WO2017113689A1 - Method, device, and system for spatial positioning in virtual reality system - Google Patents

Abstract

A method, a device, and a system for spatial positioning in a virtual reality system, the method comprising: controlling a camera device group including a plurality of camera devices to collect images of calibration light reflection points, acquiring images of the calibration light reflection points collected by two adjacent camera devices, and establishing a spatial position relation model of the calibration light reflection points and the camera device group; and when the camera device group moves with a user synchronously, re-acquiring images of calibration light reflection points collected by two adjacent camera devices, re-establishing a spatial position relation model of the calibration light reflection points and the camera device group; and comparing the two spatial position relation models to obtain position change information before and after the user moves. The method, the device, and the system reduce the calculation amount in the process of positioning, reduce the difficulty of the positioning technology, and can achieve the quantification of positioning products in the VR mobile system, and improve the yield of products.

Description

Spatial positioning method, device and system in virtual reality system

The present application claims priority to Chinese Patent Application No. 201511014777.4, entitled "Space Positioning Method, Apparatus and System in Virtual Reality System", filed on December 29, 2015, the entire contents of which are incorporated by reference. The citations are incorporated herein by reference.

Technical field

The invention belongs to the field of virtual reality technology, and in particular relates to a spatial positioning method, device and system in a virtual reality system.

Background technique

The inventor discovered virtual reality (VR, Virtual) in the process of implementing the present invention. Reality technology is a virtual environment in a specific range that uses computer or other intelligent computing to be combined with photoelectric sensing technology to generate realistic visual, audio and visual integration. In the VR system, it mainly includes an input device and an output device.

In the VR system, Based on 2D or 3D camera devices, spatial positioning can be achieved theoretically. However, in the prior art, the spatial positioning scheme based on the 2D camera device has a technical difficulty and a large amount of computation, and is difficult to implement on the mobile terminal. The spatial positioning method based on the 3D camera device faces the bottleneck that cannot be productized on the mobile terminal or communicates with the mobile terminal, and is also difficult to be productized in the VR mobile system.

technical problem

The invention provides a spatial positioning method, device and system in a virtual reality system, which are used to establish a spatial relationship model between a calibration reflection point and a user by using an image of a calibration reflection point acquired by the camera device, when the user moves, Calculating the position change of the user through the change of the spatial relationship model can simplify the calculation of the location of the user, reduce the difficulty of the positioning technology, and improve the feasibility of locating the positioning device in the VR system, thereby improving the production quantification of the positioning related products.

Technical solution

A spatial positioning method in a virtual reality system provided by the present invention includes:

Controlling the camera device group to collect an image of the calibration reflection point, the camera device group includes a plurality of imaging devices, the calibration reflection point is used to calibrate the position where the calibration reflection point is located, and the camera device group is worn on the user; Acquiring a first image of the calibration reflection point acquired by two adjacent camera devices, and obtaining the calibration reflection point and the camera device according to the first image by a preset binocular ranging algorithm Setting a first spatial distance of the group; establishing, according to the first spatial distance, a first spatial position relationship model of the calibration reflective point and the camera device group, the first space distance The spatial position relationship model represents a spatial positional relationship between the calibration reflection point and the camera device group in the current spatial coordinate system; when the camera device group moves synchronously with the user, acquiring two adjacent a second image of the calibration reflection point acquired by the camera device, and obtaining the calibration reflection point and the location according to the second image by the preset binocular ranging algorithm a second spatial distance of the camera device group; taking a position where the camera device group is moved as an origin, and establishing a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance The second spatial position relationship model represents a spatial position relationship between the calibration reflection point and the camera device group in a newly created space coordinate system after the movement of the camera device group; comparing the first spatial position relationship model And the second spatial position relationship model, and the position change information before and after the movement of the user is obtained according to the comparison result.

A spatial positioning device in a virtual reality system provided by the present invention includes:

a control module, configured to control an image of the camera set to collect a calibration reflective spot, the camera set includes a plurality of camera devices, and the calibration reflective spot is used to calibrate a position where the calibration reflective point is located, the camera device group Wearing on the user; acquiring module, configured to acquire a first image of the calibration reflective point acquired by two adjacent camera devices; and a calculation module, configured to use a preset binocular ranging algorithm according to the Determining, by the first image, a first spatial distance between the calibration reflection point and the camera device group; and a modeling module, configured to establish the calibration according to the first spatial distance, with the position of the camera device group as an origin a first spatial positional relationship model of the retroreflective point and the camera set, the first spatial positional relationship model indicating a spatial positional relationship between the calibration retroreflective point and the camera set in the current spatial coordinate system; An acquiring module, configured to acquire, when the camera device group moves synchronously with the user, acquire a second of the calibration reflective points collected by two adjacent camera devices The calculation module is configured to obtain, by the preset binocular ranging algorithm, a second spatial distance between the calibration reflection point and the camera device group according to the second image; the modeling module And establishing, according to the second spatial distance, a second spatial position relationship model between the calibration reflective point and the camera device group, where the second position is determined by using the position of the camera device group after the movement of the camera device group, the second The spatial position relationship model represents a spatial positional relationship between the calibration reflection point and the camera device group in a newly created space coordinate system after the movement of the camera device group; and a comparison module for comparing the first spatial position relationship model And the second spatial position relationship model; the calculation module is further configured to obtain position change information before and after the movement of the user according to the comparison result of the comparison module.

A spatial positioning system in a virtual reality system provided by the present invention includes:

a head mounted display and a camera set; wherein the head mounted display is configured to control the image capturing device group to acquire an image of a calibration reflective spot, the camera device group includes a plurality of imaging devices, and the calibration reflective spot For calibrating the position where the calibration reflection point is located, the camera device group is worn on the user; acquiring the first image of the calibration reflection point collected by two adjacent camera devices, and adopting the preset double a visual distance algorithm, obtaining a first spatial distance between the calibration reflection point and the camera device group according to the first image; establishing a location according to the first spatial distance, using the position of the camera device group as an origin; Determining a first spatial position relationship model between the retroreflective point and the camera set, the first spatial position relationship model indicating a spatial positional relationship between the calibration reflective point and the camera set in the current spatial coordinate system; Acquiring a second image of the calibration reflective spot collected by two adjacent camera devices when the camera device group moves synchronously with the user, and passes through the Presetting a binocular ranging algorithm, obtaining a second spatial distance between the calibration reflection point and the camera device group according to the second image; using a position where the camera device group is moved as an origin, according to the a second spatial distance establishing a second spatial position relationship model of the calibration reflection point and the camera device group, the second spatial position relationship model indicating a new space coordinate system after the movement of the camera device group Determining a spatial positional relationship between the retroreflective point and the camera device group; comparing the first spatial positional relationship model and the second spatial positional relationship model, and obtaining position change information before and after the user's motion according to the comparison result; The camera device group is configured to start, under the control of the head mounted display, each of the camera devices to collect an image of the positioning reflective spot.

Beneficial effect

According to the embodiment of the present invention, the spatial positioning method, device and system in the virtual reality system provided by the present invention set a fixed calibration reflection point, and acquire an image of the calibration illumination point to determine the distance between the user and the calibration reflection point. And constructing a first spatial position relationship model between the current position of the user and the calibration reflection point. When the user moves, the camera device group worn on the user synchronizes motion, acquires an image of the calibration reflection point, and constructs the user again in motion. The second spatial positional relationship model between the rear position and the calibration reflective point, by comparing the difference between the first spatial positional relationship model and the second spatial positional relationship model, reverses the positional change before and after the user's motion, compared to the existing The technology reduces the amount of calculation in the process of locating the user's position, reduces the difficulty of the positioning technology, and can quantify the positioning related products in the VR mobile system to improve product productivity.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic structural diagram of a spatial positioning system in a virtual reality system according to an embodiment of the present invention;

2 is a schematic flowchart of implementing a spatial positioning method in a virtual reality system according to a first embodiment of the present invention;

3 is a schematic flowchart showing an implementation of a spatial positioning method in a virtual reality system according to a second embodiment of the present invention;

4 is a schematic structural diagram of a spatial positioning apparatus in a virtual reality system according to a third embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a spatial positioning apparatus in a virtual reality system according to a fourth embodiment of the present invention.

Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. The embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The spatial positioning method in the virtual reality system provided by the embodiment of the present invention can be applied to a spatial positioning system of a virtual reality system including a camera set and a head mounted display. Referring to FIG. 1, the camera set 10 and the headset Display 20 via Universal Serial Bus (USB, Universal) Serial Bus), WIFI, or other wired or wireless methods are available for data exchange.

The imaging device group 10 includes a plurality of single imaging devices 101 that are at a preset angle. The preset angle is related to the imaging angle of each imaging device 101. The setting rule of the imaging device 101 is a plurality of imaging devices 101. After the imaging device group 10 is formed, 360-degree imaging of the surrounding space can be achieved. For example, when the imaging angle of view of the imaging apparatus 101 is 60 degrees, the number of imaging apparatuses 101 required for the imaging apparatus group 10 is 360/60=6. When the imaging angle of view of the imaging apparatus 101 is 60 degrees, the common imaging angle of view of the adjacent two imaging apparatuses is 45 degrees. The imaging angles of the imaging device 101 are not necessarily the same, and a plurality of imaging devices 101 having different imaging angles of view may be provided. However, it is necessary to satisfy the imaging device group 10 of these imaging devices, and it is possible to perform 360-degree imaging of the surrounding space. Camera unit 10 for

The head-mounted display 20 is shaped like a pair of glasses, and receives an instruction by sensing the movement of the human eye, and amplifies the image on the ultra-fine display through a set of optical systems, projects the image on the retina, and presents the large-screen image in the viewer's eye. .

The head mounted display 20 is configured to control the camera set 10 to acquire an image of the calibration reflection point, the calibration reflection point is used to calibrate the position where the calibration reflection point is located, and the camera set 10 is worn on the user. The head mounted display 20 is further configured to acquire a first image of the calibration reflective spot collected by two adjacent camera devices, and obtain the calibration reflective point according to the first image by using a preset binocular ranging algorithm. Establishing a first spatial distance relationship between the calibration reflection point and the imaging device group 10 according to the first spatial distance, with the first spatial distance of the imaging device group as the origin, and the first spatial distance, the first space The positional relationship model represents the spatial positional relationship between the calibration reflection point and the camera set in the current spatial coordinate system. When the camera unit 10 moves synchronously with the user, the head mounted display 20 is further configured to acquire a second image of the two calibration points collected by the adjacent two camera devices, and pass the preset binocular measurement. The distance algorithm obtains a second spatial distance between the calibration reflection point and the camera device group 10 according to the second image, and uses the position where the camera device group 10 is moved as an origin, and establishes the calibration reflection point according to the second spatial distance. a second spatial positional relationship model of the imaging device group 10, the second spatial positional relationship model indicating a spatial positional relationship between the calibration reflective spot and the imaging device group 10 in a newly created spatial coordinate system after the movement of the imaging device group 10, and comparing The first spatial position relationship model and the second spatial position relationship model obtain position change information before and after the movement of the user according to the comparison result.

For the specific implementation process of the above functions of the camera set 10 and the head mounted display 20, please refer to the description of the following embodiments.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of an implementation process of a spatial positioning method in a virtual reality system according to a first embodiment of the present invention. The method is applicable to the head mounted display 20 shown in FIG.

S201. Control an imaging device group to collect an image of the calibration reflective point;

A data processing chip can be disposed in the head-mounted display, which can be used as an execution body of the embodiment. It should be noted that the execution body of the spatial positioning method in the virtual reality system in this embodiment may also be set in other devices of the VR system. For example, it may be provided in the camera group or in the mobile terminal connected to the VR system. For convenience of description, the embodiment of the present invention is described by using a head-mounted display as an execution subject, but is not a limitation of the technical solution.

The head mounted display controls the camera set to capture an image of the calibrated reflective spot. The camera device group is worn on the user, and specifically connected to the head mounted display, and the camera device group includes a plurality of camera devices.

The calibration point is used to calibrate the position of the calibration point. The calibration reflection point is made of a reflective material, and can reflect the light projected thereon, so that the calibration reflection point is more conspicuous in the image, and is easy to distinguish and locate. The calibration reflection point is set at a specified spatial position, which is an object or a group of objects that can reflect the specified light, which is convenient for the camera group to collect, and can be calibrated by the target reflection point in the image collected by the camera group. The distance between the reflection point and the camera set is calibrated.

The setting of the calibration reflection point shall be such that the spatial position of the calibration reflection point can be distinguished by the acquired image during image analysis. For example, different shapes of the calibration reflection point are set on different walls on four sides, and the different shapes may be Horizontal lines, vertical lines, circles, triangles, trapezoids, pentagons, etc. It is also possible to set calibration highlights of different sizes on different walls on four sides.

S202. Acquire a first image of the calibration reflection point acquired by two adjacent camera devices, and obtain a first calibration reflection point and a first image of the camera device group according to the first image by a preset binocular ranging algorithm. Spatial distance

In the images acquired by the respective imaging devices of the imaging group, a plurality of first images of the calibration reflection points acquired by two adjacent imaging devices are acquired. The calibration reflection point in the first image acquired by two adjacent camera devices is often the same calibration reflection point, and the calibration reflection point in the image and the first of the camera device group can be obtained by the binocular ranging algorithm. Space distance.

It should be noted that there are many binocular ranging algorithms. A commonly used binocular ranging algorithm utilizes the direct difference of the horizontal coordinates of the target point imaged on the left and right views, that is, the parallax and the target point to the imaging. There is an inverse proportional relationship between the plane distances. In order to accurately determine the distance of a point from the camera in three-dimensional space, the parameters to be obtained are focal length, parallax, and center distance. Wherein, the focal length and the center distance of the camera device can be obtained by calibration to obtain an initial value.

Further, if it is necessary to obtain the specific coordinates of the one point, it is necessary to additionally know the offset values of the coordinate system of the left and right image planes and the origin of the solid coordinate system on the horizontal and vertical axes. Wherein, the focal length, the center distance of the camera, and the offset value can be obtained by stereo calibration to obtain an initial value, and optimized by stereo calibration, so that two adjacent camera devices that capture images are mathematically placed in parallel, and the parameters of the left and right cameras are the same. . On this basis, the parallax is obtained. Thereby obtaining all the parameters needed to finally obtain the three-dimensional coordinates of a point.

According to the principle of the above-described binocular ranging algorithm, according to the focal length and the center distance of the two adjacent camera devices, and the calibration point in the first image acquired by the two adjacent camera devices to obtain the parallax, the The preset binocular ranging algorithm obtains a first spatial distance between the calibration reflection point and the camera set.

Since the camera device group is worn on the user and moves in synchronization with the user, the distance of the camera device group relative to the ground can be approximately regarded as the height of the user, which can be measured by the height measuring tool. Therefore, the first spatial distance of the calibration reflection point relative to the camera set is obtained, that is, the current spatial distance between the calibration reflection point and the user is obtained.

S203: Taking a position of the camera device group as an origin, and establishing a first spatial position relationship model between the calibration reflection point and the camera device group according to the first spatial distance;

The first spatial position relationship model is used to indicate a spatial position relationship between the calibration reflection point and the camera device group in the current space coordinate system, and the spatial position relationship is a relative relationship when the calibration reflection point is fixed. When not moving, the spatial positional relationship changes as the camera set moves.

Setting the current position of the camera device group as the coordinate system origin in the first spatial position relationship model, the space coordinate of the origin is (0, 0, 0), according to the calibration reflective point and the camera device group The first spatial distance obtains the coordinates (x ₁ , y ₁ , z ₁ ) of the calibration reflection point with respect to the origin.

Therefore, the first spatial position relationship model may include information such as an origin of the current spatial coordinate system, coordinates of the calibration reflection point with respect to the current origin, and a spatial distance between the calibration reflection point and the camera set.

S204. Acquire a second image of the calibration reflection point acquired by two adjacent camera devices when the camera device group moves synchronously with the user, and obtain, according to the second image, the preset binocular ranging algorithm. Aligning the reflective spot with the second spatial distance of the camera set;

When the user moves, the camera device group moves synchronously with the user, that is, the moving direction and the moving distance of the camera device group are consistent with the moving direction and the moving distance of the user.

When the user moves to the next position, the camera device group is controlled to continue to collect the image of the calibration reflective spot, and among the multiple images collected by all the imaging devices in the camera device group, two adjacent camera devices are acquired. The plurality of second images of the calibration point are calibrated.

Specifically, if the user faces the calibration point on the western wall before moving, if the user performs a swivel movement and turns from the west facing wall to the east wall, the western wall can be collected before. The camera device that calibrates the reflective point on the camera may not be able to capture the calibration reflection point due to the limitation of the camera angle of view. In this case, it is necessary to determine from the camera device group two images of the calibration reflection point image that can be collected on the western wall. An adjacent camera device acquires a plurality of second images of the calibration reflection points collected by the two adjacent camera devices.

Further, in the acquired image of the calibration reflection point, those images in which the calibration reflection point is captured clearly and completely are screened out. Still obtaining a second spatial distance between the calibration reflection point and the camera device group by using a preset binocular ranging algorithm, that is, after obtaining the user motion, the calibration reflection point and the camera device group are newly obtained. The spatial distance, that is, the new current spatial distance between the calibration point and the user after the motion is obtained. The process of obtaining the second spatial distance is similar to the process of obtaining the first spatial distance in step S202. Please refer to the related description in step S202, and details are not described herein again. If the user has exercised and the calibration reflective point is fixed, the second spatial distance and the first spatial distance are necessarily different.

S205: Taking a position where the camera device group moves as an origin, and establishing a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance;

The second spatial position relationship model represents a spatial positional relationship between the calibration reflection point and the imaging device group in a newly created spatial coordinate system after the movement of the camera group.

Taking the position of the camera device group as the origin, according to the second spatial distance, the spatial position relationship model between the calibration reflection point and the camera device group is established again, that is, the second spatial position relationship model is established under the new origin. .

Specifically, the current location of the camera device group is set as the coordinate system origin in the second spatial position relationship model, and the spatial coordinate of the origin is (0, 0, 0), according to the calibration reflection point and the camera device. The second spatial distance between the groups gives the coordinates (x ₂ , y ₂ , z ₂ ) of the nominal reflection point relative to the origin. Since the first spatial distance and the second spatial distance are different, the position of the calibration reflection point is different from the coordinates of the two positions before and after the movement of the camera group.

The second spatial positional relationship model may include an origin of the current spatial coordinate system, coordinates of the calibration reflective point with respect to the current origin, and information such as a spatial distance between the calibration reflection point and the camera set.

S206. Compare the first spatial position relationship model and the second spatial position relationship model, and obtain position change information before and after the movement of the user according to the comparison result.

In the first spatial position relationship model and the second spatial position relationship model, the coordinates of the camera set position, that is, the coordinates of the user position are all constructed as a spatial coordinate system, and the calibration reflective point itself The absolute spatial position is fixed, then what may change is the relative spatial position of the user and the relative spatial position change caused by the change of the position of the user before and after the movement. Corresponding to the change of the position of the user before and after the movement, the relative coordinates of the calibration reflection point in the two spatial position relationship models also change, that is, from the coordinates (x ₁ , y ₁ , z ₁ ) to the coordinates (x ₂ , y ₂ , z ₂ ).

Then, comparing the first spatial position relationship model and the second spatial position relationship model, by comparing the changes of the two, the position change information of the user before and after the exercise can be obtained, for example, obtaining the user after exercise and exercising The change in the value of the front position and the change in direction.

In the embodiment of the present invention, a fixed calibration reflection point is set, an image of the calibration illumination point is obtained, and a distance between the user and the calibration reflection point is determined, thereby constructing a first spatial position relationship between the current position of the user and the calibration reflection point. a model, when the user moves, the camera device group worn on the user moves synchronously, acquires an image of the calibration reflection point, and reconstructs a second spatial positional relationship model between the position of the user after the movement and the calibration reflection point, Comparing the difference between the first spatial positional relationship model and the second spatial positional relationship model, the position change before and after the user's motion is reversed. Compared with the prior art, the calculation amount in the process of locating the user position is reduced, and the difficulty of the positioning technology is reduced. Quantify positioning-related products in VR mobile systems to increase product productivity.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of an implementation process of a spatial positioning method in a virtual reality system according to a second embodiment of the present invention, which mainly includes the following steps:

S301. Control an imaging device group to collect an image of the calibration reflective point;

Under the control of the head mounted display, the camera set collects an image of the calibration reflective spot, and the camera set is worn on the user. The imaging device group includes a plurality of imaging devices. The number of these imaging devices can be differently set according to the imaging angle of view of each imaging device. The purpose of the setting is that the images captured by the respective imaging devices can cover the entire space. Specifically, the number of imaging devices is 360° divided by the imaging device. The quotient of the camera viewing angle. For example, if the imaging angle of view of each imaging device is 45 degrees, the number of imaging devices required to constitute the imaging device group is 360/45=8 (pieces).

The camera device group is provided with an imaging light-emitting device, which can emit light of a specified wavelength. When the imaging light-emitting device is irradiated on the calibration reflection point, the calibration reflection point can be reflected, and the resolution of the calibration reflection point in the acquired image is enhanced. degree. Preferably, the imaging light-emitting device is an infrared light-emitting device, and the image-capturing device is provided with an infrared filter that filters out light of other wavelengths than the infrared light emitted by the calibration light-reflecting point. The head-mounted display controls the infrared light-emitting device to illuminate the calibration reflection point, so that the calibration reflection point emits infrared reflection light, and controls each camera device in the camera device group to collect the calibration reflection point filtered by the infrared filter. image. When capturing images in night vision scenes, infrared light is the most ideal reflected light.

The calibration point is used to calibrate the location of the calibration point. The setting of the calibration reflection point shall be such that the spatial position of the calibration reflection point can be distinguished by the acquired image during image analysis.

S302. Acquire a first image of the calibration reflection point acquired by two adjacent camera devices, and obtain a first calibration reflection point and a first image of the camera device group according to the first image by using a preset binocular ranging algorithm. Spatial distance

In the images acquired by the respective imaging devices of the imaging group, a plurality of first images of the calibration reflection points acquired by two adjacent imaging devices are acquired.

According to the preset binocular ranging algorithm, the parallax is obtained according to the focal length and the center distance of the two adjacent camera devices, and the calibration reflection point in the plurality of first images acquired by the two adjacent camera devices, Then, the preset spatial distance between the calibration reflection point and the camera device group is obtained by the preset binocular ranging algorithm, that is, the current spatial distance between the calibration reflection point and the user is obtained.

It should be noted that, in order to improve the accuracy of the ranging, after acquiring the plurality of first images of the calibration reflection points collected by the two adjacent camera devices, the resolution of the calibration reflection points is selected in the plurality of first images. The two images with the highest rate are used as the left and right views of the calibration reflection point. Further, the preset binocular ranging algorithm obtains the calibration reflection point and the first of the camera group according to the selected two images. Space distance.

S303. Taking a position of the camera device group as an origin, establishing a first spatial position relationship model between the calibration reflection point and the camera device group according to the first spatial distance;

The first spatial position relationship model is used to indicate a spatial position relationship between the calibration reflection point and the camera device group in the current space coordinate system, and the spatial position relationship is a relative relationship when the calibration reflection point is fixed. When not moving, the spatial positional relationship changes as the camera set moves.

Setting the current position of the camera device group as the coordinate system origin in the first spatial position relationship model, the space coordinate of the origin is (0, 0, 0), according to the calibration reflective point and the camera device group The first spatial distance obtains the coordinates (x ₁ , y ₁ , z ₁ ) of the calibration reflection point with respect to the origin.

Therefore, the first spatial position relationship model may include information such as an origin of the current spatial coordinate system, coordinates of the calibration reflection point with respect to the current origin, and a spatial distance between the calibration reflection point and the camera set.

S304. Acquire a second image of the calibration reflection point acquired by two adjacent camera devices when the camera device group moves synchronously with the user, and obtain, according to the second image, the preset binocular ranging algorithm. Aligning the reflective spot with the second spatial distance of the camera set;

When the user moves, the camera device group is controlled to continue to collect the image of the calibration reflection point, and the calibration reflections acquired by two adjacent camera devices are acquired among the plurality of images collected by all the camera devices in the camera device group. Multiple second images of points.

Specifically, if the user faces the calibration point on the western wall before moving, if the user performs a swivel movement and turns from the west facing wall to the east wall, the western wall can be collected before. The camera device that calibrates the reflective point on the camera may not be able to capture the calibration reflection point due to the limitation of the camera angle of view. In this case, it is necessary to determine from the camera device group two images of the calibration reflection point image that can be collected on the western wall. An adjacent camera device acquires an image of the calibration reflection point acquired by the two adjacent camera devices. Obtaining a second spatial distance between the calibration reflection point and the camera device group by using a preset binocular ranging algorithm, that is, obtaining the new target of the calibration reflection point and the camera device group after the user motion is obtained here The spatial distance, that is, the new current spatial distance between the calibration point and the user after the motion is obtained. The process of obtaining the second spatial distance is similar to the process of obtaining the first spatial distance in step S202. Please refer to the related description in step S202, and details are not described herein again. If the user has exercised and the calibration reflective point is fixed, the second spatial distance and the first spatial distance are necessarily different.

It should be noted that, in order to improve the accuracy of the ranging, a plurality of second images of the calibration reflection points acquired by the two adjacent camera devices are acquired, and the preset binocular ranging algorithm is used according to the plurality of second images. After the image obtains the second spatial distance between the calibration reflection point and the camera device group, the two images with the highest resolution of the calibration reflection point are selected as the preset binocular ranging algorithm in the plurality of second images. The corresponding left and right views are obtained by the preset binocular ranging algorithm, and the second spatial distance between the calibration reflection point and the camera device group is obtained.

S305: Taking a position where the camera device group moves as an origin, and establishing a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance;

The second spatial position relationship model represents a spatial positional relationship between the calibration reflection point and the imaging device group in a newly created spatial coordinate system after the movement of the camera group.

Taking the position of the camera device group as the origin, according to the second spatial distance, the spatial position relationship model between the calibration reflection point and the camera device group is established again, that is, the second spatial position relationship model is established under the new origin. .

Specifically, the current location of the camera device group is set as the coordinate system origin in the second spatial position relationship model, and the spatial coordinate of the origin is (0, 0, 0), according to the calibration reflection point and the camera device. The second spatial distance between the groups gives the coordinates (x ₂ , y ₂ , z ₂ ) of the nominal reflection point relative to the origin. Since the first spatial distance and the second spatial distance are different, the position of the calibration reflection point is different from the coordinates of the two positions before and after the movement of the camera group.

The second spatial positional relationship model may include an origin of the current spatial coordinate system, coordinates of the calibration reflective point with respect to the current origin, and information such as a spatial distance between the calibration reflection point and the camera set.

S306. Compare whether the first coordinate of the calibration reflection point in the first spatial position relationship model and the second coordinate in the second spatial relationship model are the same;

That is, whether (x ₁ , y ₁ , z ₁ ) and (x ₂ , y ₂ , z ₂ ) are compared, whether x ₁ is the same as x ₂ , whether y ₁ is the same as y ₂ , and whether z ₁ is the same as z ₂ .

S307. If they are the same, it is determined that there is no change in the position of the user before and after the movement. If not, the difference between the first coordinate and the second coordinate is calculated according to the difference between the first coordinate and the second coordinate.

If the comparison result satisfies that x ₁ is the same as x ₂ , y ₁ is the same as y ₂ , and z ₁ is the same as z ₂ , the user may go out and return to the original position. Therefore, it is determined that the user's position before and after the movement does not change.

If the comparison result does not satisfy that x ₁ is the same as x _{2 at the} same time, y ₁ is the same as y ₂ , and z ₁ is the same as z ₂ , that is, the result of comparing one pair of coordinate values is not the same, according to the first coordinate and the The difference in the second coordinate calculates the position difference of the user after the exercise and before the exercise. It includes changes in the value and direction of the position of the user after exercise and before exercise.

In the embodiment of the present invention, a fixed calibration reflection point is set, and an image of the calibration illumination point is collected to determine a distance between the user and the calibration reflection point, thereby constructing a first space between the current position of the user and the calibration reflection point. a positional relationship model, when the user moves, the camera device group worn on the user synchronously moves, and according to the image of the calibration reflective spot collected at this time, the second position between the user's position after the movement and the calibration reflective point is constructed again. The spatial position relationship model reduces the position change before and after the user's motion by comparing the difference between the first spatial position relationship model and the second spatial position relationship model. Compared with the prior art, the calculation amount in the positioning process is reduced, and the positioning is lowered. Technical difficulty, can achieve positioning product quantification in VR mobile system, improve product productivity.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of a spatial positioning apparatus in a virtual reality system according to a fourth embodiment of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown. The spatial positioning device in the virtual reality system illustrated in FIG. 4 may be an execution body of the spatial positioning method in the virtual reality system provided by the foregoing embodiments shown in FIG. 2 and FIG. 3, such as the head mounted display 20 or one of the control modules. . The spatial positioning device in the virtual reality system illustrated in FIG. 4 mainly includes: a control module 401, an acquisition module 402, a calculation module 403, a modeling module 404, and a comparison module 405.

The above functional modules are described in detail as follows:

The control module 401 is configured to control the image capturing device group to collect an image of the calibration reflective spot, the camera device group includes a plurality of imaging devices, and the calibration reflective spot is used to calibrate the position where the calibration reflective spot is located, and the imaging device group is worn. On the user.

The obtaining module 402 is configured to acquire a first image of the calibration reflective spot acquired by two adjacent camera devices.

The calibration reflection point in the first image acquired by two adjacent camera devices is often the same calibration reflection point, and the calibration reflection point in the image and the first of the camera device group can be obtained by the binocular ranging algorithm. Space distance.

The calculating module 403 is configured to obtain, according to the first image, a first spatial distance between the calibration reflection point and the camera device group by using a preset binocular ranging algorithm.

Determining the parallax according to the focal length and the center distance of the two adjacent camera devices, and the calibration reflection point in the first image acquired by the two adjacent camera devices, by using the preset binocular ranging algorithm, Obtaining a first spatial distance between the calibration reflection point and the camera set. That is, the current spatial distance between the calibration reflective point and the user is obtained.

The modeling module 404 is configured to establish, according to the first spatial distance, a first spatial position relationship model of the calibration reflection point and the camera device group, where the first spatial position relationship model is represented by using a position of the camera device group as an origin. In the current spatial coordinate system, the spatial relationship between the calibration reflection point and the camera set is determined.

The first spatial position relationship model is used to indicate a spatial position relationship between the calibration reflection point and the camera device group in the current space coordinate system, and the spatial position relationship is a relative relationship when the calibration reflection point is fixed. When not moving, the spatial positional relationship changes as the camera set moves.

Setting the current position of the camera device group as the coordinate system origin in the first spatial position relationship model, the space coordinate of the origin is (0, 0, 0), according to the calibration reflective point and the camera device group The first spatial distance obtains the coordinates (x ₁ , y ₁ , z ₁ ) of the calibration reflection point with respect to the origin.

Therefore, the first spatial position relationship model may include information such as an origin of the current spatial coordinate system, coordinates of the calibration reflection point with respect to the current origin, and a spatial distance between the calibration reflection point and the camera set.

The obtaining module 402 is further configured to acquire, when the camera set moves synchronously with the user, acquire a second image of the two calibration points collected by the adjacent two camera devices.

When the user moves to the next position, the camera device group is controlled to continue to collect the image of the calibration reflective spot, and among the multiple images collected by all the imaging devices in the camera device group, two adjacent camera devices are acquired. The plurality of second images of the calibration point are calibrated.

The calculating module 403 is configured to obtain, by using the preset binocular ranging algorithm, a second spatial distance between the calibration reflection point and the camera device group according to the second image.

And obtaining, by the preset binocular ranging algorithm, a second spatial distance between the calibration reflection point and the camera device group, that is, the user motion obtained here is obtained in the acquired image of the calibration reflection point Thereafter, the calibration reflection point is new to the spatial distance of the camera set, that is, a new current spatial distance between the calibration reflection point and the user after the motion is obtained.

The modeling module 404 is further configured to use a position where the camera device group is moved as an origin, and establish a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance, the second space The positional relationship model indicates the spatial positional relationship between the calibration reflection point and the imaging device group in the newly created space coordinate system after the movement of the camera group.

Specifically, the current location of the camera device group is set as the coordinate system origin in the second spatial position relationship model, and the spatial coordinate of the origin is (0, 0, 0), according to the calibration reflection point and the camera device. The second spatial distance between the groups gives the coordinates (x ₂ , y ₂ , z ₂ ) of the nominal reflection point relative to the origin. Since the first spatial distance and the second spatial distance are different, the position of the calibration reflection point is different from the coordinates of the two positions before and after the movement of the camera group.

The second spatial positional relationship model may include an origin of the current spatial coordinate system, coordinates of the calibration reflective point with respect to the current origin, and information such as a spatial distance between the calibration reflection point and the camera set.

The comparison module 405 is configured to compare the first spatial position relationship model and the second spatial position relationship model.

The calculation module 403 is further configured to obtain position change information before and after the movement of the user according to the comparison result of the comparison module 405.

Comparing the first spatial position relationship model and the second spatial position relationship model, by comparing the changes of the two, the position change information of the user before and after the exercise can be obtained, for example, after the user is exercised and before the exercise The change in position and the change in direction.

For details of the present embodiment, please refer to the description of the foregoing embodiment shown in FIG. 1 to FIG. 3, and details are not described herein again.

It should be noted that, in the implementation manner of the spatial positioning device in the virtual reality system illustrated in FIG. 4 above, the division of each functional module is merely an example, and the actual application may be implemented according to requirements, such as corresponding hardware configuration requirements or software implementation. For the convenience of consideration, the above function distribution is completed by different functional modules, that is, the internal structure of the spatial positioning device in the virtual reality system is divided into different functional modules to complete all or part of the functions described above. Moreover, in practical applications, the corresponding functional modules in this embodiment may be implemented by corresponding hardware, or may be executed by corresponding hardware to execute corresponding software. The above description principles may be applied to various embodiments provided in this specification, and are not described herein again.

In the embodiment of the present invention, a fixed calibration reflection point is set, an image of the calibration illumination point is obtained, and a distance between the user and the calibration reflection point is determined, thereby constructing a first spatial position relationship between the current position of the user and the calibration reflection point. a model, when the user moves, the camera device group worn on the user moves synchronously, acquires an image of the calibration reflection point, and reconstructs a second spatial positional relationship model between the position of the user after the movement and the calibration reflection point, Comparing the difference between the first spatial position relationship model and the second spatial position relationship model, the position change before and after the user motion is reversed, and the calculation amount in the positioning process is reduced, the technical difficulty is reduced, and the VR movement can be reduced compared with the prior art. Product quantification is achieved in the system to increase product productivity.

5 is a schematic structural diagram of a spatial positioning apparatus in a virtual reality system according to a fifth embodiment of the present invention. The apparatus mainly includes: a control module 501, an obtaining module 502, a calculating module 503, a modeling module 504, and a comparing module 505. And a screening module 506. The above functional modules are described in detail as follows:

The control module 501 is configured to control the image capturing device group to collect an image of the calibration reflective spot, the camera device group includes a plurality of imaging devices, and the calibration reflective spot is used to calibrate the position where the calibration reflective spot is located, and the camera device group is worn. On the user, it can be specifically connected to the head mounted display.

The number of these imaging devices can be differently set according to the imaging angle of view of each imaging device. The purpose of the setting is that the images captured by the respective imaging devices can cover the entire space. Specifically, the number of imaging devices is 360° divided by the imaging device. The quotient of the camera viewing angle.

The camera device group is provided with an imaging light-emitting device, which can emit light of a specified wavelength. When the imaging light-emitting device is irradiated on the calibration reflection point, the calibration reflection point can be reflected, and the resolution of the calibration reflection point in the acquired image is enhanced. degree. Preferably, the imaging light-emitting device is an infrared light-emitting device, and the image-capturing device is provided with an infrared filter that filters out light of other wavelengths than the infrared light emitted by the calibration light-reflecting point.

The control module 501 is further configured to control the infrared light emitting device to illuminate the calibration reflective point, such that the calibration reflective point emits infrared reflected light, and controls the calibration of the camera device in the camera set through the infrared filter. An image of the reflective point.

The obtaining module 502 is configured to acquire a first image of the calibration reflective spot collected by the two adjacent camera devices.

The calculating module 503 is configured to obtain, by using a preset binocular ranging algorithm, a first spatial distance between the calibration reflection point and the camera device group according to the first image.

The modeling module 504 is configured to establish, according to the first spatial distance, a first spatial position relationship model of the calibration reflection point and the camera device group, where the position of the camera device group is an origin, the first spatial position relationship model representation In the current spatial coordinate system, the spatial relationship between the calibration reflection point and the camera set is determined.

Setting the current position of the camera device group as the coordinate system origin in the first spatial position relationship model, the space coordinate of the origin is (0, 0, 0), according to the calibration reflective point and the camera device group The first spatial distance obtains the coordinates (x ₁ , y ₁ , z ₁ ) of the calibration reflection point with respect to the origin.

Therefore, the first spatial position relationship model may include information such as an origin of the current spatial coordinate system, coordinates of the calibration reflection point with respect to the current origin, and a spatial distance between the calibration reflection point and the camera set.

The obtaining module 502 is further configured to acquire, when the camera group moves synchronously with the user, acquiring a second image of the calibration reflective spot collected by two adjacent camera devices.

When the user moves, the camera device group is controlled to continue to collect the image of the calibration reflection point, and the calibration reflections acquired by two adjacent camera devices are acquired among the plurality of images collected by all the camera devices in the camera device group. Multiple second images of points.

The calculating module 503 is configured to obtain, according to the preset binocular ranging algorithm, a second spatial distance between the calibration reflection point and the camera device group according to the second image.

The modeling module 504 is further configured to use a position where the camera device group moves as an origin, and establish a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance, the second space The positional relationship model indicates the spatial positional relationship between the calibration reflection point and the imaging device group in the newly created space coordinate system after the movement of the camera group.

Specifically, the current location of the camera device group is set as the coordinate system origin in the second spatial position relationship model, and the spatial coordinate of the origin is (0, 0, 0), according to the calibration reflection point and the camera device. The second spatial distance between the groups gives the coordinates (x ₂ , y ₂ , z ₂ ) of the nominal reflection point relative to the origin. Since the first spatial distance and the second spatial distance are different, the position of the calibration reflection point is different from the coordinates of the two positions before and after the movement of the camera group.

The second spatial positional relationship model may include an origin of the current spatial coordinate system, coordinates of the calibration reflective point with respect to the current origin, and information such as a spatial distance between the calibration reflection point and the camera set.

The comparison module 505 is configured to compare the first spatial position relationship model and the second spatial position relationship model.

The calculation module 503 is further configured to obtain position change information before and after the movement of the user according to the comparison result of the comparison module.

Further, the comparison module 505 is further configured to compare whether the first coordinate of the calibration reflection point in the first spatial position relationship model and the second coordinate in the second spatial relationship model are the same. That is, whether (x ₁ , y ₁ , z ₁ ) and (x ₂ , y ₂ , z ₂ ) are compared, whether x ₁ is the same as x ₂ , whether y ₁ is the same as y ₂ , and whether z ₁ is the same as z ₂ .

The calculation module 503 is further configured to: if the comparison result of the comparison module 505 is the same, determine that the position of the user before and after the movement does not change, and if the comparison result is different, calculate the difference between the first coordinate and the second coordinate. The user is out of position after exercise and before exercise.

If the comparison result satisfies that x ₁ is the same as x ₂ , y ₁ is the same as y ₂ , and z ₁ is the same as z ₂ , the user may go out and return to the original position. Therefore, it is determined that the user's position before and after the movement does not change.

If the comparison result does not satisfy that x ₁ is the same as x _{2 at the} same time, y ₁ is the same as y ₂ , and z ₁ is the same as z ₂ , that is, the result of comparing one pair of coordinate values is not the same, according to the first coordinate and the The difference in the second coordinate calculates the position difference of the user after the exercise and before the exercise. It includes changes in the value and direction of the position of the user after exercise and before exercise.

Further, the device further includes:

The screening module 506 is configured to filter out, in the first image, two images with the highest resolution of the calibration reflection point.

The calculating module 503 is further configured to obtain, by using the preset binocular ranging algorithm, a first spatial distance between the calibration reflection point and the camera device group according to the two selected images.

For details of the embodiment, please refer to the description of the embodiment shown in FIG. 1 to FIG. 4, and details are not described herein again.

In the embodiment of the present invention, a fixed calibration reflection point is set, an image of the calibration illumination point is obtained, and a distance between the user and the calibration reflection point is determined, thereby constructing a first spatial position relationship between the current position of the user and the calibration reflection point. a model, when the user moves, the camera device group worn on the user moves synchronously, acquires an image of the calibration reflection point, and reconstructs a second spatial positional relationship model between the position of the user after the movement and the calibration reflection point, Comparing the difference between the first spatial position relationship model and the second spatial position relationship model, the position change before and after the user motion is reversed, and the calculation amount in the positioning process is reduced, the technical difficulty is reduced, and the VR movement can be reduced compared with the prior art. Product quantification is achieved in the system to increase product productivity.

An embodiment of the present invention provides a spatial positioning apparatus in a virtual reality system, where the apparatus includes: one or more processors;

Memory

One or more programs, the one or more programs being stored in the memory, when executed by the one or more processors:

Controlling the camera device group to collect an image of the calibration reflection point, the camera device group includes a plurality of camera devices, the calibration reflection point is used for calibrating the position of the calibration reflection point, and the camera device group is worn on the user to obtain the adjacent a first image of the calibration reflection point acquired by the two camera devices, and obtaining a first spatial distance between the calibration reflection point and the camera device group according to the first image by a preset binocular ranging algorithm, The position of the camera device group is an origin, and according to the first spatial distance, a first spatial position relationship model between the calibration reflection point and the camera device group is established, and the first spatial position relationship model indicates that the calibration is performed in the current space coordinate system. a spatial position relationship between the reflection point and the camera device group, when the camera device group moves synchronously with the user, acquiring a second image of the calibration reflection point collected by two adjacent camera devices, and passing the preset a binocular ranging algorithm, according to the second image, obtaining a second spatial distance between the calibration reflection point and the camera device group, after the camera device group moves The position is an origin, and according to the second spatial distance, a second spatial position relationship model between the calibration reflection point and the camera device group is established, and the second spatial position relationship model represents a newly created space coordinate after the camera device group moves. And determining a spatial position relationship between the calibration reflection point and the camera device group, comparing the first spatial position relationship model and the second spatial position relationship model, and obtaining position change information before and after the movement of the user according to the comparison result.

For a detailed description of the embodiments of the present invention, refer to the description of the foregoing embodiments.

In the various embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be another division manner, for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication link shown or discussed may be an indirect coupling or communication link through some interface, device or module, and may be electrical, mechanical or otherwise.

The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

The integrated modules, if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory, random access memory (RAM), disk or optical disk, and other media that can store program code.

It should be noted that, for the foregoing method embodiments, for the sake of brevity, they are all described as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Because certain steps may be performed in other sequences or concurrently in accordance with the present invention. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

In the above embodiments, the descriptions of the various embodiments are all focused, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

The above is a description of the spatial positioning method, device and system in the virtual reality system provided by the present invention. For those of ordinary skill in the art, according to the idea of the embodiment of the present invention, there will be changes in specific implementation modes and application scopes. In conclusion, the contents of the present specification should not be construed as limiting the invention.

Claims (12)

 A spatial positioning method in a virtual reality system, the method comprising: Controlling the camera device group to collect an image of the calibration reflection point, the camera device group includes a plurality of imaging devices, the calibration reflection point is used to calibrate the position where the calibration reflection point is located, and the camera device group is worn on the user; Acquiring a first image of the calibration reflection point acquired by two adjacent camera devices, and obtaining the calibration reflection point and the camera device according to the first image by a preset binocular ranging algorithm The first spatial distance of the group; Establishing, according to the first spatial distance, a first spatial position relationship model of the calibration reflection point and the camera device group, where the position of the camera device group is an origin, the first spatial position relationship model is represented at the current a spatial positional relationship between the calibration reflection point and the camera device group in a spatial coordinate system; Acquiring a second image of the calibration reflection point acquired by two adjacent camera devices when the camera device group moves synchronously with the user, and adopts the preset binocular ranging algorithm according to the preset Obtaining, by the second image, a second spatial distance between the calibration reflection point and the camera device group; Establishing a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance, using the position where the camera device group is moved as an origin, and the second spatial position relationship model Representing a spatial positional relationship between the calibration reflection point and the camera device group in a newly created space coordinate system after the movement of the camera device group; Comparing the first spatial position relationship model and the second spatial position relationship model, and obtaining position change information before and after the movement of the user according to the comparison result. The method according to claim 1, wherein the comparing the first spatial position relationship model and the second spatial position relationship model to obtain position change information before and after the movement of the user comprises: Comparing whether the first coordinate of the calibration retroreflective point in the first spatial position relationship model is the same as the second coordinate in the second spatial relationship model; If they are the same, it is determined that there is no change in the position of the user before and after the movement. If not, the difference between the first coordinate and the second coordinate is calculated according to the difference between the first coordinate and the second coordinate. The method according to claim 1, wherein the number of said image pickup devices included in said image pickup device group is 360° divided by a quotient value of an image pickup angle of view of the image pickup device. The method according to claim 3, wherein the imaging light-emitting device of the camera device group is an infrared light-emitting device, and the infrared light filter is disposed in the image-capturing device, wherein the control camera device group collects a calibration light-reflecting point The images include: Controlling the infrared light emitting device to illuminate the calibration reflective point such that the calibration reflective point emits infrared reflected light; The image capturing device in the camera device group is controlled to collect an image of the calibration reflective spot filtered by the infrared filter. The method according to claim 4, wherein the obtaining the first image of the calibration reflection point acquired by two adjacent camera devices comprises: Filtering, in the first image, two images with the highest resolution of the calibration reflection point; And obtaining, by the preset binocular ranging algorithm, obtaining the first spatial distance between the calibration reflection point and the camera device group according to the first image, including: And obtaining, by the preset binocular ranging algorithm, a first spatial distance between the calibration reflection point and the camera device group according to the two selected images. A spatial positioning device in a virtual reality system, the device comprising: a control module, configured to control an image of the camera set to collect a calibration reflective spot, the camera set includes a plurality of camera devices, and the calibration reflective spot is used to calibrate a position where the calibration reflective point is located, the camera device group Wear on the user; An acquiring module, configured to acquire a first image of the calibration reflective spot collected by two adjacent camera devices; a calculation module, configured to obtain, by using a preset binocular ranging algorithm, a first spatial distance between the calibration reflection point and the camera device group according to the first image; a modeling module, configured to establish, according to the first spatial distance, a first spatial positional relationship model of the calibration reflective point and the camera device group, where the first space is based on a position of the camera device group, the first space The positional relationship model represents a spatial positional relationship between the calibration reflection point and the camera set in the current spatial coordinate system; The acquiring module is further configured to: when the camera device group moves synchronously with the user, acquire a second image of the calibration reflective spot collected by two adjacent camera devices; The calculating module is configured to obtain, by using the preset binocular ranging algorithm, a second spatial distance between the calibration reflection point and the camera device group according to the second image; The modeling module is further configured to establish, according to the second spatial distance, a second spatial positional relationship model between the calibration reflective point and the camera device group, with an origin of the camera device group as an origin. The second spatial position relationship model represents a spatial positional relationship between the calibration reflection point and the camera device group in a newly created space coordinate system after the movement of the camera device group; a comparison module, configured to compare the first spatial position relationship model and the second spatial position relationship model; The calculation module is further configured to obtain position change information before and after the movement of the user according to the comparison result of the comparison module. The device of claim 6 wherein: The comparison module is further configured to compare the first coordinates of the calibration reflective point in the first spatial position relationship model, and whether the second coordinate in the second spatial relationship model is the same; The calculation module is further configured to: if the comparison result of the comparison submodule is the same, determine that the position of the user before and after the movement does not change, and if the comparison result is different, according to the first coordinate and the first The difference between the two coordinates calculates the position difference of the user after the exercise and before the exercise. The apparatus according to claim 6 or 7, wherein the number of said image pickup apparatuses included in said image pickup apparatus group is 360° divided by a quotient value of an image pickup angle of view of the image pickup apparatus. The device according to claim 8, wherein the imaging light-emitting device of the camera device group is an infrared light-emitting device, and the infrared light filter is disposed in the image-capturing device, and the control module is further used for controlling the device. The infrared illuminating device illuminates the calibration illuminating point such that the calibrated reflecting point emits infrared reflected light, and controls the camera device in the camera set to collect the calibrated reflective point after filtering by the infrared filter image. The device according to claim 9, wherein the device further comprises: a screening module, configured to filter, in the first image, two images with the highest resolution of the calibration reflective point; The calculation module is further configured to obtain, by using the preset binocular ranging algorithm, a first spatial distance between the calibration reflection point and the camera device group according to the two selected images. A spatial positioning system in a virtual reality system, characterized in that the system comprises: Head mounted display and camera set; The head mounted display is configured to control the image capturing device group to collect an image of a calibration reflective spot, the camera device group includes a plurality of imaging devices, and the calibration reflective spot is used to calibrate the calibration reflective spot. Positioning, the camera device group is worn on the user; acquiring a first image of the calibration reflective spot collected by two adjacent camera devices, and adopting a preset binocular ranging algorithm according to the first Obtaining, by an image, a first spatial distance between the calibration reflection point and the camera device group; establishing, according to the first spatial distance, the calibration reflection point and the imaging device, with the position of the camera device group as an origin; a first spatial positional relationship model of the group, the first spatial positional relationship model indicating a spatial positional relationship between the calibration retroreflective point and the camera set in the current spatial coordinate system; when the camera set is Acquiring a second image of the calibration reflection point acquired by two adjacent camera devices when the user synchronizes the motion, and using the preset binocular ranging algorithm, according to the Obtaining, by the second image, a second spatial distance between the calibration reflection point and the camera device group; using the position where the camera device group is moved as an origin, establishing the calibration reflection point according to the second spatial distance a second spatial positional relationship model of the camera set, the second spatial positional relationship model indicating a space of the calibration reflective spot and the camera set under a newly created spatial coordinate system after the camera set is moved Positioning relationship; comparing the first spatial position relationship model and the second spatial position relationship model, and obtaining position change information before and after the movement of the user according to the comparison result; The camera device group is configured to start, under the control of the head mounted display, each of the camera devices to collect an image of the positioning reflective spot. A spatial positioning device in a virtual reality system, the device comprising: one or more processors; Memory One or more programs, the one or more programs being stored in the memory, when executed by the one or more processors: Controlling the camera device group to collect an image of the calibration reflection point, the camera device group includes a plurality of imaging devices, the calibration reflection point is used to calibrate the position where the calibration reflection point is located, and the camera device group is worn on the user; Acquiring a first image of the calibration reflection point acquired by two adjacent camera devices, and obtaining the calibration reflection point and the camera device according to the first image by a preset binocular ranging algorithm The first spatial distance of the group; Establishing, according to the first spatial distance, a first spatial position relationship model of the calibration reflection point and the camera device group, where the position of the camera device group is an origin, the first spatial position relationship model is represented at the current a spatial positional relationship between the calibration reflection point and the camera device group in a spatial coordinate system; Acquiring a second image of the calibration reflection point acquired by two adjacent camera devices when the camera device group moves synchronously with the user, and adopts the preset binocular ranging algorithm according to the preset Obtaining, by the second image, a second spatial distance between the calibration reflection point and the camera device group; Establishing a second spatial position relationship model between the calibration reflection point and the camera device group according to the second spatial distance, using the position where the camera device group is moved as an origin, and the second spatial position relationship model Representing a spatial positional relationship between the calibration reflection point and the camera device group in a newly created space coordinate system after the movement of the camera device group; Comparing the first spatial position relationship model and the second spatial position relationship model, and obtaining position change information before and after the movement of the user according to the comparison result.