Object interaction method and system, and computer-readable medium

An object interaction system, comprising:

• a camera, configured to acquire image information in a reality scene;
• an inertial sensor, configured to acquire inertial information of a terminal device;
• a depth sensor, configured to determine depth information of an object in the reality scene;
• one or more processors;
• and
• a memory, configured to store one or more programs which, when executed by the one or more processors, cause the one or more processors to perform steps of:
• determining a pose of the terminal device in a real environment coordinate system;
• determining, according to pixel information and depth information of a first object, a pose of the first object relative to the terminal device, the first object being a physical object in a real environment;
• determining a pose of the first object in the real environment coordinate system, according to the pose of the terminal device in the real environment coordinate system and the pose of the first object relative to the terminal device;
• determining a pose of a second object in the real environment coordinate system, the second object being a virtual object configured in the real environment;
• determining a position relationship between the first object and the second object and an attitude relationship between the first object and the second object, based on the pose of the first object in the real environment coordinate system and the pose of the second object in the real environment coordinate system;
• and
• controlling the first object and the second object to interact with each other, according to the attitude relationship and the attitude relationship.

A computer-readable medium, with a computer program stored thereon, wherein the computer program, when executed by a processor, is configured to implement an object interaction method, the method comprising:

• determining a pose of a terminal device in a real environment coordinate system;
• determining, according to pixel information and depth information of a first object, a pose of the first object relative to the terminal device, the first object being a physical object in a real environment;
• determining a pose of the first object in the real environment coordinate system, according to the pose of the terminal device in the real environment coordinate system and the pose of the first object relative to the terminal device;
• determining a pose of a second object in the real environment coordinate system, the second object being a virtual object configured in the real environment;
• determining a distance between the first object and the second object, according to the pose of the first object in the real environment coordinate system and the pose of the second object in the real environment coordinate system;
• and
• triggering an interaction action between the first object and the second object, in response to the distance between the first object and the second object being less than a preset distance threshold and an attitude of the first object matching an attitude of the second object.