IP Library › Granted Patent US 12704727

Granted Patent B2

US 12704727 · App. 18/798,147 · Granted Aug 11, 2026

Positioning method and device for determining pose of human-computer interaction apparatus

Inventors: Yunlong Li (Beijing, CN); Qinglin Chen (Beijing, CN); Cheng Chen (Beijing, CN); Junliang Shan (Beijing, CN); Tao Wu (Beijing, CN)

Assignee: Beijing Zitiao Network Technology Co., Ltd.

G02B27/0172 G02B27/0093 G02B2027/0138 G02B2027/0178

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Quick Facts

Patent No.: US 12704727
App. No.: 18/798,147
Granted: Aug 11, 2026
Kind: B2

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Abstract

A positioning method and device, the method including: extracting multiple light spots from a current image frame, wherein the current image frame is an image currently collected by an extended reality device; determining an interference light spot in the multiple light spots according to information about a historical interference light spot, and removing the interference light spot in the multiple light spots, recognizing whether there is a light spot of a luminous light source in remaining light spots after removing the interference light spot, wherein the luminous light source is a light source set on a human-computer interaction apparatus, and the human-computer interaction apparatus is used for a user to interact with the extended reality device; determining a current pose of the human-computer interaction apparatus according to the light spot of the luminous light source recognized in the remaining light spots.

Claims (63)

1 . A positioning method, comprising:

extracting multiple light spots from a current image frame, wherein the current image frame is an image currently collected by an extended reality device, wherein the multiple light spots comprise at least one of: at least one light spot of a luminous light source or at least one light spot of an environment light source;

determining an interference light spot in the multiple light spots according to information about a historical interference light spot, wherein the historical interference light spot is obtained by recognizing a light spot of a historical image frame, and the interference light spot is a light spot of the environment light source; and

determining a current pose of a human-computer interaction apparatus according to a light spot of the luminous light source recognized in remaining light spots after removing the interference light spot, wherein the luminous light source is a light source set on the human-computer interaction apparatus, and the human-computer interaction apparatus is used for a user to interact with the extended reality device,

wherein determining the current pose of the human-computer interaction apparatus according to the light spot of the luminous light source recognized in the remaining light spots after removing the interference light spot, comprises:

determining a serial number corresponding to a respective light spot of a luminous light source according to serial numbers of multiple luminous light sources forming an arrangement characteristics; and

determining the current pose of the human-computer interaction apparatus according to position information of the light spot of the luminous light source whose serial number is determined.

2 . The method according to claim 1 , wherein determining the interference light spot in the multiple light spots according to the information about the historical interference light spot, comprises:

mapping an interference light spot in a result of historical light spot recognition to the current image frame;

recognizing the interference light spot from the multiple current light spots according to a result of the mapping.

3 . The method according to claim 2 , further comprising:

if the light spot of the luminous light source is not recognized in the remaining light spots, taking the remaining light spots as interference light spots corresponding to the current image frame, and updating the information about the historical interference light spot according to information about the interference light spots corresponding to the current image frame.

4 . The method according to claim 1 , wherein the recognition of the light spot of the luminous light source comprises:

recognizing, based on the arrangement characteristics of the luminous light sources set on the human-computer interaction apparatus, the light spot of the luminous light source from the remaining light spots.

5 . The method according to claim 4 , wherein a number of luminous light sources set on the human-computer interaction apparatus is more than two, the more than two luminous light sources form at least one light source combination;

determining a serial number of a respective light spot in a light spot combination among at least one light spot combination composed of the remaining light spots, according to a serial number of a respective light source in a light source combination successfully matched with the light spot combination, wherein the successful matching is performed between a distribution characteristics of light spots in the light spot combination and a light source arrangement characteristics corresponding to the light source combination;

determining the current pose of the human-computer interaction apparatus according to position information of the respective light spot in the light spot combination for which the serial number of the respective light spot is determined.

6 . The method according to claim 5 , wherein there are more than two light spot combinations successfully matched with the light source arrangement characteristics corresponding to the at least one light source combination respectively;

determining a target light spot combination from the more than two light spot combinations according to a preset matching threshold;

determining a serial number of a respective light spot in the target light spot combination according to a serial number of a respective light source in a light source combination corresponding to the target light spot combination;

determining the current pose of the human-computer interaction apparatus according to position information of the respective light spot in the target light spot combination for which the serial number of the respective light spot is determined.

7 . The method according to claim 6 , further comprising:

for a next image frame, determining a pose of the human-computer interaction apparatus corresponding to the next image frame using position information of the respective light spot in the target light spot combination.

8 . The method according to claim 4 , further comprising:

9 . The method according to claim 1 , further comprising:

10 . An electronic device, comprising a processor and a memory;

the memory stores computer execution instructions;

the processor executes the computer execution instructions stored in the memory; wherein the computer execution instructions, when executed by the processor, cause the processor to:

extract multiple light spots from a current image frame, wherein the current image frame is an image currently collected by an extended reality device, wherein the multiple light spots comprise at least one of: at least one light spot of a luminous light source or at least one light spot of an environment light source;

determine an interference light spot in the multiple light spots according to information about a historical interference light spot, wherein the historical interference light spot is obtained by recognizing a light spot of a historical image frame, and the interference light spot is a light spot of the environment light source; and

determine a current pose of a human-computer interaction apparatus according to a light spot of the luminous light source recognized in remaining light spots after removing the interference light spot, wherein the luminous light source is a light source set on the human-computer interaction apparatus, and the human-computer interaction apparatus is used for a user to interact with the extended reality device,

wherein the processor is caused to:

determine a serial number corresponding to a respective light spot of a luminous light source according to serial numbers of multiple luminous light sources forming an arrangement characteristics; and

determine the current pose of the human-computer interaction apparatus according to position information of the light spot of the luminous light source whose serial number is determined.

11 . The electronic device according to claim 10 , wherein the processor is caused to:

map an interference light spot in a result of historical light spot recognition to the current image frame;

recognize the interference light spot from the multiple current light spots according to a result of the mapping.

12 . The electronic device according to claim 11 , wherein the processor is caused to:

if the light spot of the luminous light source is not recognized in the remaining light spots, take the remaining light spots as interference light spots corresponding to the current image frame, and update the information about the historical interference light spot according to information about the interference light spots corresponding to the current image frame.

13 . The electronic device according to claim 10 , wherein the processor is caused to:

recognize, based on the arrangement characteristics of luminous light sources set on the human-computer interaction apparatus, the light spot of the luminous light source from the remaining light spots.

14 . The electronic device according to claim 13 , wherein a number of luminous light sources set on the human-computer interaction apparatus is more than two, the more than two luminous light sources form at least one light source combination;

wherein the processor is caused to:

determine a serial number of a respective light spot in a light spot combination among at least one light spot combination composed of the remaining light spots, according to a serial number of a respective light source in a light source combination successfully matched with the light spot combination, wherein the successful matching is performed between a distribution characteristics of light spots in the light spot combination and a light source arrangement characteristics corresponding to the light source combination;

determine the current pose of the human-computer interaction apparatus according to position information of the respective light spot in the light spot combination for which the serial number of the respective light spot is determined.

15 . The electronic device according to claim 14 , wherein there are more than two light spot combinations successfully matched with the light source arrangement characteristics corresponding to the at least one light source combination respectively;

wherein the processor is caused to:

determine a target light spot combination from the more than two light spot combinations according to a preset matching threshold;

determine a serial number of a respective light spot in the target light spot combination according to a serial number of a respective light source in a light source combination corresponding to the target light spot combination;

determine the current pose of the human-computer interaction apparatus according to position information of the respective light spot in the target light spot combination for which the serial number of the respective light spot is determined.

16 . The electronic device according to claim 15 , wherein the processor is further caused to:

for a next image frame, determine a pose of the human-computer interaction apparatus corresponding to the next image frame using position information of the respective light spot in the target light spot combination.

17 . A non-transitory computer-readable storage medium in which computer execution instructions are stored, when a processor executes the computer execution instructions, the positioning method comprising the following steps is implemented:

determining the current pose of the human-computer interaction apparatus according to position information of the light spot of the luminous light source whose serial number is determined.