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CN-121996061-A - Tracking method, multi-device system and non-transitory computer readable storage medium

CN121996061ACN 121996061 ACN121996061 ACN 121996061ACN-121996061-A

Abstract

The present disclosure provides tracking methods and multi-device systems. The multi-device system is used for tracking a target object in a physical environment and comprises a host device and a peripheral device. The tracking method comprises the steps of tracking the peripheral device through the peripheral device, tracking the peripheral device through the host device when the host device judges that the target object is to be tracked, so as to generate a first spatial relationship between the peripheral device and the host device, and tracking the target object through the peripheral device according to the first spatial relationship, so as to generate a second spatial relationship between the target object and the host device. The first spatial relationship is transmitted to the peripheral device by the host device, and the peripheral device can generate the position and/or orientation of the target object relative to the host device according to the position and/or orientation of the target object relative to the peripheral device. The multi-device system may still provide the location and/or orientation of the target object relative to the host device when the peripheral device is moved, which may allow for an extended range of applications for the multi-device system.

Inventors

  • HUANG QUNKAI
  • CHEN ZHIQIAN

Assignees

  • 宏达国际电子股份有限公司

Dates

Publication Date
20260508
Application Date
20250801
Priority Date
20241103

Claims (12)

  1. 1. A tracking method, suitable for a multi-device system, wherein the multi-device system is used for tracking a target object in a physical environment and comprises a host device and a peripheral device, and the tracking method comprises: tracking the peripheral device by the peripheral device; Tracking, by the host device, the peripheral device to generate a first spatial relationship between the peripheral device and the host device when the host device determines that the target object is to be tracked, and Tracking the target object according to the first spatial relationship by the peripheral device to generate a second spatial relationship between the target object and the host device.
  2. 2. The method of claim 1, wherein tracking, by the peripheral device, the target object according to the first spatial relationship to generate the second spatial relationship comprises: generating image data of the target object through the peripheral device; calculating a first target attitude of the target object relative to the peripheral device according to the image data by the peripheral device, and And converting the first target posture into a second target posture of the target object relative to the host device according to the peripheral end posture indicated by the first spatial relationship through the peripheral device.
  3. 3. The method of claim 1, wherein tracking the peripheral device by the host device to generate the first spatial relationship comprises: Generating, by the host device, image data of at least one trackable object provided on the peripheral device, and And calculating an interaction-based gesture according to the image data by the host device to generate a peripheral end gesture of the peripheral device relative to the host device.
  4. 4. The tracking method of claim 3, further comprising: And receiving, by the host device, motion data corresponding to a motion of the peripheral device, wherein the peripheral gesture is generated according to at least one of the motion data and the interaction-based gesture.
  5. 5. The tracking method according to claim 1, wherein tracking the peripheral device by the peripheral device comprises: Generating image data of the physical environment by the peripheral device, and And calculating a gesture based on feature extraction by the peripheral device according to the image data and a host map established by the host device so as to generate a peripheral gesture of the peripheral device.
  6. 6. The tracking method of claim 5, further comprising: generating, by the peripheral device, motion data corresponding to a motion of the peripheral device, wherein the peripheral end pose is generated based on at least one of the motion data and the feature-based extracted pose.
  7. 7. The tracking method of claim 1, further comprising: when the host device judges that the peripheral device is not moved, the first spatial relationship is transmitted to the peripheral device through the host device.
  8. 8. The tracking method of claim 1, further comprising: when the host device judges that the peripheral device is moved, the first spatial relationship is updated for the peripheral device by the host device.
  9. 9. The tracking method according to claim 8, wherein after the host device determines that the peripheral device is moved, the tracking method further comprises: when the host device judges that at least one traceable object is not in a visual field of the host device, an indication message is generated through the host device.
  10. 10. The tracking method according to claim 8, further comprising, before updating the first spatial relationship for the peripheral device: by the host device, it is determined whether at least one trackable object is located within a field of view of the host device.
  11. 11. A multi-device system for tracking a target object in a physical environment, comprising: A host device for determining whether to track the target object, and A peripheral device for tracking the peripheral device, Wherein when the host device determines that the target object is to be tracked, the host device is configured to track the peripheral device to generate a first spatial relationship between the peripheral device and the host device, an When the host device judges that the target object is to be tracked, the peripheral device is used for tracking the target object according to the first spatial relationship so as to generate a second spatial relationship between the target object and the host device.
  12. 12. A non-transitory computer readable storage medium having a computer program for executing a tracking method, wherein the tracking method is adapted for a multi-device system for tracking a target object in a physical environment and comprising a host device and a peripheral device, the tracking method comprising: tracking the peripheral device by the peripheral device; Tracking, by the host device, the peripheral device to generate a first spatial relationship between the peripheral device and the host device when the host device determines that the target object is to be tracked, and Tracking the target object according to the first spatial relationship by the peripheral device to generate a second spatial relationship between the target object and the host device.

Description

Tracking method, multi-device system and non-transitory computer readable storage medium Technical Field The present disclosure relates to a method and system, and more particularly, to a tracking method and system. Background Some related art allow an operable electronic device (e.g., a handheld controller, a wearable controller, etc.) to perform various applications (e.g., self-tracking, object tracking, etc.) through a high-performance computing chip. However, if one of the applications requires a high chip computing capability, the electronic device cannot execute other applications at the same time, which limits the application range. Disclosure of Invention One aspect of the present disclosure is a tracking method. The tracking method is suitable for a multi-device system, wherein the multi-device system is used for tracking a target object in a physical environment and comprises a host device and a peripheral device, the tracking method comprises the steps of tracking the peripheral device through the peripheral device, tracking the peripheral device through the host device when the host device judges that the target object is to be tracked, so as to generate a first spatial relationship between the peripheral device and the host device, and tracking the target object through the peripheral device according to the first spatial relationship, so as to generate a second spatial relationship between the target object and the host device. In some embodiments, tracking the target object according to the first spatial relationship by the peripheral device to generate the second spatial relationship includes generating, by the peripheral device, image data of the target object, calculating, by the peripheral device, a first target pose of the target object with respect to the peripheral device according to the image data, and converting, by the peripheral device, the first target pose to a second target pose of the target object with respect to the host device according to a peripheral end pose indicated by the first spatial relationship. In some embodiments, tracking the peripheral device by the host device to generate the first spatial relationship includes generating, by the host device, image data of at least one trackable object disposed on the peripheral device, and calculating, by the host device, an interaction-based pose according to the image data to generate a peripheral end pose of the peripheral device relative to the host device. In some embodiments, the tracking method further comprises receiving, by the host device, motion data corresponding to a motion of the peripheral device, wherein the peripheral gesture is generated based on at least one of the motion data and the interaction-based gesture. In some embodiments, tracking the peripheral device by the peripheral device includes generating, by the peripheral device, image data of the physical environment, and calculating, by the peripheral device, a feature extraction-based pose according to the image data and a host-side map established by the host device, to generate a peripheral-side pose of the peripheral device. In some embodiments, the tracking method further comprises generating, by the peripheral device, motion data corresponding to a motion of the peripheral device, wherein the peripheral end pose is generated based on at least one of the motion data and the feature extraction-based pose. In some embodiments, the tracking method further comprises transmitting, by the host device, the first spatial relationship to the peripheral device when the host device determines that the peripheral device is not moved. In some embodiments, the tracking method further comprises updating, by the host device, the first spatial relationship for the peripheral device when the host device determines that the peripheral device is moved. In some embodiments, the tracking method further comprises generating an indication by the host device when the host device determines that at least one trackable object is not within a field of view of the host device after the host device determines that the peripheral device is moved. In some embodiments, the tracking method further comprises determining, by the host device, whether at least one trackable object is within a field of view of the host device before updating the first spatial relationship for the peripheral device. Another aspect of the present disclosure is a multi-device system. The multi-device system is used for tracking a target object in a physical environment and comprises a host device and a peripheral device. The host device is used for judging whether the target object is to be tracked. The peripheral device is used for tracking the peripheral device. When the host device determines that the target object is to be tracked, the host device is configured to track the peripheral device to generate a first spatial relationship between the peripheral device and the host device. When the host devi