Calibration of virtual reality systems

摘要

A virtual reality (VR) console receives slow calibration data from an imaging device and fast calibration data from an inertial measurement unit on a virtual reality headset. Using a model of the VR headset, the VR console identifies model locators corresponding to locators on the VR headset and generates estimated positions for locators included in slow calibration data. The VR console adjusts calibration parameters so a relative distance between estimated positions of the locators and positions of their corresponding model locators is less than a threshold value. From the estimated positions, the VR console generates calibrated positions of a reference point on the VR headset associated with images from the slow calibration data. The VR console determines predicted positions of the reference point from the calibrated positions and adjusts calibration parameters so intermediate estimated positions of the reference point are within a threshold distance of the predicted positions.

主权项

1. A system comprising:
a virtual reality (VR) headset including a plurality of locators and an inertial measurement unit (IMU) configured to output fast calibration data comprising one or more intermediate estimated positions of a reference point on the VR headset, each intermediate estimated position separated from a subsequent intermediate estimated position by a position time value; an imaging device configured to output slow calibration data including a series of images showing portions of observed locators of the plurality of locator, on the VR headset, each image separated from a subsequent image in the series by an image time value that is larger than the position time value; and a VR console comprising:
a processor configured to execute modules, anda memory coupled to the processor and including instructions that, when executed by the processor, cause the processor to track the VR headset using the slow calibration data and the fast calibration data, the memory storing the modules, the modules comprising:
an estimation module configured to:
identify model locators each corresponding to a locator on the VR headset and included in at least one image from the slow calibration data using a stored headset model associated with the VR headset, andgenerate estimated positions of one or more of the locators on the VR headset and included in at least one image from the slow calibration data using the headset model; anda parameter adjustment module configured to:
adjust one or more calibration parameters to adjust the estimated positions so a relative distance between the adjusted estimated positions of one or more of the locators on the VR headset and included in at least one image from the slow calibration data and positions of their corresponding model locators are less than a threshold value,generate calibrated positions of the reference point based at least in part on the adjusted estimated positions of one or more of the locators on the VR headset and included in at least one image from the slow calibration data, a calibrated position associated with an image from the slow calibration data,determine one or more predicted positions of the reference point based at least in part on the calibrated positions of the reference point, a predicted position associated with a time between subsequent images from the slow calibration data, andadjust one or more of the calibration parameters so the intermediate estimated positions of the reference point are within a threshold distance of the determined predicted positions of the reference point.