CN102566053A - Head-mounted display device for profiling system - Google Patents

Abstract

The present invention provides a head-mounted display for visualizing media through a surface by displaying an image representing the subsurface media provided by a contouring system and positioned with reference in the user's real environment. Superimposed with the user's real environment, an image of the subsurface medium is projected in front of one or both eyes of the individual wearing the head-mounted display. A head-mounted display includes positioning sensors, such as inertial positioning sensors, to determine its position and orientation in the real environment. As the user moves around the medium, the image of the medium is updated to show the medium as if it could be seen through the surface. In one embodiment of the invention, the image of the subsurface medium is displayed in stereoscopic vision, whereby the user visualizes the medium in three dimensions.

Description

Head-mounted display device for contouring system

This application is a divisional application of the Chinese invention patent application with the application number 200780049424.5, the application date is January 31, 2007, and the invention title is "head-mounted display device for contour forming system".

technical field

The invention relates to the field of non-invasive testing of media located below the surface. In particular, the invention relates to the display of representations of subsurface media.

Background technique

For example in the field of geophysical prospecting, non-invasive techniques have been sought and developed as a supplement or an alternative to conventional in-situ testing techniques including drilling because these techniques are non-destructive. In some cases where drilling is not feasible eg in granular soils, such non-invasive techniques are the only way to explore the subsurface. Additionally, they are generally more cost effective.

Non-intrusive techniques are also used in various other fields to probe media lying below the surface, for example to assess the structural condition of roads, bridges, steel joints in buildings, concrete walls, etc., or in mining or military Applications detect subsurface features such as voids, hidden substructure and load-carrying capacity.

Typically, a two-dimensional or three-dimensional profile of a section of the characterized medium or analytical data of the characterized medium is displayed on a computer monitor. The displayed data may not be convenient for a non-expert user to understand and interpret the displayed data for its actual representation.

Thus, despite efforts in this field, there remains a need for a system that allows the profiling of media below the surface and facilitates the display of characterization data.

Contents of the invention

Visualizing the subsurface medium in three dimensions will be convenient when assessing the structural condition of roads, bridges, steel bar joints in buildings, concrete walls, etc., or when detecting subsurface features in mining or military applications. It would be even more convenient to overlay the surface with the real world to visualize the subsurface medium as if the user could see through the surface, so that the user could visualize the location of the subsurface features in the real environment. According to one aspect of the invention, a user wears a head-mounted display similar to a virtual reality eyepiece to display images of subsurface media referenced in real environments, preferably in stereoscopic vision. The images are overlaid with the user's real environment so that the user can walk or move within the surface and visualize the subsurface medium in three dimensions as he can see through the surface.

Thus, the present invention provides a head-mounted display for visualizing media through surfaces by displaying images of representations of subsurface media provided by a profiling system and referenced in a user's real environment. Superimposed with the user's real environment, an image of the subsurface medium is projected in front of one or both eyes of the individual wearing the head-mounted display. A head-mounted display includes positioning sensors, such as inertial positioning sensors, to determine its position and orientation in the real environment. As the user moves around the medium, the image of the medium is updated to show the medium as if it could be seen through the surface. In one embodiment of the invention, the image of the subsurface medium is displayed in stereoscopic vision, whereby the user visualizes the medium in three dimensions.

For example, such head-mounted displays may be advantageously used by operators of heavy equipment such as backhoes during excavation projects. Using a head-mounted display, the operator sees the surface as a translucent material and can see lines or obstacles below the surface and adjust his operations accordingly. Another example is the use of head-mounted displays in substructure inspections. Head-mounted displays provide visualization of regions of varying density beneath the surface. The inspector can then look through the surface to inspect the substructure. Additionally, in drilling applications, the quantity and placement of blasting charges can be optimized by visualizing the subsurface and drill string.

One aspect of the invention provides a head mounted display device for use by a user to visualize a representation of a subsurface medium. The display device includes an input, a positioning sensor, a processing unit and a first display system. This input is used to receive a model that characterizes the subsurface medium in a three-dimensional representation in a frame of reference. The model is provided using a contour forming system. The positioning sensor is used to sense the position and orientation of the user's first eye in the frame of reference. The processing unit is configured to perspectively project the model onto a first surface positioned in front of the first eye using a first position and orientation to provide a first image representative of a subsurface medium. The first display system is used to superimpose and display a first image representing a subsurface medium on the first surface with a first image of a real environment in front of the first eye.

Another aspect of the invention provides a system for use by a user to visualize a representation of a subsurface medium. The system includes: a profiling system for providing a characterization of the subsurface medium; a three-dimensional model processor for processing the characterization of the subsurface medium to provide a model characterizing the subsurface medium in a three-dimensional graphical representation in a frame of reference; and Head-mounted display devices. The head-mounted display device has: an input for receiving the model; a positioning sensor for sensing the position and orientation of a user's first eye in a frame of reference; a processing unit for using the position and orientation to see through the model projected onto a first surface in front of the first eye to provide a first image representing the subsurface medium; and a first display system for an image of the real environment on the first surface and in front of the first eye The overlay shows the first image characterizing the subsurface medium.

Another aspect of the invention provides a method for a user to visualize a representation of a subsurface medium. The method includes: providing a characterization of the subsurface medium; processing the characterization of the subsurface medium to provide a model that characterizes the subsurface medium in a three-dimensional graphical representation in a frame of reference; sensing a first position of a user's first eye in the frame of reference position and orientation; defining a first surface positioned in front of the first eye; projecting the model perspectively onto the first surface positioned in front of the first eye to provide a first image representing a subsurface medium; providing the first eye an image of the real environment in front of the first eye; and displaying a first image representing the subsurface medium superimposed on the first surface with the image of the real environment in front of the first eye.

Another aspect of the invention provides a head-mounted display device for use by a user to visualize a representation of a subsurface medium. The display device includes an input, a positioning sensor, a processing unit and a first display system. This input receives a model that characterizes the subsurface medium in a three-dimensional representation in a frame of reference. The positioning sensor senses the position and orientation of the user's first eye in a frame of reference. The processing unit perspectively projects the model onto a first surface positioned in front of the first eye using a first position and orientation to provide a first image representative of the subsurface medium. The first display system displays a first image representing subsurface media superimposed on the first surface with a first image of a real environment in front of the first eye.

Another aspect of the present invention provides a method for reference positioning of a head-mounted display device in a global reference system. The method includes: providing three target points disposed in a global frame of reference and defining a target plane; displaying a first reticle to a first eye of the head-mounted display device and a second reticle to a second eye; Align the first and second reticles with each other; align the reticle with the first target point, and read a first position and orientation of the head-mounted display device in the device frame of reference; align the reticle with the second target point align, and read a second position and orientation of the head-mounted display device in the device frame of reference; align the reticle with a third target point, and read a third position and orientation of the head-mounted display device in the device frame of reference The position and orientation; calculating a translation matrix between the global frame of reference and the device frame of reference using the first, second, and third positions and orientations; and saving the calculated translation matrix in memory.

Another aspect of the invention provides a head-mounted display device for use by a user to visualize a representation of a subsurface medium. The display device includes an input, a memory, a positioning sensor, a processing unit and a pair of display systems. The input receives from the model processor a model characterizing the subsurface medium in a three-dimensional graphical representation in a frame of reference. The memory saves the model to disconnect the input from the model processor after saving the model. The positioning sensor senses the position and orientation of the head-mounted display device in a frame of reference. A processing unit provides a pair of stereoscopic images characterizing the subsurface medium based on the model and the position and orientation. The stereoscopic display system superimposes and displays a pair of stereoscopic images representing a subsurface medium with a pair of images of a real environment in front of the user's eyes.

Description of drawings

Further features and advantages of the present invention will become apparent from the following detailed description taken in conjunction with the following drawings in which:

1 is a front view of a head-mounted display to be used in a display device for visualizing media through surfaces according to an example embodiment of the present invention, wherein the head-mounted display has a see-through display screen in front of each eye;

2 is a perspective view of a head-mounted display to be used in a display device for visualizing media through a surface according to another example embodiment of the present invention, wherein the head-mounted display has cameras in front of each eye;

FIG. 3 is a schematic diagram illustrating the projection of a three-dimensional model onto a single surface;

Figure 4 is a schematic diagram illustrating the projection of a three-dimensional model onto two surfaces (one for each eye);

5 is a block diagram illustrating a display device according to an example embodiment of the present invention;

6 is a schematic diagram illustrating reference positioning of a head-mounted display in a frame of reference; and

7 is a flowchart illustrating a method for reference positioning a head mounted display in a frame of reference.

It will be noted that like reference numerals are used throughout the drawings to identify like features.

Detailed ways

Referring now to the drawings, FIG. 1 shows an example of a head mounted display 100 that would be used to visualize media through a surface. The head mounted display 100 is adapted to be worn in front of the user's eyes and has two see-through screens 110a, 110b which transmit light so that the user can see directly in front of his/her eyes through the see-through screens 110a, 110b real environment. An image of the subsurface medium is projected on each see-through screen 110a, 110b. The images provided on the right and left eyes correspond to the graphical representation of the representation model of the medium in stereopsis, so that the representation of the medium is presented to the user in three dimensions. The image updates in real time as the user moves around the represented medium so that the user visualizes the representation of the medium as he/she can see through the surface. See-through screens 110a, 110b may use see-through organic light emitting diode devices (see LE-750a series from Liteye Systems).

FIG. 2 shows another example of a head-mounted display 200 that would be used to visualize media through a surface. Like the head-mounted display 100 of FIG. 1, the head-mounted display of FIG. 2 is adapted to be worn in front of the user's eyes, but has cameras 210a, 210b positioned in front of each eye to capture images of the real environment in front of the user. Just as he/she can see the head mounted display 200 when he/she is not wearing it. The images captured by the cameras 210a, 210b are displayed in real time in front of the user's eyes using two display systems. For example, each display system may use a liquid crystal diode device or an organic light emitting diode device. The image of the real environment is updated in real time, so that the user can see the world in stereoscopic vision as he/she can see the world when he/she is not wearing the head mounted display 200 . However, images characterizing the subsurface medium are superimposed in stereo vision with images of the real environment. The results for the head mounted display of FIG. 2 are generally similar to the results for the head mounted display of FIG. 1 . The head-mounted display 200 of FIG. 2 may use cameras 210a, 210b that are sensitive to infrared radiation that is converted into images displayed using a display system. Such a head mounted display 200 is particularly useful for use in night vision or in low light environments.

Other head-mounted displays are also contemplated. Monocular head-mounted displays use only one display system for displaying images of subsurface media to only one eye. A monocular configuration advantageously leaves the second eye unchanged in its vision, but only represents the medium in two dimensions.

Figure 3 illustrates the perspective projection of a three-dimensional (3D) representation model 312 of the subsurface medium onto a single, in this case planar, surface 314 to provide an image characterizing the subsurface medium. A 3D model 312 characterizing the subsurface medium is provided with reference to the frame of reference 310 . The illustrated situation corresponds to a head-mounted display in which the image characterizing the medium is provided in front of only one of the user's eyes (monocular configuration) or in which the same image is provided to both eyes in monovision. For example, in monovision, a single camera can be provided on a head-mounted display to provide an image of the real environment. The same image will be displayed to both eyes.

Note that if the screen onto which the image is projected is curved, it is possible to project on a curved surface.

Tomography characterizing the subsurface media was obtained from the profiling system described in US Patent No. 7,073,405 issued July 11, 2006. The profiling system provides a characterization of the subsurface medium by detecting the acceleration of shear waves induced in the subsurface medium under test using sensors disposed on the surface and by means of excitations generated by a pulse generator. Sensors can be set up to cover the entire surface under test, or they can be repositioned during the characterization process to cover a larger surface or provide better characterization resolution. A user computing interface processes acceleration signals received from the sensors to provide tomographic scans characterizing the medium. Tomography includes physical and mechanical properties of media or other analytical data.

To provide a 3D representation model 312, the tomograms are provided to a 3D model processor that uses three-dimensional analysis and geology-based algorithms for juxtaposition and interpolation of the tomograms. The provided 3D representation model 312 is a graphical representation of the media's representation in three dimensions. In one embodiment, the 3D model processor uses software designed especially for geotechnical applications, such as the 3D-GIS module provided by the company Mira Geoscience and running on GOCAD software. The provided 3D characterization model 312 includes properties such as shear velocity, density, Poisson's ratio, mechanical impedance, shear modulus, Young's modulus, and the like. More processing can provide various data such as liquefaction factor, rock depth, bed depth, etc.

The provided 3D representation model 312 is provided with reference to the frame of reference 310 . As will be discussed below, the relative position and orientation between the head mounted display 100 or 200 and the frame of reference is sensed and updated in real time as the user moves or turns his/her head to view different areas of the medium . This is done using positioning sensors located in the head-mounted display. As the user moves around the media, the image displayed in front of the user's eyes is updated to provide a graphical representation of the properties of the media as if it could be seen through the surface. Thus, a surface 314 (in a head-mounted display) positioned in front of one eye of the user is defined in the frame of reference. It corresponds to the real-world position of the screen onto which the image will be displayed. As shown in FIG. 3 , the processing unit then perspectively projects the 3D representation model onto a projection surface 314 according to the sensed eye position and orientation to provide an image of the representation medium. This image is displayed in front of the user's eyes. The displayed image is a graphical representation of a relevant property of the medium, and the represented features lie on the image to simulate as if the surface were sufficiently transparent for the user to see the graphical representation of the feature through the surface. The image characterizing the medium is displayed overlaid with an image of the real environment in front of the user's eyes, corresponding to what the user would see if he/she were not wearing the head mounted display. The image of the real environment is obtained by using a see-through screen (see Figure 1) (the image is simply transmitted through the screen) or by using a camera placed in front of the eye (see Figure 2) (using an image processing algorithm to combine the image from the camera with the image representing the medium Images are numerically superimposed) to provide. The projection scheme of Figure 3 is used in a head-mounted display with a single display system to display an image of the subsurface medium to only one of the eyes. It is also used in monovision head-mounted display devices with two display systems, one for each eye.

Figure 4 illustrates a perspective projection of a 3D model 312 onto two surfaces 314a, 314b (one surface for each respective eye) to provide visualization of the medium in stereopsis. The only difference from the illustration of FIG. 3 is that FIG. 4 illustrates a situation where the head mounted display provides the user with different images of the representation medium for each eye, thereby providing 3D perception. The images displayed in front of the right and left eyes are provided according to the above description of FIG. 3 . However, two projection surfaces, the right surface 314a and the left surface 314b, are defined in front of the right and left eyes according to the sensed position and orientation of the head-mounted display in the frame of reference, and 3D is performed according to the corresponding position and orientation of each eye. Different projections to characterize the model. A 3D perspective of the graphical representation of the subsurface medium is thereby provided.

5 illustrates various functional blocks of a display device 500, which includes: a head-mounted display 200 to be worn by a user to visualize representations of the subsurface medium; and a control unit 512 to be used by the user in his/her The surface carries and processes data as it moves to generate images that will be displayed to the user. The control unit 512 receives the 3D representation model from the 3D model processor 562 as previously described. 3D model processor 562 provides 3D representations by processing tomographic scans characterizing subsurface media provided by profiling system 560 (as described in U.S. Patent No. 7,073,405, issued July 11, 2006) Model.

The head mounted display 200 and the control unit 512 communicate using any wired protocol such as Universal Serial Bus protocol or Firewire protocol or any wireless link protocol such as radio frequency or infrared link. In the illustrated embodiment, the head mounted display 200 and the control unit 512 are wired, but in an alternative embodiment, the two units have a wireless communication interface to communicate with each other and each unit has its own power supply.

The cameras 520a and 520b are respectively arranged in front of the right eye and the left eye to collect images of the real environment in front of the right eye and the left eye. The camera continuously provides a video signal so that the image of the real environment is continuously updated as the user moves relative to the surface. The video signal is converted into a digital signal using A/D converters 526 a and 526 b before being supplied to the control unit 512 .

The head mounted display 200 has a display system 522a, 522b for each eye to visualize subsurface media in stereoscopic vision. Display systems 522a, 522b are controlled by video controllers 528a, 528b, respectively. Video signals are provided by control unit 512 to video controllers 528a, 528b.

A positioning sensor 524, an accelerometer based inertial positioning sensor, is provided in the head mounted display 200 for determining its position and orientation in the real environment. As the user moves around the medium, the position and orientation of the head mounted display is sensed and provided to the control unit 512 after being amplified and signal conditioned using the signal conditioner 530 . Signal controller 530 includes an automatic gain analog amplifier and an anti-aliasing filter. Positioning sensors 524 include translational three-axis accelerometer positioning sensors and rotational three-axis accelerometer positioning sensors to provide both position and orientation of the head mounted display. This description assumes that the head mounted display 200 has been previously referenced in the frame of reference of the 3D representation model. A method for reference positioning a head-mounted display in a frame of reference will be described below. Using the position and orientation of the head mounted display in the frame of reference, the control unit 512 uses calibration parameters to determine the position and orientation of each eye. The analog positioning signal is supplied to the control unit 512 with an A/D converter 548 for digital conversion of the positioning signal.

The digital positioning signals and digital video images are provided to the processing unit 540 . The processing unit also receives the 3D characterization model from the communication interface 542 and stores it in the memory 546 . Thus, after profiling system 560 completes the characterization of the subsurface medium and 3D model processor 562 converts the resulting characterization into a 3D representation model, the 3D model is transferred to and saved in display device 500 for use by the head mounted display. When the transfer is complete, the 3D model processor 562 can be disconnected and the user is free to move relative to the medium while carrying the display device 500 . The processing unit also receives commands from the user interface 544 to be used during the reference positioning process, for controlling the display in the head mounted display, etc. User input 544 includes buttons and scroll wheels or other devices for entering commands. In addition, the control unit 512 also has a power supply 552 and a watchdog timer 550 for the control unit 512 to recover from a fault condition.

The processing unit 540 receives the 3D representation model and the sensed position and orientation of the head mounted display 200 . Using a predetermined calibration (position and orientation of the eyes relative to the sensor) and reference positioning parameters of the head-mounted display 200 (position and orientation of the sensor in the frame of reference), the processing unit performs appropriate calculations and image processing to provide an image that will be displayed in stereo An image representing the medium is displayed on the visual display system 522a, 522b.

Additionally, user input 544 may be used to select graphical representation parameters appropriate for a particular application. Multiple graphical representation profiles can be registered and the user can simply load the one suitable for his application. Examples of parameters that can be controlled are the opacity/transparency of the graphical representation of the subsurface medium and the real environment surface, the color palette, the depth of the medium to be graphically represented, the depth of the medium to be removed from the graphical representation, the Display of specific data, display of informational data about the inside and outside of the medium, display of the presence/absence of a given characteristic in the medium. For example, only areas of the media corresponding to specific ores may be graphically represented. Use the density and shear wave velocity of the ore to identify its presence. There is also an option to graphically represent areas corresponding to subsurface water or other features.

The processing unit 540 has functions for responding to requests, for performing a reference positioning of the head mounted display 200 in the reference frame of the 3D model, for providing various information displays on the display systems 522a, 522b, and for adapting the displays to stereoscopic vision as selected by the user. Or other utilities for monovision.

In the illustrated embodiment, the head-mounted display 200 uses cameras 520a, 520b to provide images of the real environment, but in an alternative embodiment a head-mounted display 100 such as that shown in FIG. , and without cameras 520a, 520b. A/D converters 526a, 526b are thus also eliminated. A single display system 522a may also be used in a single-eye head-mounted display.

Alternatively, other inertial guidance systems such as gyroscope-based systems, global positioning systems, or a combination of technologies may be used in place of inertial positioning sensor 524 .

Referring to Figures 6 and 7, a method for reference positioning a head-mounted display in a frame of reference (Xref, Yref, Zref) of a 3D model and thus the position of each eye (Xo, Yo, Zo) and Orientation (θx, θy, θz) method for reference positioning. The method assumes the use of a stereoscopic head-mounted display. The reference positioning orientation begins in 710, providing three target points ((X1, Y1, Z1); (X2, Y2, Z2); (X3, Y3, Z3)) disposed on the surface of the medium. Three target points define a target plane, and the distances d _1,2 , d _2,3 , d _3,1 between the three target points are known. Thus, the 3D model contains the positions of the three target points in its frame of reference. The target points are typically the locations of the three profiling sensors used by the profiling system to characterize the media. Since the 3D model is defined relative to the positions of the sensors, a frame of reference (Xref, Yref, Zref) can be inferred from these positions. Thus, while other profiling sensors may be eliminated, at least three reference sensors should remain in place after the profiling process for use in the reference positioning process.

According to step 712 , on the two display systems of the head-mounted display, ie, in front of both eyes, a guide line, ie, a crosshair, is displayed. At 714, the user aligns the reticle with both eyes using user input so that the reticle is seen by the user as a single reticle. At 716, the user aligns the reticle to the first target point (X1, Y1, Z1). Usually, the sensors that should be used as target points have different colors or have distinguishing elements for the user to recognize them. In 718, the user presses a user button or uses any other input means (user input 544) to input to the control unit that the target is aimed at, and the control unit then reads the position and orientation of the head mounted display provided by the position sensor (not shown icon). The read position and orientation (as defined during the initialization process of the head mounted display) is given relative to the system of the head mounted display. The read positions and orientations are maintained for further calculations.

Then in step 720, the user aligns the reticle to the second target point (X2, Y2, Z2). In 722, the user inputs to the control unit that the target is aimed at, so the control unit reads the position and orientation of the head mounted display provided by position sensors (not shown). The position and orientation of these reads are also maintained for further calculations.

In step 724, the user aligns the reticle to the third target point (X3, Y3, Z3). In 726, the user inputs to the control unit that the target is aimed at, so the control unit reads the position and orientation of the head mounted display provided by the position sensor (not shown). The position and orientation of these reads are also maintained for further calculations.

In 728 the control unit uses the read position and orientation to calculate a translation matrix between the reference frame (Xref, Yref, Zref) and the system of the head mounted display. The position (Xo, Yo, Zo) of the head mounted display is thus referenced relative to the frame of reference (Xref, Yref, Zref).

Note that during reference positioning, the control unit may use the display system to display instructions to the user.

There is still ambiguity about the orientation of the head mounted display and a reference location for the orientation is required. In 730, according to the calculated translation matrix, the three target points ((X1, Y1, Z1); (X2, Y2, Z2); (X3, Y3, Z3 )) defines the virtual plane corresponding to the target plane. In 732, the user aligns the virtual plane by overlaying it with the target plane using user input, and presses a user button to confirm alignment. For best results, this step should be done with the best possible accuracy. In 734 the control unit reads the position and orientation of the head mounted display provided by the position sensors (not shown). In 736, the control unit uses the known translation matrix and position and orientation of the head-mounted display to calculate a rotation matrix between the reference frame (Xref, Yref, Zref) and the system of the head-mounted display for proper alignment to target plane. The orientation (θx, θy, θz) of the head-mounted display is thus referenced relative to the frame of reference (Xref, Yref, Zref). Also verify the translation matrix. At 738, the calculated translation and rotation matrices are saved for visualization of the subsurface medium by the head mounted display. Thus, as the HMDs move in space, their position (Xob, Yob, Zob) and orientation (θxb, θyb, θyb) in the reference frame (Xref, Yref, Zref) can be calculated in real time.

Note that a similar reference positioning method can be used for reference positioning of a monovision head-mounted display. Instead, reference positioning of the stereoscopic head-mounted display 200 using a camera may be performed by using an image recognition method. The same three target points ((X1, Y1, Z1); (X2, Y2, Z2); (X3, Y3, Z3)) can be identified on the two images provided by the camera, and the known relative position and the position of the target point on the two images to calculate the position and orientation of the HMD in the frame of reference.

Instead, especially if the surface is to be excavated or otherwise damaged, target points disposed in the immediate environment of the medium may be used instead of sensors.

Furthermore, the reference localization method may need to be repeated when returning to an already characterized subsurface medium, and may require removal of the target point sensor. It may be necessary to relocate the target point in the environment of the surface. Thus, on any other structure, set three new target points on the wall. Perform reference positioning on the new target point in the reference system. This is done using the head mounted display already reference positioned. The user aligns the crosshairs to each new target and to the new target plane in a similar manner to the reference positioning method described above. The position of the new target point is then saved in the model for later reference positioning of the head mounted display, and the old target point can be physically removed from the surface.

In the example described, the tomography was obtained by characterizing the subsurface media using a profiling system. It will be appreciated that if a 3D representation is available, this representation can be used by the 3D model processor to provide a 3D graphical representation model of the medium. Additionally, the image displayed to the user may represent a tomogram around or over which the user moves in space rather than a full 3D model. The 3D model processor then simply converts the characterizing medium and the tomography provided by the contouring system into an appropriate 3D graphical representation of the tomography.

Although illustrated in block diagrams as groups of discrete components communicating with each other via different data signal connections, those skilled in the art will appreciate that the preferred embodiment may be provided by a combination of hardware and software components, where Some components are implemented for a given function or operation, and many of the data paths shown are implemented through data communications within a computer application or operating system. The structure shown is therefore provided to effectively teach the preferred embodiment.

The embodiments of the invention described above are intended to be examples only. The scope of the invention is therefore intended to be limited only by the scope of the appended claims.

Claims (2)

1. one kind is used for the method that head-mounted display apparatus positioned in overall reference frame, and said method comprises:

Three impact points that are arranged in the said overall reference frame and limit objective plane are provided;

First eye to said head-mounted display apparatus show first graticule, and show second graticule to second eye;

Said first and second graticules are aimed at each other;

Said graticule is aimed at first impact point, and read primary importance and the orientation of said head-mounted display apparatus in the equipment reference frame;

Said graticule is aimed at second impact point, and read the second place and the orientation of said head-mounted display apparatus in the equipment reference frame;

Said graticule is aimed at the 3rd impact point, and read three position and the orientation of said head-mounted display apparatus in the equipment reference frame;

Use said first, second and the 3rd position and directed to calculate the translation matrix between said overall reference frame and said equipment reference frame; And

In storer, preserve the translation matrix of calculating.

2. the method for claim 1 also comprises:

Show and said objective plane corresponding virtual plane according to said translation matrix;

Said virtual plane is aimed at said objective plane, and read four orientation of said head-mounted display apparatus in the equipment reference frame;

Use said the 4th orientation and said translation matrix to calculate the translation matrix between said overall reference frame and said equipment reference frame; And

In storer, preserve the rotation matrix that calculates.

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