Method of device tracking, terminal device, and storage medium
AssigneeGuangdong Virtual Reality Technology Co., Ltd.
InventorsYONGTAO HU, GUOXING YU, JINGWEN DAI
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Abstract
A method of device tracking is provided. Based on a captured image containing a marker, first spatial position is acquired. Based on a captured image of a scene, second spatial position is acquired. Based on at least one of the first spatial position and the second spatial position, a terminal device may be positioned and tracked.
Claims20
A method for device tracking performed by a terminal device having a first camera, a second camera and an inertial measurement unit (IMU), the method comprising:
- acquiring first information based on a first image including a marker captured by the first camera, wherein the first information comprises relative position and pose between the first camera and the marker;
- acquiring second information based on a second image including a target scene captured by the second camera, wherein the second information comprises position and pose of the second camera in the target scene, wherein the marker and the terminal device are located in the target scene;
- and
- updating position and pose of the IMU relative to the marker based on at least one of the first information and the second information to determine position and pose of the terminal device relative to the marker.
A terminal device, comprising:
- a first camera, arranged to capture a first image including a marker;
- a second camera, arranged to capture a second image including a target scene;
- an inertial measurement unit (IMU), arranged to acquire position and pose of the IMU relative to the marker;
- a non-transitory memory, arranged to store one or more computer programs;
- and
- one or more processors, arranged to execute the one or more computer programs to perform operations of:
- acquiring first information based on a first image including a marker captured by the first camera, wherein the first information comprises relative position and pose between the first camera and the marker;
- acquiring second information based on a second image including a target scene captured by the second camera, wherein the second information comprises position and pose of the second camera in the target scene, wherein the marker and the terminal device are located in the target scene;
- and
- updating the position and pose of the IMU relative to the marker based on at least one of the first information and the second information to determine position and pose of the terminal device relative to the marker.
A non-transitory computer storage medium, having a method of device tracking stored in, wherein the method is capable of being executed by a system, the system at least comprises a processor, a first camera, a second camera, and an inertial measurement unit (IMU), and the method comprises operations of:
- acquiring first information based on a first image including a marker captured by the first camera, wherein the first information comprises relative position and pose between the first camera and the marker;
- acquiring second information based on a second image including a target scene captured by the second camera, wherein the second information comprises position and pose of the second camera in the target scene, wherein the marker and the terminal device are located in the target scene;
- and
- updating position and pose of an relative to the marker based on at least one of the first information and the second information to determine position and pose of the terminal device relative to the marker.
Dependencies are inferred from the claim text.