯性测量单元(Inertial Measurement Unit，IMU)的追踪器，基于光学追踪和惯性追踪相结合的技术，来共同识别各追踪器的位姿以推断身体动作或者进行其他操作。然而，在不同XR应用场景中，需要获取的与身体动作姿态相关的输入均不同。例如，在舞蹈或健身类应用中可能更关注如何获取用户下肢的动作姿态。又例如，在球类或者射击类游戏应用中更关注如何获取用户手臂的动作姿态或手持物(例如杆状物或柄状物)的位姿。各个场景下追踪器的佩戴或安装方式、与头戴显示器的通信方式、发光元件的控制方式以及图像数据和IMU数据的处理逻辑均存在较大差异。有鉴于此，无法用一套系统方案适用于多个场景。但是为每个场景、每个用途都设计相应的光学追踪和IMU追踪器，将存在成本高、可扩展性差、用户使用不便等多种问题。
本公开的实施例提出了一种用于对象追踪的方案。根据本公开的各种实施例，确定与第一设备的工作模式相关联的光学配置。第一设备包括运动传感器和至少一个发光元件。光学配置用于控制至少一个发光元件的光发射。至少基于所确定的光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪，例如追踪佩戴第一设备的人或追踪第一设备本身。由此，通过与工作模式相关联地控制发光元件的光发射，可以针对不同工作模式进行不同的配置。以此方式，可以满足不同追踪需求，以实现可扩展性高的追踪设备。
示例环境
图1示出了本公开的实施例能够在其中实现的示例环境100的示意图。在环境100中，对象130(也称为用户)穿戴第二设备120。第二设备120可以是头戴或可穿戴显示设备，例如头戴式显示器、智能眼镜等，支持VR、AR、MR等技术。第二设备120可以与远程设备(未示出)通信，从而为对象130重建虚拟场景或将虚拟的内容和真实场景融合。在一些实施例中，第二设备120可以与远程设备一体化设计。
环境100还涉及第一设备110。在一些实施例中，第一设备110可以被对象130穿戴。例如，第一设备110可以被对象130佩戴在手腕、手臂、腰部、膝部、脚面或脚踝等部位。环境100可以包括多个第一设备110。例如，多个第一设备110被对象140分别佩戴在左手腕、右手腕、左脚踝以及右脚踝。在这种情况下，第一设备110可以是手环、手柄、腰带、脚环等样式。
在一些实施例中，第一设备110可以以任何合适的方式被附接到对象130。例如，第一设备110可以被对象130手持或被设置在对象130附近的固定或可移动物体上。在这种情况下，对象130可以是能够附接第一设备110的物体，诸如球杆、手柄、机器狗等等。
第一设备110可以经由有线链路或无线链路与第二设备120建立通信。第二设备120可以基于自身采集的传感数据和/或第一设备120上传的数据来追踪对象130。
应当理解，仅出于示例性的目的描述环境100的结构和功能，而不暗示对于本公开的范围的任何限制。此外，应当理解，上述关于第一设备110和第二设备120的描述仅仅是示例性而非限制性的。第一设备110和第二设备120可以实现为多种形式、结构或类别的设备，本公开的实施例在此方面不受限制。
以下将继续参考附图描述本公开的一些示例实施例。
第一设备的示例结构
在环境100中，第一设备110可以包括运动传感器和至少一个发光元件。发光元件可以包括主动式发光元件和/或被动式发光元件。主动式发光元件例如包括可见光发光二极管、红外发光二极管等。被动式发光元件例如包括由反射材料形成的标记物。第二设备120可以包括图像传感器(例如，摄像头)。第二设备120可以通过追踪第一设备110上的发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。例如，可以追踪第一设备110本身和/或进一步追踪佩戴第一设备110的对象130。示例性的，第二设备120可以根据第一设备110上的发光元件发射的光和/或根据运动传感器的传感数据，确定第一设备110相对于第二设备120的位姿。进一步地，第二设备120可以基于自身在空间中的位姿，确定第一设备110在空间中的位姿。由此，可以追踪第一设备110。更进一步地，可以基于第一设备110与佩戴或附接该第一设备110的对象的连接关系，来追踪该对象。所追踪的对象可以包括但不限于人体、人体部位、物体(诸如球拍、手柄等)。
为了更清楚地理解根据本公开实施例的对象追踪方案，以下将参考图2A至图2C来描述第一设备110的示例结构。
在图2A的示例中，第一设备110至少包括主体210(也称为本体)。在一些实施例中，第一设备110可附接到基座220(也称为支架)，例如通过主体210而附接到基座220。备选地，在一些实施例中，基座220可以是第一设备110的一部分。主体210包括至少一个发光元件212、通信接口214以及无线通信模块(未示出)。仅为了便于后续描述，主体上的发光元件也称为第一发光元件。这样的第一发光元件被设置在主体210的朝向第二设备120的一面，以便于第一设备120追踪第一发光元件发射的光。在一些实施例中，第一发光元件的数目超过预设数目，例如2个。多个第一发光元件可以相互错开布置，以便于第二设备120进行识别。通信接口214被设置在朝向基座220的侧面或底面。主体210可以通过无线通信模块与第二设备120建立无线通信连接，以用于传输各种数据，例如传感数据、配置数据等。
在图2A的示例中，主体210和基座220是可拆卸的。由此，可以实现相同的主体适配不同基座，且相同的基座适配不同的主体。以此方式，通过分体设计能够灵活适配不同场景的需求。主体210与基座220的安装方式包括但不限于弹性卡扣、磁吸式、旋转扣合、按压锁紧再按弹出等。在图2A中的左图中示出了主体210和基座220分离的示意图，在右图中示出了主体210安装在基座220上的示意图。基于不同的佩戴位置，基座220可以包括刚性材料(例如PVC或金属)、柔性材料(例如松紧绑带)或其组合，以提升佩戴的舒适度。
在一些实施例中，基座220可以包括至少一个发光元件222。仅为了便于后续描述，基座上的发光元件也称为第二发光元件。至少一个第二发光元件被安装在基座220的朝向第二设备120的一面，以便于第二设备120追踪第二发光元件发射的光。在一些实施例中，第二发光元件的数目超过预设数目，例如2个。多个第二发光元件设置在基座220的两端或与第一发光元件相互错开布置，以便于第二设备120进行识别。
基座220还可以包括通信接口224以及无线通信模块(未示出)。主体210安装在基座220上时，通信接口224与通信接口214可相互连接。通信接口224与通信接口214之间的连接可以是任何合适形式的连接，包括有线连接(例如，硬线连接、插槽连接)和/或无线连接(例如，近场通信、射频识别技术)。由此，基座220与第一设备110建立通信连接。基座220可以向第一设备110(例如，主体210)发送信号、传输数据等。在一些实施例中，基座220还可以通过无线通信模块与第二设备120建立无线通信连接，用于传输传感数据、配置数据等。
基座220还可以包括震动马达226。震动马达226用于提供震动反馈。例如，在游戏中，佩戴第一设备110的手臂进行击打动作时，震动马达226可以提供强烈的震动反馈，以提升游戏的沉浸感。又例如，在需要提醒注意或发生异常状况时，震动马达226可以轻微震动以提醒用户。
第一设备110还可以包括运动传感器(未示出)，用于采集与第一设备110的移动相关的传感数据。在一些实施例中，运动传感器可以包括三轴陀螺仪，用于检测俯仰角、横滚角、航向角等转动角度，使得第一设备110支持3DoF。附加地或备选地，运动传感器可以包括三轴加速度计，使得第一设备110支持6DoF。附加地或备选地，运动传感器可以包括磁力计，用于检测相对于地球磁场的东、西、南、北等方向。附加地或备选地，运动传感器可以包括IMU。
基座220还可以包括电池228。电池228可以用于向第二发光元件、震动马达226以及无线通信模块供电。在一些实施例中，电池228可以用于经由通信接口224和通信接口214向主体210供电，以驱动第一发光元件发射光等。
在图2B的示例中，第一设备110总体上包括主体230，并且通过主体230而附接至基座240。在一些实施例中，第一设备110可以包括主体230和基座240。主体230包括至少一个发光元件232、通信接口234和无线通信模块(未示出)。备选地，基座240可以包括至少一个发光元件242、通信接口244、无线通信模块(未示出)以及运动传感器(未示出)。与图2A的示例不同之处在于震动马达236和电池238的安装位置。主体230可以通过无线通信模块与第二设备120建立无线通信连接，以用于传输各种数据，例如传感数据、配置数据等。
在一些实施例中，参考图2B，主体230还可以包括震动马达236和电池238。电池238可以用于向发光元件232供电，还可以用于经由通信接口234和通信接口244向基座240供电。也即，第一设备110可以向基座220供电。由第一设备110供应的电源可以用于驱动发光元件242发光。
在图2A和图2B的示例中，第一设备110可以被对象130佩戴。在图2C的示例中，第一设备110可以被设置在对象130附近的物体上。例如，第一设备110包括主体250，并且附接到基座260，或者第一设备110可以包括基座260。基座260大致为圆环，包括两个发光元件262。主体250大致为圆柱体，包括一个发光元件252。
以上通过图2A至图2C的示例对第一设备110的结构进行了描述。应当理解，这仅仅是示例性的，不构成对本公开的限制。
示例工作模式
根据本公开实施例的对象追踪方法可以由第一设备110执行，也可以由第二设备120执行，或者由两者共同执行。备选地或附加地，根据本公开实施例的对象追踪方法也可以由远程设备执行。仅作为示例而无意任何限制，下文以第一设备110执行为例来描述各个实施例。
光学配置用于控制第一设备110中的至少一个发光元件的光发射。在本公开的实施例中，光学配置与第一设备110的工作模式相关联。在一些实施例中，工作模式可以与对象追踪的场景相关。场景可以取决于对象追踪的应用或应用中的具体部分。例如，不同应用可能对应于不同场景。又如，同一应用中的不同类型游戏、游戏场景或游戏关卡可以对应于不同场景。示例性的，根据来自应用层的关于场景的指示，可以确定相应的工作模式。例如，在图3A的示例中，第一设备110可以被应用于射击类游戏中。又例如，在图3B的示例中，第一设备110可以被应用于跑步类应用中。
备选地或附加地，在一些实施例中，工作模式可以与第一设备110所附接到或所包括的基座有关。在这种实施例中，可以根据来自基座的标识信号来确定所附接或所包括的基座。在第一设备110的主体与基座进行配对连接后，可以将来自基座的信号作为工作模式的依据。这样的信号可以指示与基座的佩戴位置或附接位置相对应的信息。由此，第一设备110可以确定其工作模式。
在存在第二设备120的情况下，第二设备120通常被佩戴在对象130的预定位置，也称为佩戴位置，例如头部。有鉴于此，工作模式可以与基座相对于第二设备120的位置有关。在一些实施例中，与位于第一预设位置的第一基座相对应的工作模式为近距离模式，并且与位于第二预设位置的第二基座相对应的工作模式为远距离模式。第一预设位置和第二预设位置与佩戴第二设备120的对象130相关联，并且第二预设位置比第一预设位置远离第二设备120在对象130上的佩戴位置，例如头部。
第一预设位置是与对象130相关联的位置。在一些实施例中，第一预设位置包括第一设备110中的基座或所附接到的基座的佩戴位置。例如，参考图2A，第一设备110通过基座220被佩戴在对象130的手腕处，则第一预设位置可以指手腕处。在一些实施例中，第一预设位置包括第一设备110中的与基座的附接位置相对应的位置。例如，在图3A的示例中，第一设备110包括主体310和基座320。这样的第一设备110被对象130手持时，则第一预设位置可以指主体310的位置。
第二预设位置是与对象130相关联的位置。在一些实施例中，第二预设位置包括第一设备110中的基座或所附接到的基座的佩戴位置。例如，参考图3B，第一设备110包括主体330和基座340。第一设备110通过基座340被佩戴在对象130的脚踝处，则第二预设位置可以指脚踝处。
第一设备110位于第一预设位置和/或第二预设位置的情况下，第二设备120可以通过追踪第一设备110上安装的发光元件发射的光(例如通过图像传感器采集光斑图像)来追踪对象130(例如追踪对象130的身体部位或与其相关联的设备)。这样的模式也可以称为光学追踪模式。
附加地，在一些实施例中，还可以确定与工作模式相关联的针对运动传感器(例如，IMU)的传感配置，并且基于传感配置和光学配置来设置第一设备110。在这种实施例中，第二设备120可以接收第一设备110发送的运动传感器的传感数据，并基于发光元件发射的光以及该传感数据来执行对象追踪，例如追踪对象130。以此方式，光追踪和运动传感数据的结合可以提升追踪的准确度。
在一些实施例中，如果工作模式指示第一设备110超出对象追踪的光追踪范围，例如在第一设备110位于超出光追踪范围的第三预设位置的情况下，则可以禁用第一设备110中的至少一个发光元件。也即，在这种情况下，第一设备110工作在非光学追踪模式。例如，第一设备110被佩戴在对象130的后腰位置，从而超出图像传感器的视场范围。在这种情况下，第二设备120可以接收第一设备110发送的运动传感器的传感数据，并仅基于该传感数据来追踪对象130。以此方式，可以通过相对于第二设备120的光追踪范围来区分第一设备110的工作场景。此外，在这种实施例中，由于第一设备110已经不在第二设备120的光追踪范围内，继续启用第一设备110中的发光元件并不能提升追踪准确度，反而增加第一设备110的能耗。因此，在这种实施例中，通过控制第一设备110处于非光学追踪模式，可以降低第一设备110的能耗。
在一些实施例中，可以在第一设备110和基座配对连接后，基于来自基座的标识信号确定所附接到的基座，进而确定其工作模式。这样的标识信号可以具体指示基座为腿部基座、腰部基座或手部基座。
以上通过各个实施例对第一设备110的工作模式进行了描述。通过相对于对象追踪的场景、相对于第二设备120的光追踪范围、以及来自基座的标识信号而确定多种工作模式。进一步地，第一设备110可以确定与工作模式相关联的光学配置。这样的光学配置可以控制第一设备110上安装的多个发光元件的光发射，从而在保证稳定跟踪的前提下，实现节约电能、提高续航能力的效果。
在本公开的实施例中，根据基座确定光学配置是一种基于硬件的实现方式。在这种情况下，无论连接到何种基座，第一设备都能够被适当地配置，从而实现方便的配置。此外，基于硬件的实现方式速度快且可靠。根据场景确定光学配置是一种基于软件的实现方式。这种方式能够使第一设备与任何应用场景适配，因而更加灵活。根据基座和场景确定光学配置可以将硬件和软件的实现方式相结合，进一步提高了灵活性和可扩展性。
示例光学配置
第二设备120通过图像传感器采集发光元件发射的光(例如可见光)。每个发光元件发射的光形成一个光斑。距离的远近决定了光斑之间的距离。如果这些光斑距离第二设备120的预定位置太远，可能由于光斑过于密集而不利于识别。为了适应不同的工作模式，例如可以有选择地对全部或部分发光元件进行启用或禁用。对发光元件的光发射进行控制可以称为光学配置。
光学配置可以包括多个发光元件的相应启用状态。在一些实施例中，如果第一设备110位于第一预设位置，第一设备110可以禁用部分发光元件。以此方式，可以降低光斑的密度。
在图2A的示例中，主体210包括多个发光元件212。基座220包括多个发光元件222。多个发光元件212的布置相对于多个发光元件222的布置较为密集。如果这样的第一设备110位于第一预设位置，例如被佩戴在对象130的脚踝上，则第一设备110可以禁用主体210上的多个发光元件212中的部分发光元件或全部发光元件，并启用基座220上的多个发光元件222。以此方式，可以增大光斑之间的距离，从而降低光斑的密度，有利于第二设备120进行识别。
[根据细则91更正 02.11.2024]
在一些实施例中，如果第一设备110位于第二预设位置，则基座上的第二发光元件可以被禁用。继续参考图2A，如果这样的第一设备110位于第二预设位置，例如被佩戴在对象130的手腕上，则可以禁用全部发光元件222，并启用部分或全部发光元件212。以此方式，可以提高续航能力。
如果第一设备110上安装的发光元件较少，也可以有针对性地设置光学配置。在图2C的示例中，主体250包括一个发光元件252。基座260包括两个发光元件262。如果这样的第一设备110位于第二预设位置，则可以仅启用发光元件252并禁用发光元件262。如果这样的第一设备110位于第一预设位置，则可以启用发光元件262。以此方式，可以增大光斑的范围，有利于第二设备120进行识别。
附加地或备选地，光学配置可以包括所启用的发光元件所发射的光的亮度。因此，除了调整光斑的密度和范围外，还可以调整发光元件发射的光的亮度，从而达到提高续航时间的效果。在一些实施例中，如果第一设备110位于第一预设位置，则可以确定所启用的发光元件以较高的亮度发射光。如果第一设备110位于第二预设位置，则可以确定所启用的发光元件以较低的亮度发射光。因为在距离预定位置较近时，光斑亮度即使较低，也很容易被第二设备120识别。因此，如果第一设备110位于第二预设位置，可以适当降低发光元件发射光的亮度，例如发光元件以60％的亮度发射光。如果第一设备110位于第一预设位置，可以适当提高发光元件发射光的亮度，例如发光元件以90％的亮度发射光。
附加地或备选地，第一设备110可以确定所启用的每个发光元件的亮度，从而达到整体上降低亮度或提高亮度的效果。例如，如果第一设备110位于第二预设位置，可以将所启用的一半数目的发光元件的亮度控制在50％，并将另一半数目的发光元件的亮度控制在70％。
在图3A的示例中，主体310安装于手柄支架。如果这样的第一设备110被对象130手持时，为便于第二设备120从各个视角进行追踪，可以启用主体310上全部的发光元件。然而，如果主体被安装于某些特殊基座(例如包裹式的支架)时，可以仅启用部分发光元件。在一些实施例中，第一设备110可以基于基座的标识信号，确定多个发光元件中是否存在被指定为不点亮的发光元件，从而为了提高续航能力而禁用这些被指定为不点亮的发光元件。例如，在将主体安装于包裹式的支架时，主体上的某个或某些发光元件会被支架遮挡。基座的标识信息指示存在被遮挡的发光元件。第一设备110可以基于这样的标识信号而禁用相应的发光元件。
第一设备110的光学配置还可以基于发光元件是否在第二设备120的光追踪范围内来确定。在一些实施例中，如果工作模式指示第一设备110超出对象追踪的光追踪范围，则第一设备110可以禁用全部发光元件。因为这些发光元件超出光追踪范围，这些发光元件是否发光并不影响第二设备120基于运动传感器的传感数据进行追踪。以此方式，可以提高第一设备110的续航能力。
附加地或备选地，光学配置还可以包括所启用的发光元件的光发射时序。光发射时序可以包括但不限于发光时刻、发光频率或发光时长中的一项或多项。多个第一设备110同时工作时，会有相互遮挡或同时出现的可能性，从而增加了第二设备120进行区分的难度。尤其是，对于第一设备110体积较小的情况，或考虑后期的可扩展性和量产成本而将第一设备110的光学形状保持一致的情况，可以通过控制每个第一设备110上所启用的发光元件在不同的时序来发射光。
在一些实施例中，如果多个第一设备110同时工作，一个第一设备110的光学配置与这些第一设备110的相应工作模式相关联。换言之，在这种情况下，某个第一设备110的光学配置不仅与自身的工作模式相关联，也与其他的第一设备110的工作模式相关联。作为一个示例，两个第一设备110同时工作，例如一个第一设备110工作在第一预设位置(例如左脚踝处)，另一个第一设备110工作在另一第一预设位置(例如右脚踝处)，则一个第一设备110的光学配置不仅与自身的工作模式相关，还与另一个第一设备110的工作模式相关。由此，可以通过光学配置(例如不同的光斑图案和/或不同的发光时序)来区分这样的两个第一设备110。
在一些实施例中，一个第一设备110的光学配置可以与另一第一设备110的光学配置至少部分地不同。例如，光学配置可以包括每个第一设备110上所启用的发光元件形成的光斑图案。这些光斑图案可以不完全相同或至少部分地不同，以便于第二设备120基于图案区分第一设备110。在一些实施例中，如果两个第一设备110分别位于大致对称的第一预设位置或大致对称的第二预设位置，则可以通过不同光斑图案来便于第二设备120进行区分。例如，位于对象130左手腕的第一设备110的光斑图案呈“丄”型，位于对象130右手腕的第一设备110的光斑图案可以呈“丅”型。
图4示出了根据本公开的一些实施例的发光元件的光发射时序400的示意图。在图4的示例中，第一设备110包括追踪器1(例如位于用户左手的位置)和追踪器2(例如位于用户右手的位置)。第二设备120包括头戴显示器(简称为头戴，位于用户的头部位置)。头戴上设置有摄像头1、摄像头2、摄像头3以及摄像头4。这些摄像头可以按预设频率采集图像数据。
参考光发射时序400，在t1时刻，头戴发送同步信号。这些摄像头可以在各自的时间点开始曝光并持续一定时长，但是保证各自的曝光时长的中心点在t2时刻对齐，从而在不同的视场范围采集头戴位置的追踪图像。在t3时刻，这些摄像头以相同的曝光时长和对齐的时长中心点采集追踪器位置的追踪图像。在该时刻，追踪器1发射光。追踪器1的发射光时长的中心点不仅与摄像头的曝光时长的中心点对齐，并且保证发射光时长大于曝光时长。在t4时刻，头戴发送同步信号。在t5时刻，摄像头采集头戴位置的追踪图像。在t6时刻，追踪器2发射光。追踪器2的发射光时长的中心点不仅与摄像头的曝光时长的中心点对齐，并且保证发射光时长大于曝光时长。由此，可以实现追踪器1和追踪器2以不同时序发射光。以此方式，便于头戴识别。
在一些实施例中，可以基于第一设备110所附接或所包括的基座确定第一光学配置，并且基于对象追踪的场景确定不同于第一光学配置的第二光学配置。例如，第一光学配置和第二光学配置可以是不同类型的配置。示例性的，第一光学配置可以是发光元件的启用状态，而第二光学配置可以是所启用的发光元件的光发射时序。例如，在跳舞的应用场景中，两个第一设备110同时工作。一个第一设备110工作在第一预设位置(例如左脚踝处)，另一个第一设备110工作在另一第一预设位置(例如右脚踝处)。基于这样的两个第一设备110所附接到的基座(在该示例中为左脚踝和右脚踝处的基座)来确定第一光学配置，例如可以各启用其上的一个发光元件。进一步地，基于跳舞的应用场景来确定第二光学配置。例如，对跳舞场景而言，需要分别追踪左脚和右脚的动作，也即需要区分左脚和右脚。相应地，可以配置所启用的发光元件的光发射时序，以使得两个第一设备110的光发射时序相互错开。
在一些实施例中，第一光学配置和第二光学配置可以由第一设备110确定。在一些实施例中，第一光学配置和第二光学配置可以由第二设备120确定。在一些实施例中，第一光学配置可以由第一设备110确定，并且第二光学配置可以由第二设备120确定。
在一些实施例中，基座上的发光元件也可以发光。相应地，可以追踪第一设备110上的发光元件发射的光和基座上的发光元件发射的光的组合光斑。由此，可以基于对组合光斑的追踪，来执行对象追踪，例如追踪佩戴第一设备110的人体、和/或第一设备110本身。
以上对第一设备110的光学配置进行了描述。根据本公开的各个实施例，本公开可以提供一套系统方案，包括与第二设备120配合使用的一个或者多个第一设备110。第一设备110可以为一体结构，也可以为分体结构。第一设备110可以依照需求被设置在对象130的肢体部位或被设置在现实场景中的固定或可移动物体上。进一步地，针对不同场景，第一设备110可以相应地进行光学配置以满足该场景下特定的跟踪需求。这样的光学配置例如包括在光学方面对第一设备110的主体和基座上的各个发光元件的启用和禁用的配置、发射光的亮度配置、光斑图案配置以及光发射时序配置。以下参考图5和图6，描述多个追踪器在不同场景下的模式控制的具体示例。
图5示出了根据本公开的一些实施例的识别追踪器的示例过程500的流程图。示例过程500涉及追踪器和头戴的场景。追踪器例如为分体式结构(也即，可拆卸结构)，包括主体和基座。在主体安装到基座时，在框510，开始追踪器相对位置判断。
在框512，如果是腿部追踪器，也即所附接到的基座安装在腿部，进行到框514。在框514，主体和基座进行配对，主体或基座发送连接标识符。在框516，追踪器和头戴连接，判断是否进入腿部追踪模式。如果进入腿部追踪模式，则进行到框518。在框518，追踪器或头戴可以进行腿部模式相关联的光学配置。例如，以较高的亮度和较低的密度启用部分发光元件。在光学配置之后，追踪器上启用的发光元件可以不立即发射光，而是暂时处于待机模式，在接收到发光指示(例如头戴发送的信号)时再控制启用的发光元件发射光，从而进入追踪模式。
在框512，如果判断不是腿部追踪器，过程500进行到框520。在框520，如果判断是腰部追踪器，也即所附接到的基座安装在腰部，则过程500进行到框522。在框522，主体和基座进行配对，主体或基座发送连接标识符。在框524，追踪器和头戴连接，判断是否进入腰部追踪模式。如果进入腰部追踪模式，则过程500进行到框526。在框526，追踪器或头戴可以进行腰部模式相关联的光学配置。例如，禁用全部发光元件。
在框520，如果判断不是腰部追踪器，则过程500进行到框528。在框528，主体和基座进行配对，基座发送连接标识符。在框530，追踪器和头戴连接，判断是否进入相应的追踪模式，例如手部模式。如果进入相应的追踪模式，则过程500进行到框526。在框526，追踪器或头戴可以进行与该追踪模式相关联的光学配置。以手部模式为例，可以较低的亮度启用部分发光元件。
图6示出了根据本公开的一些实施例的连接多个追踪器的示例过程600的流程图。示例过程600涉及追踪器1、追踪器2和头戴的场景。例如，通过示例过程500确定追踪器1为腿部模式(例如对应用户左脚踝)，且追踪器2为腿部模式(例如对应用户右脚踝)。进一步地，基于追踪器1和追踪器2分别位于左脚踝和右脚踝，可以确定这两个追踪器各自有哪些发光元件被启用以及这两个追踪器的相应光发射时序。
在框610，追踪器1与头戴连接。如果判断从待机模式进入追踪模式，则过程600进行到框612。在框612，追踪器1接收头戴发送的同步信号，并与头戴同步。头戴设置追踪器1的光发射时序。在框614，追踪器1基于先前确定的光学配置，在相应的时序发射光并返回点亮标志和时间戳。
在框620，追踪器2与头戴连接。如果判断从待机模式进入追踪模式，则过程600进行到框622。在框622，追踪器2接收头戴发送的同步信号，并与头戴同步。头戴设置追踪器2的光发射时序。在框624，追踪器2基于先前确定的光学配置，在相应的时序发射光并返回点亮标志和时间戳。
在框630，头戴在相应的时序采集追踪器1和追踪器2的图像，从而基于对应的图像和IMU数据进行追踪。
示例通信时序
本公开的系统方案还可以包括对多个第一设备110与第二设备120之间的通信传输方式的配置，还可以包括基于对第一设备110的配置进行相应的追踪算法的调整。以下参考图7和图8，描述追踪器与头戴的通信配置的具体示例。
图7示出了根据本公开的一些实施例的多个追踪器与头戴的通信时序700的示意图。通信时序700涉及追踪器1、追踪器2以及头戴。追踪器1和追踪器2采用各自的通讯列表。
在特定的时间段，追踪器1、追踪器2和头戴都工作在追踪器1的通道1。追踪器1处于接收状态，在t11时刻接收到信标信号并且在t12时刻发送数据。同时头戴也会切换到接收状态。在特定的周期后，追踪器1和头戴都跳频到追踪器1的通道2进行工作。追踪器2和追踪器1工作类似。
根据配对调整发送和接收时序，追踪器1和追踪器2构成一个周期性的时序传输，如图所示的周期T1。周期T1决定了追踪器的最高数据传输频率。周期T1和追踪器数目确定了系统的通信传输时序。头戴和追踪器可以在一定时间内通过各自的时序确定数据传输通道和发送数据时刻以及接收数据时刻。通过周期T2的调整可以减少无线通信对头戴的其它频段的干扰，诸如WiFi、蓝牙设备，等等。
[根据细则91更正 02.11.2024]
图8示出了根据本公开的一些实施例的追踪器与头戴的回连和跳频配置的示例信令流程800的示意图。示例信令流程800涉及一个追踪器和头戴。头戴和追踪器有固定的回连通道。回连通道可以是单个通道，也可以是固定通道列表。如果是通道列表，连接逻辑包括在头戴和追踪器未连接成功时，头戴更新通道周期和追踪器更新通道周期不一致。在连接成功后，头戴和追踪器使用相同的周期跳频，以保持通道更新一致。
具体地，在802，头戴启动。在804，追踪器启动。在806，头戴扫描通道，以确定数据通道列表，例如超过预设噪底的通道列表包括通道5至通道20。头戴与追踪器连接时，会将确定的数据通道列表包含在连接信息中。例如，在连接通道广播连接信息，这样的信息包含数据通道列表。在808，头戴发送广播信号。广播信号包含数据通道列表以及一个跳频计数。如果没有接收到追踪器的确认信息，即表示头戴和追踪器还未连接成功。因此，头戴会持续发送广播信号。例如，在810，头戴继续发送广播信号。每次发送广播信号时，跳频计数会减1。在跳频计数不为0时，例如，在812，头戴发送广播信号。在814，追踪器接收数据通道列表后回复确认信息。在818，头戴确定使用数据通道列表的时间点。在816，追踪器确定使用数据通道列表的时间点。在跳频计数为0时，头戴和追踪器同时使用已确认的数据通道列表。
然而，在实际传输过程中，外部环境可能有新的干扰源。在818，头戴实时扫描外部环境干扰情况，生成新的数据通道列表。例如，在连接通道广播连接信息，连接信息包含新的数据通道列表及更新的跳频计数。在820，头戴发送广播信号。广播信号包含数据通道列表以及一个跳频计数。每次发送广播信号时，跳频计数会减1。在跳频计数不为0时，例如，在822，头戴发送广播信号。在824，追踪器更新数据通道列表后回复确认信息。在826，头戴确定使用新的数据通道列表的时间点。在828，追踪器确定使用新的数据通道列表的时间点。在跳频计数为0时，头戴和追踪器同时使用新的数据通道列表。
由此，只要在通道更新时有一帧数据更新成功，头戴和追踪器都在确定的时间点使用新的通道列表。以此方式，可以解决传输中的通道干扰问题。附加地或备选地，跳频计数也可以使用加1的反向操作。
示例过程
图9示出了根据本公开的一些实施例的用于对象追踪的过程900的流程图。过程900可以被实现在第一设备110处、第二设备120处或由两者共同执行、或者由能够与第一设备110和第二设备120通信的其他设备执行。
在框910，确定与第一设备的工作模式相关联的光学配置。第一设备包括运动传感器和至少一个发光元件，并且光学配置用于控制至少一个发光元件的光发射。
在框920，至少基于光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。
在一些实施例中，工作模式与以下至少一项相关：对象追踪的场景，或第一设备所附接到或所包括的基座。
在一些实施例中，对象追踪由第二设备执行，并且与位于第一预设位置的第一基座相对应的工作模式为近距离模式，与位于第二预设位置的第二基座相对应的工作模式为远距离模式。第一预设位置和第二预设位置与佩戴第二设备的对象相关联，并且第二预设位置比第一预设位置远离第二设备在对象上的佩戴位置。
在一些实施例中，确定光学配置包括：如果工作模式为远距离模式，禁用至少一个发光元件中的部分发光元件；以及如果工作模式为近距离模式，禁用第一基座上的发光元件。
在一些实施例中，确定光学配置包括：如果工作模式为远距离模式，确定所启用的发光元件以第一预设亮度发射光；或如果工作模式为近距离模式，确定所启用的发光元件以第二预设亮度发射光，第一预设亮度高于第二预设亮度。
在一些实施例中，过程900还包括：接收来自基座的标识信号；以及基于标识信号来确定基座。
在一些实施例中，确定光学配置包括：如果工作模式指示第一设备超出对象追踪的光追踪范围，禁用至少一个发光元件。
在一些实施例中，至少基于光学配置来设置第一设备包括：确定与工作模式相关联的针对运动传感器的传感配置；以及基于传感配置和光学配置来设置第一设备。
在一些实施例中，第一设备是多个第一设备之一，并且光学配置与多个第一设备的相应工作模式相关联。
在一些实施例中，第一设备是多个第一设备之一，并且第一设备的光学配置与多个第一设备中除第一设备之外的其他设备的光学配置至少部分地不同。
在一些实施例中，光学配置包括以下至少一项：至少一个发光元件的相应启用状态，至少一个发光元件中所启用的发光元件形成的光斑图案，所启用的发光元件所发射的光的亮度，所启用的发光元件的光发射时序。
在一些实施例中，确定与第一设备的工作模式相关联的光学配置包括：基于基座确定第一光学配置；以及基于场景确定不同于第一光学配置的第二光学配置。
在一些实施例中，过程900还包括：响应于第一设备附接至基座，通过第一设备向基座供电。
在一些实施例中，过程900还包括：追踪至少一个发光元件发射的光和基座上的发光元件发射的光的组合光斑；以及基于对组合光斑的追踪，来执行对象追踪。
在一些实施例中，对象追踪包括追踪以下至少一项：第一设备，或佩戴第一设备的人体。
示例装置和设备
图10示出了根据本公开的某些实施例的用于对象追踪的装置1000的示意性结构框图。装置1000可以被实现为或者被包括在第一设备110和/或第二设备120中。装置1000中的各个模块/组件可以由硬件、软件、固件或者它们的任意组合来实现。
如图所示，装置1000包括光学配置确定模块1010，被配置为确定与第一设备的工作模式相关联的光学配置，第一设备包括运动传感器和至少一个发光元件，光学配置用于控制至少一个发光元件的光发射。装置1000还包括设备设置模块1020，被配置为至少基于光学配置来设置第一设备，以通过追踪至少一个发光元件发射的光和/或根据运动传感器的传感数据来执行对象追踪。
在一些实施例中，工作模式与以下至少一项相关：对象追踪的场景，或第一设备所附接到或所包括的基座。
在一些实施例中，对象追踪由第二设备执行，并且与位于第一预设位置的第一基座相对应的工作模式为近距离模式，与位于第二预设位置的第二基座相对应的工作模式为远距离模式。第一预设位置和第二预设位置与佩戴第二设备的对象相关联，并且第二预设位置比第一预设位置远离第二设备在对象上的佩戴位置。
在一些实施例中，光学配置确定模块1010进一步被配置为：如果工作模式为远距离模式，禁用至少一个发光元件中的部分发光元件；以及如果工作模式为近距离模式，禁用第一基座上的发光元件。
在一些实施例中，光学配置确定模块1010进一步被配置为：如果工作模式为远距离模式，确定所启用的发光元件以第一预设亮度发射光；或如果工作模式为近距离模式，确定所启用的发光元件以第二预设亮度发射光，第一预设亮度高于第二预设亮度。
在一些实施例中，装置1000还包括：信号接收模块，被配置为接收来自基座的标识信号；以及基座确定模块，被配置为基于标识信号来确定基座。
在一些实施例中，光学配置确定模块1010进一步被配置为：如果工作模式指示第一设备超出对象追踪的光追踪范围，禁用至少一个发光元件。
在一些实施例中，设备设置模块1020进一步被配置为：确定与工作模式相关联的针对运动传感器的传感配置；以及基于传感配置和光学配置来设置第一设备。
在一些实施例中，第一设备是多个第一设备之一，并且光学配置与多个第一设备的相应工作模式相关联。
在一些实施例中，第一设备是多个第一设备之一，并且第一设备的光学配置与多个第一设备中除第一设备之外的其他设备的光学配置至少部分地不同。
在一些实施例中，光学配置包括以下至少一项：至少一个发光元件的相应启用状态，至少一个发光元件中所启用的发光元件形成的光斑图案，所启用的发光元件所发射的光的亮度，所启用的发光元件的光发射时序。
在一些实施例中，光学配置确定模块1010进一步被配置为：基于基座确定第一光学配置；以及基于场景确定不同于第一光学配置的第二光学配置。
在一些实施例中，装置1000还包括：供电模块，被配置为响应于第一设备附接至基座，通过第一设备向基座供电。
在一些实施例中，装置1000还包括：光斑追踪模块，被配置为追踪至少一个发光元件发射的光和基座上的发光元件发射的光的组合光斑；以及对象追踪模块，被配置为基于对组合光斑的追踪，来执行对象追踪。
在一些实施例中，对象追踪包括追踪以下至少一项：第一设备，或佩戴第一设备的人体。
图11示出了示出了其中可以实施本公开的一个或多个实施例的电子设备1100的框图。应当理解，图11所示出的电子设备1100仅仅是示例性的，而不应当构成对本文所描述的实施例的功能和范围的任何限制。图11所示出的电子设备1100可以用于实现图1的第一设备110和/或第二设备120。
如图11所示，电子设备1100是通用电子设备的形式。电子设备1100的组件可以包括但不限于一个或多个处理器或处理单元1110、存储器1120、存储设备1130、一个或多个通信单元1140、一个或多个输入设备1150以及一个或多个输出设备1160。处理单元1110可以是实际或虚拟处理器并且能够根据存储器1120中存储的程序来执行各种处理。在多处理器系统中，多个处理单元并行执行计算机可执行指令，以提高电子设备1100的并行处理能力。
电子设备1100通常包括多个计算机存储介质。这样的介质可以是电子设备1100可访问的任何可以获取的介质，包括但不限于易失性和非易失性介质、可拆卸和不可拆卸介质。存储器1120可以是易失性存储器(例如寄存器、高速缓存、随机访问存储器(RAM))、非易失性存储器(例如，只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、闪存)或它们的某种组合。存储设备1130可以是可拆卸或不可拆卸的介质，并且可以包括机器可读介质，诸如闪存驱动、磁盘或者任何其他介质，其可以能够用于存储信息和/或数据并且可以在电子设备1100内被访问。
电子设备1100可以进一步包括另外的可拆卸/不可拆卸、易失性/非易失性存储介质。尽管未在图11中示出，可以提供用于从可拆卸、非易失性磁盘(例如“软盘”)进行读取或写入的磁盘驱动和用于从可拆卸、非易失性光盘进行读取或写入的光盘驱动。在这些情况中，每个驱动可以由一个或多个数据介质接口被连接至总线(未示出)。存储器1120可以包括计算机程序产品1125，其具有一个或多个程序模块，这些程序模块被配置为执行本公开的各种实施例的各种方法或动作。
通信单元1140实现通过通信介质与其他电子设备进行通信。附加地，电子设备1100的组件的功能可以以单个计算集群或多个计算机器来实现，这些计算机器能够通过通信连接进行通信。因此，电子设备1100可以使用与一个或多个其他服务器、网络个人计算机(PC)或者另一个网络节点的逻辑连接来在联网环境中进行操作。
输入设备1150可以是一个或多个输入设备，例如鼠标、键盘、追踪球等。输出设备1160可以是一个或多个输出设备，例如显示器、扬声器、打印机等。电子设备1100还可以根据需要通过通信单元1140与一个或多个外部设备(未示出)进行通信，外部设备诸如存储设备、显示设备等，与一个或多个使得用户与电子设备1100交互的设备进行通信，或者与使得电子设备1100与一个或多个其他电子设备通信的任何设备(例如，网卡、调制解调器等)进行通信。这样的通信可以经由输入/输出(I/O)接口(未示出)来执行。
根据本公开的示例性实现方式，提供了一种计算机可读存储介质，其上存储有计算机可执行指令，其中计算机可执行指令被处理器执行以实现上文描述的方法。根据本公开的示例性实现方式，还提供了一种计算机程序产品，计算机程序产品被有形地存储在非瞬态计算机可读介质上并且包括计算机可执行指令，而计算机可执行指令被处理器执行以实现上文描述的方法。
这里参照根据本公开实现的方法、装置、设备和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理单元，从而生产出一种机器，使得这些指令在通过计算机或其他可编程数据处理装置的处理单元执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
可以把计算机可读程序指令加载到计算机、其他可编程数据处理装置、或其他设备上，使得在计算机、其他可编程数据处理装置或其他设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其他可编程数据处理装置、或其他设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开的多个实现的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本公开的各实现，上述说明是示例性的，并非穷尽性的，并且也不限于所公开的各实现。在不偏离所说明的各实现的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实现的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其他普通技术人员能理解本文公开的各个实现方式。

Claims (19)

  1. 一种对象追踪方法，包括：
    确定与第一设备的工作模式相关联的光学配置，所述第一设备包括运动传感器和至少一个发光元件，所述光学配置用于控制所述至少一个发光元件的光发射；以及
    至少基于所述光学配置来设置所述第一设备，以通过追踪所述至少一个发光元件发射的光和/或根据所述运动传感器的传感数据来执行对象追踪。
  2. 根据权利要求1所述的方法，其中所述工作模式与以下至少一项相关：
    所述对象追踪的场景，或
    所述第一设备所附接到或所包括的基座。
  3. 根据权利要求2所述的方法，其中所述对象追踪由第二设备执行，并且
    与位于第一预设位置的第一基座相对应的工作模式为近距离模式，与位于第二预设位置的第二基座相对应的工作模式为远距离模式，并且
    所述第一预设位置和所述第二预设位置与佩戴所述第二设备的对象相关联，并且其中所述第二预设位置比第一预设位置远离所述第二设备在所述对象上的佩戴位置。
  4. 根据权利要求3所述的方法，其中确定所述光学配置包括：
    如果所述工作模式为所述远距离模式，禁用所述至少一个发光元件中的部分发光元件；以及
    如果所述工作模式为所述近距离模式，禁用所述第一基座上的发光元件。
  5. 根据权利要求3所述的方法，其中确定所述光学配置包括：
    如果所述工作模式为所述远距离模式，确定所启用的发光元件以第一预设亮度发射光；或
    如果所述工作模式为所述近距离模式，确定所启用的发光元件以 第二预设亮度发射光，所述第一预设亮度高于所述第二预设亮度。
  6. 根据权利要求2所述的方法，还包括：
    接收来自所述基座的标识信号；以及
    基于所述标识信号来确定所述基座。
  7. 根据权利要求1所述的方法，其中确定所述光学配置包括：
    如果所述工作模式指示所述第一设备超出所述对象追踪的光追踪范围，禁用所述至少一个发光元件。
  8. 根据权利要求1所述的方法，其中至少基于所述光学配置来设置所述第一设备包括：
    确定与所述工作模式相关联的针对所述运动传感器的传感配置；以及
    基于所述传感配置和所述光学配置来设置所述第一设备。
  9. 根据权利要求1所述的方法，其中所述第一设备是多个第一设备之一，并且所述光学配置与所述多个第一设备的相应工作模式相关联。
  10. 根据权利要求1所述的方法，其中所述第一设备是多个第一设备之一，并且所述第一设备的所述光学配置与所述多个第一设备中除所述第一设备之外的其他设备的光学配置至少部分地不同。
  11. 根据权利要求1所述的方法，其中所述光学配置包括以下至少一项：
    所述至少一个发光元件的相应启用状态，
    所述至少一个发光元件中所启用的发光元件形成的光斑图案，
    所述所启用的发光元件所发射的光的亮度，
    所述所启用的发光元件的光发射时序。
  12. 根据权利要求2所述的方法，其中确定与第一设备的工作模式相关联的光学配置包括：
    基于所述基座确定第一光学配置；以及
    基于所述场景确定不同于所述第一光学配置的第二光学配置。
  13. 根据权利要求1所述的方法，还包括：
    响应于所述第一设备附接至基座，通过所述第一设备向所述基座供电。
  14. 根据权利要求2所述的方法，还包括：
    追踪所述至少一个发光元件发射的光和所述基座上的发光元件发射的光的组合光斑；以及
    基于对所述组合光斑的追踪，来执行所述对象追踪。
  15. 根据权利要求1所述的方法，其中所述对象追踪包括追踪以下至少一项：
    所述第一设备，或
    佩戴所述第一设备的人体。
  16. 一种用于对象追踪的装置，包括：
    光学配置确定模块，被配置为确定与第一设备的工作模式相关联的光学配置，所述第一设备包括运动传感器和至少一个发光元件，所述光学配置用于控制所述至少一个发光元件的光发射；以及
    设备设置模块，被配置为至少基于所述光学配置来设置所述第一设备，以通过追踪所述至少一个发光元件发射的光和/或根据所述运动传感器的传感数据来执行对象追踪。
  17. 一种电子设备，包括：
    至少一个处理单元；以及
    至少一个存储器，所述至少一个存储器被耦合到所述至少一个处理单元并且存储用于由所述至少一个处理单元执行的指令，所述指令在由所述至少一个处理单元执行时使所述电子设备执行根据权利要求1至15中任一项所述的方法。
  18. 根据权利要求17所述的电子设备，其中所述第一设备是追踪器，所述第二设备是头戴显示设备，并且所述电子设备包括所述追踪器或所述头戴显示设备中的至少一项。
  19. 一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序可由处理器执行以实现根据权利要求1至15中任一项所述的方法。
PCT/CN2024/114069 2023-08-31 2024-08-22 用于对象追踪的方法、装置、设备和存储介质 Pending WO2025044908A1 (zh)

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