Abstract: The present disclosure discloses a path planning method and device and a mobile device. The method comprises: collecting environmental information in a viewing angle by a sensor of a mobile device, processing the environmental information by using an SLAM algorithm, and constructing a grid map; dividing the grid map to obtain a plurality of pixel blocks, using an area constituted of pixel blocks not occupied by obstacles as a search area for path planning, and obtaining a processed grid map; determining reference points by using pixel points in the search area, and deploying topological points on the processed grid map according to the reference point determined and constructing a topological map; and calculating an optimal path from a starting point to a preset target point by using a predetermined algorithm according to the topological map constructed. The present disclosure improves path planning efficiency and saves storage resources.

Abstract: An image processing method comprises: acquiring an actual image of a specified target from a video stream collected by a camera; identifying an area not shielded by the VR HMD and an area shielded by the VR HMD of the face of the specified target from the actual image, and acquiring first facial image data corresponding to the area not shielded; obtaining second facial image data matching the first facial image data according to the first facial image data and a preset facial expression model, wherein the second facial image data correspond to the area shielded; and fusing the first facial image data and the second facial image data to generate a composite image. An image processing device comprises a first acquiring unit, an identifying unit, a second acquiring unit and a generating unit, and is for performing the steps of the method described above.

Abstract: An audio playback control method of a mobile terminal comprises: collecting proximity information of a user's hand within a preset time period by using a plurality of proximity sensors of a wireless earphone; acquiring information about whether each proximity sensor is shielded at each moment within the preset time period according to the proximity information; determining the order in which different proximity sensors are shielded according to the information about each proximity sensor being shielded; acquiring an operation trajectory of the user's hand according to the order in which different proximity sensors are shielded; and acquiring a corresponding audio playback operation instruction according to the operation trajectory and a preset trajectory instruction library, to realize the control over the audio playback of the mobile terminal.

Abstract: An image processing method comprises: acquiring an actual image of a specified target from a video stream collected by a camera; identifying an area not shielded by the VR HMD and an area shielded by the VR HMD of the face of the specified target from the actual image, and acquiring first facial image data corresponding to the area not shielded; obtaining second facial image data matching the first facial image data according to the first facial image data and a preset facial expression model, wherein the second facial image data correspond to the area shielded; and fusing the first facial image data and the second facial image data to generate a composite image. An image processing device comprises a first acquiring unit, an identifying unit, a second acquiring unit and a generating unit, and is for performing the steps of the method described above.

Abstract: The present disclosure discloses a path planning method and device and a mobile device. The method comprises: collecting environmental information in a viewing angle by a sensor of a mobile device, processing the environmental information by using an SLAM algorithm, and constructing a grid map; dividing the grid map to obtain a plurality of pixel blocks, using an area constituted of pixel blocks not occupied by obstacles as a search area for path planning, and obtaining a processed grid map; determining reference points by using pixel points in the search area, and deploying topological points on the processed grid map according to the reference point determined and constructing a topological map; and calculating an optimal path from a starting point to a preset target point by using a predetermined algorithm according to the topological map constructed. The present disclosure improves path planning efficiency and saves storage resources.

Abstract: A wireless earphone comprising an in-ear portion which is in contact with a human ear when the wireless earphone is worn. The in-ear portion comprises a wearing surface which couples the human ear canal when the wireless earphone is worn. The in-ear portion is provided with a wearing detection sensor, a sound venting hole and a contact group which are all disposed on the wearing surface. The wearing detection sensor, the sound venting hole and the contact group are all disposed on the wearing surface of the in-ear portion coupling the human ear canal, so that the wearing detection sensor can directly contact the skin of the human body when the earphone is worn, and thus the wearing detection sensor is improved.

Abstract: A method for processing display data comprises: the host divides the display area into a central area and an edge area according to the field of view of a head-mounted display; segments each frame of the display data into first display data corresponding to the central area and second display data corresponding to the edge area; processes the first display data and the second display data according to a first transmission factor and a second transmission factor to obtain first transmission data and second transmission data and sends them to the head-mounted display; and the head-mounted display performs image reconstruction to the received first transmission data and second transmission data, to obtain the displayed image corresponding to the frame of display data, and outputs and display it.

Abstract: A binocular vision localization method, device and system are provided. The method includes calculating first pose change information according to two frames of images collected by a binocular camera unit at two consecutive moments and calculating second pose change information according to inertia parameters collected by an inertial measurement unit between the two consecutive moments. Matched feature points in the two frames are extracted from the two frames respectively. A reprojection error of each feature point is calculated. The calculations are taken as nodes or edges of a general graph optimization algorithm to acquire optimized third pose change information for localization. The system includes a binocular vision localization device, and a binocular camera unit and an inertial measurement unit respectively connected thereto, a left-eye camera and a right-eye camera are symmetrically located on two sides of the inertial measurement unit.

Abstract: A method and device for controlling image display in a VR system, and a VR head mounted device. The method comprises: monitoring a synchronization signal of an image frame in a VR system and acquiring an original 2D image; sampling sensor data at a preset time point before a next synchronization signal arrives to obtain latest pose information of a tracked object; converting the original 2D image into a corresponding 3D image, and calculating a motion vector corresponding to each pixel point of the 3D image according to the latest pose information and pose information corresponding to the 3D image; performing position transformation on pixel points of the original 2D image based on the motion vector, and filling at pixel points of a vacant area appearing after the position transformation to obtain a target frame; and triggering display of the target frame when the next synchronization signal arrives.

Abstract: An input method and apparatus of a device. The method includes: tracking and recording movement of an eyeball gaze point of a user on a display screen of the device, to obtain a current eyeball gaze point movement trajectory; judging whether the current eyeball gaze point movement trajectory matches with a preset eyeball gaze point movement trajectory in a movement trajectory database; wherein the preset eyeball gaze point movement trajectories indicate paths of the movement of the eyeball gaze point on the display screen according to a preset length range within a preset time period; if matched, determining a corresponding input instruction by using the matched eyeball gaze point movement trajectory, and completing an input operation according to the input instruction; and if not matched, not conducting an input operation. The input method and apparatus of a device can conduct input according to the eyeball movement of the user.

Abstract: An input method, device and system applied to a mobile smart terminal. The method includes: establishing communication connection with a virtual reality device; collecting input information of a user on the mobile smart terminal; and generating a corresponding operating instruction according to the input information and a corresponding matching relationship between preset instruction and input information in a preset instruction database, and sending the generated operating instruction to the virtual reality device, to enable the virtual reality device to execute a corresponding operation according to the operating instruction. An input device and an input system corresponding to the method are also provided.

Abstract: Provided are graphics rendering method and apparatus of virtual reality, which include according to an acquired spatial position information and direction information of a head-mounted virtual reality device, rendering in accordance with a first angular resolution to generate a first image corresponding to the spatial position information and the direction information; according to an acquired position information of a human eye fixation point on the display screen, rendering in accordance with a second angular resolution to generate a second image corresponding to the position information of the human eye fixation point; and synthesizing the first image and the second image into a third image. Since the first angular resolution and the second angular resolution adopted in the present disclosure are lower angular resolutions, when rendering a virtual reality image, the calculating amount of the GPU may be effectively reduced, and the image rendering efficiency may be improved.

Abstract: Disclosed in the present application are a method and an apparatus for adjusting a VR interpupillary distance, which comprise: determining position information of a center point of human eye pupil according to a human eye image; performing position matching between the position information of the center point of the human eye pupil and position information of a lens optical axis of a VR device; and when a matching result is inconsistent, adjusting a lens pitch of the VR device, such that a position of the lens optical axis of the VR device matches a position of the center point of the human eye pupil.

Abstract: An unmanned aerial vehicle, a method for detecting a flight state thereof, and a wearable device (500) are disclosed. The method comprises: disposing a propeller operation state collector (302) for collecting an operation state signal of a propeller (301) on at least one support arm (303) of the UAV (S101); acquiring the operation state signal of the propeller (301) collected by the propeller operation state collector (302) (S102); processing the operation state signal to obtain an operation state of the propeller (301) (S103); and determining the flight state of the UAV according to the operation state of the propeller (301) (S104).

Abstract: An audio playback control method of a mobile terminal comprises: collecting proximity information of a user's hand within a preset time period by using a plurality of proximity sensors of a wireless earphone; acquiring information about whether each proximity sensor is shielded at each moment within the preset time period according to the proximity information; determining the order in which different proximity sensors are shielded according to the information about each proximity sensor being shielded; acquiring an operation trajectory of the user's hand according to the order in which different proximity sensors are shielded; and acquiring a corresponding audio playback operation instruction according to the operation trajectory and a preset trajectory instruction library, to realize the control over the audio playback of the mobile terminal.

Abstract: Discloses an earphone box and a control method thereof. The earphone box comprises a box body and a box cover, the box body is for containing an earphone and is connected to the box cover through a rotating shaft, and the box cover is rotatable relative to the box body and capable of being stabilized in a state of forming an angle with respect to the box body. The box body is provided therein with an angle detector which is capable of detecting a rotation angle of the rotating shaft and outputting a detected signal. The box body is further provided therein with an earphone box processor. The earphone box processor receives the detected signal, and when determining that a detected angle value indicated by the detected signal matches a preset angle value, outputs an operation instruction corresponding to the matched preset angle value.

Abstract: A method and device for processing image data are disclosed.

Abstract: Provided are graphics rendering method and apparatus of virtual reality, which include according to an acquired spatial position information and direction information of a head-mounted virtual reality device, rendering in accordance with a first angular resolution to generate a first image corresponding to the spatial position information and the direction information; according to an acquired position information of a human eye fixation point on the display screen, rendering in accordance with a second angular resolution to generate a second image corresponding to the position information of the human eye fixation point; and synthesizing the first image and the second image into a third image. Since the first angular resolution and the second angular resolution adopted in the present disclosure are lower angular resolutions, when rendering a virtual reality image, the calculating amount of the GPU may be effectively reduced, and the image rendering efficiency may be improved.

Abstract: A method for processing display data comprises: the host divides the display area into a central area and an edge area according to the field of view of a head-mounted display; segments each frame of the display data into first display data corresponding to the central area and second display data corresponding to the edge area; processes the first display data and the second display data according to a first transmission factor and a second transmission factor to obtain first transmission data and second transmission data and sends them to the head-mounted display; and the head-mounted display performs image reconstruction to the received first transmission data and second transmission data, to obtain the displayed image corresponding to the frame of display data, and outputs and display it.

Abstract: A method for processing display data and a virtual reality device. The method comprises: the host divides the display area into a central area and an edge area according to the field of view of a head-mounted display; segments each frame of the display data into first display data corresponding to the central area and second display data corresponding to the edge area; processes the first display data and the second display data according to a first transmission factor and a second transmission factor to obtain first transmission data and second transmission data and sends them to the head-mounted display; and the head-mounted display performs image reconstruction to the received first transmission data and second transmission data, to obtain the displayed image corresponding to the frame of display data, and outputs and display it. The virtual reality device comprises the above host and head-mounted display.