US 12,293,443 B2
Method and apparatus for spatial locating
Xianwei Lv, Beijing (CN); Zhenxing You, Beijing (CN); and Rui Han, Beijing (CN)
Assigned to MATRIXED REALITY TECHNOLOGY CO., LTD., Wuxi (CN)
Appl. No. 18/003,342
Filed by MATRIXED REALITY TECHNOLOGY CO., LTD., Wuxi (CN)
PCT Filed Jul. 26, 2021, PCT No. PCT/CN2021/108394
§ 371(c)(1), (2) Date Dec. 27, 2022,
PCT Pub. No. WO2022/022449, PCT Pub. Date Feb. 3, 2022.
Claims priority of application No. 202010729794.0 (CN), filed on Jul. 27, 2020.
Prior Publication US 2023/0316608 A1, Oct. 5, 2023
Int. Cl. G06T 11/60 (2006.01); G06F 1/16 (2006.01); G06F 18/22 (2023.01); G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 11/00 (2006.01); G06V 10/40 (2022.01); G06V 20/10 (2022.01)
CPC G06T 11/60 (2013.01) [G06T 7/73 (2017.01); G06T 7/90 (2017.01); G06T 11/001 (2013.01); G06F 1/163 (2013.01); G06T 2207/10024 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for spatial locating, comprising:
acquiring feature area information and a current image captured by a camera;
searching the current image for a feature area of an interactive device based on the feature area information, to determine position information, the position information being configured to indicate a position of the feature area in the current image;
determining first pose information associated with a position and attitude of the feature area relative to the camera based on the position information;
calculating a re-projection error of the feature area in the current image based on the feature area information and the first pose information; and
if the re-projection error is less than or equal to a preset threshold, based on the first pose information, determining current pose information associated with a position and attitude of the interactive device currently in a global coordinate system.