DE102021109083A1 - Tracking in the vehicle interior with a depth sensor in smart glasses - Google Patents

Abstract

The invention relates to a method for determining the 3D pose of data glasses in the interior of a vehicle, the data glasses having a depth sensor and/or a camera, comprising the steps of: - Deriving a static 3D reference map of the vehicle interior from a three-dimensional CAD model of the Vehicle interior in a vehicle-fixed coordinate system, the three-dimensional representation of static surfaces in the vehicle interior according to the CAD model being at least partially adopted, while dynamic objects are removed from the CAD model;- Saving the static 3D reference map in the data glasses or in their control unit; - repeatedly capturing the vehicle interior by the depth sensor and/or the camera; - detecting matching features in the captured vehicle interior data and in the static 3D reference map; and- determining a current 3D pose of the data glasses, which indicates their three-dimensional position and alignment in the vehicle-fixed coordinate system, based on the recognized matching features.

Description

technical field

The invention relates to a method for determining a 3D pose of data glasses worn by a user in the interior of a vehicle. The determined 3D pose of the data glasses in the vehicle-fixed coordinate system can be used in particular for the contact-analogous (i.e. based on real objects in the environment) display of information objects in the user's field of vision. The method can be used in a motor vehicle or another type of vehicle. The invention also relates to a correspondingly equipped vehicle and correspondingly designed data glasses.

Technical background

Data glasses are display devices that can be worn on a user's head in the manner of a visual aid, which are also known under the more general designation head-mounted display (HMD). Typically, smart glasses add useful display content to a real-world environment observed by the user. The real environment remains visible to the user through at least partially transparent display elements (augmented reality, AR). In a motor vehicle, for example, a parking aid can be realized in this way, the obstacles hidden by the body such as curbs, etc. contact-analogous, d. H. based on real surrounding objects represents.

For the integration of data glasses in augmented reality experiences in the vehicle, it is necessary to know the exact orientation and position of the data glasses in the vehicle, especially for contact-analog representation. For the determination of such an ego pose (referred to herein as a 3D pose), it is known, for example, to use cameras integrated in the data glasses in addition to the vehicle's own sensors.

However, the methods known in the prior art for determining 3D poses for data glasses are designed for static environments with as many features as possible that can be recognized by the cameras. The cameras integrated in the data glasses are used, for example, as part of a so-called SLAM process (Simultaneous Localization and Mapping) to generate a map of the surroundings of the data glasses, which in turn is recognized and used for tracking (i.e. 3D pose determination).

For a robust determination of the ego pose, data glasses are dependent on an environment that is as static and structured as possible, which can usually be easily achieved with data glasses applications in the open air in front of fixed examination objects such as bridges or buildings, but also inside buildings. However, if this is not the case, data glasses cannot track in a meaningful way.

A vehicle interior in particular therefore poses a major challenge for the data glasses in terms of tracking, with the use of depth sensors in particular next to the cameras for tracking hardly appearing possible. On the one hand there are many dynamically moving objects such as e.g. B. the steering wheel, the interior mirror or the occupants. If the data glasses now try to use these objects in the tracking (which happens automatically with known methods), this results in a very imprecise tracking result, which is practically unusable for safety-relevant AR applications with contact-analogous representation in a vehicle.

In addition, the glass panes in a car create many reflections that artificial, but non-existent, objects would create in a camera's images. Thus, a common real-time mapping would be highly error-prone, since dynamically moving and non-existent objects are used for mapping. In addition, the moving objects create a divergence during the tracking process, i. H. a significant difference between the previously created map and a subsequently recorded real-time environment of the data glasses.

It is the object of the present invention to specify a method for determining a 3D pose of data glasses in the interior of a vehicle, with which the problems described can be overcome. The data glasses should be able to have a depth sensor and/or a camera.

Disclosure of Invention

This object is achieved by a method according to claim 1, a correspondingly equipped and set up vehicle and a correspondingly equipped and set up data glasses according to the independent claims. Further developments are specified in the dependent claims. All further features and effects mentioned in the claims and the following description for the method also apply in relation to the vehicle and the data glasses, and vice versa.

According to a first aspect, a method for determining the 3D pose of data glasses in the interior of a vehicle is provided, which can in particular be a motor vehicle or any other land, air or water vehicle. The data glasses have a depth sensor and/or an optical camera. In this case, the depth sensor can be embodied, for example, as a radar, a lidar or a different type of distance sensor or time-of-flight sensor (TOF sensor).

• - Ableiten einer statischen 3D-Referenzkarte des Fahrzeuginnenraums von einem dreidimensionalen CAD-Modell des Fahrzeuginnenraums in einem fahrzeugfesten Koordinatensystem. Dabei wird die dreidimensionale Darstellung statischer Oberflächen im Fahrzeuginnenraum gemäß dem CAD-Modell zumindest teilweise übernommen. Hingegen werden dabei dynamische Objekte, d. h. solche Objekte bzw. Oberflächen des Fahrzeuginnenraums, die sich im fahrzeugfesten Koordinatensystem während der Fahrt dynamisch bewegen - wie z. B. der Lenkradkranz - aus dem CAD-Modell entfernt oder markiert, so dass sie vom weiteren Verfahren zur Ermittlung der 3D-Pose ausgeschlossen bleiben. Die statische 3D-Referenzkarte kann beispielsweise eine nahezu durchgehende dreidimensionale Flächendarstellung des Fahrzeuginnenraums und/oder eine dreidimensionale Darstellung von dessen einzelnen Bereichen und/oder Objekten wie der A-Säule, der Instrumententafel etc. enthalten.
• - Speichern der dadurch erhaltenen statischen 3D-Referenzkarte in der Datenbrille oder in deren Steuereinheit. Die Steuereinheit kann in der Datenbrille integriert sein, alternativ aber auch separat ausgebildet sein und drahtlos mit der Datenbrille zu deren Steuerung kommunizieren.
• - Wiederholtes Erfassen des Fahrzeuginnenraums durch den Tiefensensor und/oder durch die Kamera beim Tragen der Datenbrille durch einen Benutzer. Der Erfassungsschritt und die nachfolgenden Schritte können beispielsweise automatisch nach dem Aufsetzen der Datenbrille oder nach einer Aktivierung durch den Benutzer kontinuierlich ausgeführt oder in geeigneten Zeitabständen, die zum Tracking von Kopfbewegungen des Benutzers bemessen sind, wiederholt werden.
• - Erkennen übereinstimmender Merkmale - wie z. B. geometrischer Muster, Strukturen, Objekte, aber auch Oberflächeneigenschaften wie Reflexions- und/oder Absorptionseigenschaften etc. - durch den Vergleich der von dem Tiefensensor und/oder der Kamera der Datenbrille erfassten Fahrzeuginnenraumdaten mit der statischen 3D-Referenzkarte des Fahrzeuginnenraums; und
• - Ermitteln einer aktuellen 3D-Pose der Datenbrille, die deren dreidimensionale Position und deren dreidimensionale Ausrichtung im fahrzeugfesten Koordinatensystem angibt, anhand der erkannten übereinstimmenden Merkmale.

The procedure includes the following steps:

• - Deriving a static 3D reference map of the vehicle interior from a three-dimensional CAD model of the vehicle interior in a vehicle-fixed coordinate system. The three-dimensional representation of static surfaces in the vehicle interior according to the CAD model is at least partially adopted. On the other hand, dynamic objects, ie those objects or surfaces of the vehicle interior that move dynamically in the vehicle-fixed coordinate system while driving - such. B. the steering wheel rim - removed from the CAD model or marked so that they remain excluded from the further procedure for determining the 3D pose. The static 3D reference map can contain, for example, an almost continuous three-dimensional surface representation of the vehicle interior and/or a three-dimensional representation of its individual areas and/or objects such as the A-pillar, the instrument panel, etc.
• - Saving the resulting static 3D reference map in the data glasses or in their control unit. The control unit can be integrated in the data glasses, but alternatively it can also be designed separately and communicate wirelessly with the data glasses to control them.
• - Repeated detection of the vehicle interior by the depth sensor and / or by the camera when wearing the data glasses by a user. The detection step and the subsequent steps can be carried out continuously, for example, automatically after the data glasses are put on or after activation by the user, or repeated at suitable time intervals that are measured for tracking head movements of the user.
• - Recognition of matching characteristics - such. B. geometric patterns, structures, objects, but also surface properties such as reflection and / or absorption properties, etc. - by comparing the vehicle interior data recorded by the depth sensor and / or the camera of the data glasses with the static 3D reference map of the vehicle interior; and
• - Determining a current 3D pose of the data glasses, which indicates their three-dimensional position and their three-dimensional alignment in the vehicle-fixed coordinate system, based on the recognized matching features.

An idea on which the invention is based is therefore two-sided. On the one hand, the map of the surroundings of the data glasses (referred to herein as a static 3D reference map) is not created in real time, but is derived from the CAD data of the vehicle interior. Dynamic objects can be marked or removed in the CAD data in order to be ignored in the 3D pose determination. The 3D reference map therefore only consists of the static objects of the vehicle interior, which can be defined individually for each vehicle model. This step therefore only has to be done once for each model. On the other hand, no environment map is continuously recorded during the tracking (i.e. the 3D pose determination), but the static 3D reference map initially created is used, since it can be assumed in the vehicle interior that the environment will not change.

This makes it possible to track only on static objects in the vehicle interior - such as the A-pillar, the dashboard, etc. - which enables precise tracking results without being distorted by dynamically moving objects. A further advantage of deriving the 3D reference map of the vehicle interior from the CAD data of the vehicle is that the 3D reference map - like the CAD data of the vehicle - is thereby known directly in the coordinate system of the vehicle. If, on the other hand, a reference map, which is called an environment map in the prior art, is recorded or created in real time (e.g. with SLAM), it initially refers to a randomly defined coordinate system. i.e. a subsequent calibration procedure would be necessary to bring the conventional reference map/environment map into the vehicle's coordinate system. By using the CAD data, this calibration step is no longer necessary and 3D objects can be displayed directly in the vehicle.

In addition, the detection area for the 3D pose determination can be significantly limited via the CAD data of the vehicle, which would not be possible without knowledge of the geometric data of the vehicle in the vehicle's own coordinate system. The present method determines the 3D pose of the data glasses directly in relation to the vehicle coordinate system. This Viewpoint makes it possible to clearly and precisely limit the 3D area of the vehicle interior to be tracked. For example, it is possible to dynamically adapt the detection range of the data glasses in such a way that the person is not detected via a known sitting position and orientation. This leaves more information content in the point cloud, which can be used for tracking. Further details are given below.

According to one embodiment in which the vehicle interior is detected by the depth sensor, the static 3D reference map of the vehicle interior includes not only geometric information about the static surfaces but also information about their reflection and/or absorption properties and/or their surface properties. In this embodiment, reflection and/or absorption properties and/or a surface condition of the recorded surfaces are determined from the recorded vehicle interior data and compared with the relevant information of the static 3D reference map. In this embodiment, reflection and/or absorption properties and/or the surface properties of surfaces in the vehicle interior can thus be identified as matching features, and not just geometric features.

This embodiment is based on the knowledge that, in addition to the depth data, depth sensors also supply information about the reflection intensity of the detected objects and surfaces. By evaluating the reflection intensity, for example, conclusions can be drawn about the material, the color and the texture of the object via the physical behavior when the light beam is reflected. Since the CAD data of the vehicle are known and are contained in the static 3D reference map in the present method, data on materials and colors are also available. These can also be used for tracking the data glasses, which improves the comparison between the 3D reference map and the recorded sensor data.

In particular, a simpler and more robust determination of the initial pose of the data glasses is possible because localization methods typically require an estimate of an initial pose of the data glasses. In addition, the reflection and absorption properties of the various surfaces in the vehicle interior are known. These properties can also be used for localization: For example, it is known that depth sensors cannot track on smooth and shiny surfaces. This information can be used, for example, to exclude displays and window panes from tracking. In addition, light/dark transitions and thus contrast differences can be detected in this embodiment.

In a further development of the above embodiment, the matches recognized in the reflection and/or absorption properties and/or the surface quality are used to roughly determine a 3D initial pose of the data glasses. A three-dimensional sub-area of the vehicle interior can then be delimited using the roughly determined 3D initial pose of the data glasses, in which a more precise determination of the current 3D pose is carried out by recognizing matching geometric features. For example, based on the roughly determined 3D initial pose of the data glasses, a sub-area of the vehicle interior can be delimited, which can be searched for matching geometric features in a sufficiently short time using a comparatively complex pattern recognition method.

Furthermore, in a specific embodiment, when deriving the static 3D reference map of the vehicle interior from the CAD model, smooth and shiny surfaces, in particular display surfaces and window panes, are removed from the CAD model or marked so that they are excluded from the further process of 3D pose determination stay. In this way, acquisition data from the depth sensor and the camera originating from these surfaces can be disregarded when determining the current 3D pose of the data glasses. In this way, apparent objects caused by reflections can be ignored during tracking, making tracking more precise and better.

In particular, when deriving the static 3D reference map of the vehicle interior from the CAD model for static objects of the vehicle interior, their essentially complete three-dimensional surface representation according to the CAD model can be retained.

In a specific embodiment, the vehicle is designed to transmit data to the data glasses or their control unit when the data glasses are worn by a user in the vehicle. This can be, for example, a wireless transmission using a communication standard suitable in the vehicle, such as Wifi (WLAN), Bluetooth or NFC (Near Field Communication). The static 3D reference map of the vehicle interior derived from the CAD model of the vehicle interior is in this Ausgestal stored in the vehicle. The presence or wearing of the data glasses in the vehicle is automatically recognized by the vehicle, whereupon the vehicle transmits the static 3D reference map of its vehicle interior to the data glasses or their control unit. In this way, each pair of data glasses brought into the vehicle by the occupants can be supplied with the individual static 3D reference map of the vehicle interior and thereby be enabled for precise tracking in the vehicle according to the method presented here.

In a further development of this embodiment, current vehicle data about the set position of adjustable static elements, in particular of vehicle seats, of the vehicle interior and/or about a detected seat occupancy is provided in the vehicle. A detection range of the depth sensor or the camera of the data glasses and/or the static 3D reference map of the vehicle interior are updated and/or supplemented here in real time by using this vehicle data. As a result, in particular those three-dimensional spatial regions that can be or are actually occupied by occupants sitting on vehicle seats can be removed from the static 3D reference map and/or from the detection range of the depth sensor and/or the camera. In this way, those spatial areas that are occupied by moving vehicle occupants and could therefore make tracking more difficult or even falsify can remain unconsidered when determining the current 3D pose of the data glasses (tracking).

In particular, the data glasses can include a display device for displaying information objects in the user's field of vision, with information objects being displayed to the user in a contact-analogous manner (i.e. based on real objects in and around the vehicle) using the respectively determined 3D pose of the data glasses in the vehicle-fixed coordinate system.

In particular, the steps of capturing the vehicle interior, recognizing matching features and determining the current 3D pose of the data glasses when the user wears the data glasses in the vehicle can be repeated continuously or at suitable time intervals that are measured to track the user's head movements .

According to a further aspect, a vehicle, in particular a motor vehicle or any other land, air or water vehicle, is provided. The vehicle is designed to transmit data to the data glasses or their control unit while the data glasses are being worn by a user in the vehicle. Furthermore, the vehicle has an on-board control unit that is set up to carry out at least some of the steps of a method of the type presented here.

• - eine Anzeigeeinrichtung, die zum kontaktanalogen Darstellen von Informationsobjekten im Blickfeld eines Benutzers ausgebildet ist;
• - einen Tiefensensor und/oder eine Kamera, die zur Erfassung einer Umgebung der Datenbrille ausgebildet ist/sind; und
• - eine Steuereinheit, die zum Ausführen zumindest einiger der Schritte eines Verfahrens der hierin dargelegten Art eingerichtet ist.

According to a further aspect, data glasses are provided, comprising:

• - A display device, which is designed for the contact-analogous representation of information objects in the field of view of a user;
• - a depth sensor and/or a camera, which is/are designed to capture an area surrounding the data glasses; and
• - a control unit configured to carry out at least some of the steps of a method of the type set forth herein.

The execution of the steps of the method presented here can in principle be distributed arbitrarily to the vehicle and the data glasses worn in it.

character list

• 1 eine schematische perspektivische Darstellung einer Datenbrille gemäß einem Ausführungsbeispiel der Erfindung;
• 2 ein Flussdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel der Erfindung zum Ermitteln einer 3D-Pose der Datenbrille der 1 im Innenraum eines Fahrzeugs.

The above aspects of the invention and its embodiments and specific configurations are explained in more detail below with reference to the examples shown in the attached drawings. For the sake of clarity, the drawings are kept purely schematic: they are therefore not to be understood as true to scale. Show it:

• 1 a schematic perspective view of data glasses according to an embodiment of the invention;
• 2 a flowchart of a method according to an embodiment of the invention for determining a 3D pose of the data glasses 1 in the interior of a vehicle.

Description of Embodiments

1 1 schematically shows data glasses 1 according to an exemplary embodiment of the invention. In this example, it is a head-mounted display (HMD) in the form of glasses or visual aids with a display device that has two display elements 2a and 2b, each for one eye of a user (not shown). The display elements 2a and 2b can, for example, be transparent glasses with integrated waveguides for displaying information objects in the user's field of vision, with any other technology suitable for data glasses being able to be used in the present case.

In this example, the data glasses 1 are designed to be worn on the user's nose like a conventional pair of glasses by resting on the user's nose with a connecting piece 3 arranged between the display elements 2a and 2b and with two side brackets 4a and 4b fixed to the user's ears.

In this example, the data glasses 1 also include at least one depth sensor 5, which is designed to detect a spatial region in front of the display elements 2a and 2b, ie in the user's field of vision. Furthermore, the data glasses 1 have a control unit 6 which is designed to read out the depth sensor 5, for wireless communication in both directions with a vehicle (not shown) and for controlling the display device. Purely exemplary are in 1 the at least one depth sensor 5 and the control unit 6 are arranged in the connecting piece 3, whereby these and optionally also other components of the data glasses 1, such as optical cameras, energy storage, etc., can alternatively or additionally also be integrated in the brackets 4a and 4b.

The data glasses 1 (i.e. their display device and control unit 6) are designed for the contact-analog display of content objects and are therefore suitable for augmented reality applications, such as e.g. B. visual parking aid and much more, in one vehicle. For this it is necessary to know the exact orientation and position (referred to herein as 3D pose) of the data glasses 1 in the vehicle.

2 shows schematically a flow chart of a method according to an embodiment of the invention for determining a 3D pose of the data glasses 1 of FIG 1 in the interior of a vehicle. In this example, the method steps S1 and S2 described below can be carried out purely by way of example in an on-board control unit (not shown), while the cyclically repeated steps S3 to S5 can be implemented in the control unit 6 of the data glasses 1 . For this purpose, for example, a corresponding computer program can be loaded into the control unit 6 in order to be executed by it.

In a first step S1, a static 3D reference map of the vehicle interior is derived from a three-dimensional CAD model of the vehicle interior in a vehicle-fixed coordinate system. The three-dimensional representation of static surfaces in the vehicle interior according to the CAD model is at least partially adopted. On the other hand, dynamically moving objects in the vehicle interior, such as B. the steering wheel rim, removed from the CAD model or marked so that they remain excluded from the further process for determining the 3D pose. The static 3D reference map can contain, for example, an almost continuous three-dimensional surface representation of the vehicle interior and/or a three-dimensional representation of its individual areas and/or objects such as the A-pillar, the instrument panel, etc. In this example, the static 3D reference map obtained in this way is first stored in the vehicle in an on-board memory or an on-board control unit.

In a further step S2, in this example, the vehicle automatically recognizes that one of its occupants, for example a driver or a passenger, is wearing the data glasses 1 and transmits the static 3D reference map to the data glasses 1 or their control unit 6 by wireless communication .

In a further step S3, the vehicle interior is detected by the depth sensor 5 of the data glasses 1. The detection step and the subsequent steps can be carried out continuously, for example, automatically after the data glasses are put on or after activation by the user, or repeated at suitable time intervals that are measured for tracking head movements of the user.

In a further step S4, the vehicle interior data recorded by the depth sensor 5 of the data glasses 1 in step S3 are compared with the static 3D reference map of the vehicle interior in order to identify matching features—such as, for example, B. geometric patterns, structures, objects, but also surface properties such as reflection and / or absorption properties, etc. - to recognize.

In a further step S5, a current 3D pose of the data glasses 1, which indicates their three-dimensional position and their three-dimensional orientation in the vehicle-fixed coordinate system, is determined using the matching features recognized in step S4. Steps S3 to S5 can be carried out one after the other or also at least partially in parallel with one another (ie in advance). this is in 2 indicated by a dashed arrow line.

The method can be ended automatically, for example, when the data glasses 1 are removed or when leaving the vehicle, or, alternatively, by a corresponding command from the user. The same also applies to starting the method from step S2 or S3.

In short: a static 3D reference map of the interior (also called environment map) for the vehicle model used once derived from the CAD data of the vehicle. Only static objects are considered in this step. The static 3D reference map is transferred to the data glasses. Inside the vehicle, only this environment map, once created, is subsequently used for tracking. The 3D pose of the data glasses 1 (also called the ego pose) inside the vehicle can be precisely derived from the detected static objects (e.g. A-pillar, dashboard, etc.).

To avoid repetition, reference is made to the detailed description above and in the claims for further details, developments and effects of this method.

Reference List

1

data glasses

2a, 2b

display elements provided for each eye of the user

3

connector

4a, 4b

side brackets

5

depth sensor

6

control unit

Claims (11)

Method for determining the 3D pose of data glasses (1) in the interior of a vehicle, the data glasses (1) having a depth sensor (5) and/or a camera and the method comprising the following steps: - (S1) Deriving a static 3D reference map of the vehicle interior from a three-dimensional CAD model of the vehicle interior in a vehicle-fixed coordinate system, the three-dimensional representation of static surfaces in the vehicle interior according to the CAD model being at least partially adopted, while dynamic objects from the CAD removed or marked so that they remain excluded from further proceedings; - (S2) storing the static 3D reference map obtained in this way in the data glasses or in their control unit; - (S3) repeated detection of the vehicle interior by the depth sensor (5) and / or the camera when wearing the data glasses (1) by a user; - (S4) detecting matching features in the captured vehicle interior data and in the static 3D reference map; and - (S5) determining a current 3D pose of the data glasses (1), which indicates their three-dimensional position and orientation in the vehicle-fixed coordinate system, based on the recognized matching features. procedure after claim 1 , wherein the static 3D reference map of the vehicle interior also includes information about their reflection and/or absorption properties and/or about their surface properties in addition to geometric information about the static surfaces; - The vehicle interior is detected by the depth sensor (5); - Determined from the detected vehicle interior data reflection and / or absorption properties and / or surface characteristics of the detected surfaces and compared with the relevant information on the static 3D reference map and possibly recognized as matching features. procedure after claim 2 , wherein - the identified matching features with regard to reflection and/or absorption properties and/or surface quality are used to roughly determine a 3D initial pose of the data glasses (1); and - subsequently a three-dimensional partial area of the vehicle interior is delimited using the roughly determined 3D initial pose of the data glasses (1), in which a more precise determination of the current 3D pose is carried out by recognizing matching geometric features. Method according to any one of the preceding claims, wherein - When deriving the static 3D reference map of the vehicle interior from the CAD model, smooth and shiny surfaces, in particular display surfaces and window panes, are removed from the CAD model or marked so that they remain excluded from the further process. Method according to one of the preceding claims, wherein when deriving the static 3D reference map of the vehicle interior from the CAD model - For static objects of the vehicle interior whose substantially complete three-dimensional surface representation is retained according to the CAD model. Method according to one of the preceding claims, wherein - the vehicle is designed to transmit data to the data glasses (1) or their control unit (6) when the data glasses (1) are worn in the vehicle; - the 3D static reference map of the vehicle derived from the CAD model of the vehicle interior witness interior is stored in the vehicle; - The presence or wearing of the data glasses (1) in the vehicle is recognized by the vehicle, whereupon the vehicle transmits the static 3D reference map of its vehicle interior to the data glasses (1) or their control unit (6). procedure after claim 6 , wherein current vehicle data about the set position of adjustable static elements, in particular of vehicle seats, in the vehicle interior and/or about a detected seat occupancy are provided; and - the static 3D reference map of the vehicle interior and/or a three-dimensional detection area of the depth sensor (5) and/or the camera are updated and/or supplemented or delimited in real time by using this vehicle data; - wherein preferably those three-dimensional spatial areas that can be or are actually occupied by occupants sitting on vehicle seats are removed from the static 3D reference map and/or from the detection range of the depth sensor (5) and/or the camera. Method according to any one of the preceding claims, wherein - The data glasses (1) comprises a display device for displaying information objects in the field of view of the user; and - Information objects are presented to the user in a contact-analogous manner using the respectively determined 3D pose of the data glasses (1) in the vehicle-fixed coordinate system. Method according to any one of the preceding claims, wherein - the steps of capturing the vehicle interior, recognizing matching features and determining the current 3D pose of the data glasses (1) when the user wears the data glasses (1) in the vehicle continuously or at predetermined time intervals, which are used to track the user's head movements are measured, to be repeated. Vehicle, in particular a motor vehicle, which - is designed to transmit data to the data glasses (1) or their control unit (6) while the data glasses (1) are being worn by a user in the vehicle; and - has an on-board control unit, which is configured to carry out at least some of the steps of a method according to any one of Claims 1 until 9 is set up. Data glasses (1), comprising: - a display device which is designed for the contact-analogous display of information objects in the field of view of a user; - A depth sensor (5) and/or a camera, which is/are designed to detect an area surrounding the data glasses (1); and - a control unit (6) adapted to carry out at least some of the steps of a method according to any one of Claims 1 until 9 is set up.

Images