JP2007155370A - Head motion tracker - Google Patents

Head motion tracker Download PDF

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JP2007155370A
JP2007155370A JP2005347394A JP2005347394A JP2007155370A JP 2007155370 A JP2007155370 A JP 2007155370A JP 2005347394 A JP2005347394 A JP 2005347394A JP 2005347394 A JP2005347394 A JP 2005347394A JP 2007155370 A JP2007155370 A JP 2007155370A
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motion tracker
head motion
optical
sunlight
camera
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JP4692250B2 (en
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Kazuo Tawada
一穂 多和田
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Shimadzu Corp
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Shimadzu Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a head motion tracker which can be used without being adversely affected, even in outdoors with sunlight and in places with much disturbance light. <P>SOLUTION: The head motion tracker is an optical head motion tracker in which an LED marker disposed on a head mounted display device is recognized by a camera, and its position and angle are measured, and which detects the current position and the current angle of the head mounted display device, and is made up such that at least a portion of a wavelength band of the sunlight entering the camera is blocked by an optical filter or an optical film within the limits of allowing light of the LED marker to pass. Therefore, the sunlight is attenuated remarkably, and excessive disturbance light is eliminated, whereby the head motion tracker can be used even in the outdoors. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、例えば、救難飛行艇等の航空機の搭乗員やバーチャルリアリティ空間の体験者等が頭部に装着して使用するヘルメット型の頭部装着型表示装置（ヘルメットマウントディスプレイ）の位置や角度を検出するための光学式ヘッドモーショントラッカ（ＨＭＴ）に関するものである。   The present invention provides, for example, the position and angle of a helmet-type head-mounted display device (helmet-mounted display) that is used by being mounted on the head by a crew member of an aircraft such as a rescue flight boat or an experienced person in a virtual reality space. The present invention relates to an optical head motion tracker (HMT).

従来、例えば救難飛行艇による救難活動において、発見した救難目標を見失うことのないように、搭乗員の頭部に装着される頭部装着型表示装置により表示される照準画像と救難目標とが対応したとき、救難目標の位置を演算することが行われている。この演算を行うには、飛行艇の経度、緯度、高度、姿勢に加えて、飛行艇に対する搭乗員の頭部の向きと位置とを測定することが必要となる。また、頭部装着型表示装置の装着者に、その頭部の動きに応じて変化する画像を視認させることでバーチャルリアリティ空間を体験させる場合、その頭部の向きと位置とを測定することが必要となる。   Conventionally, for example, in a rescue operation by a rescue flying boat, the aiming image displayed by the head-mounted display device attached to the head of the crew corresponds to the rescue target so that the discovered rescue target is not lost. When it is done, the position of the rescue target is calculated. In order to perform this calculation, in addition to the longitude, latitude, altitude, and posture of the flying boat, it is necessary to measure the orientation and position of the crew member's head relative to the flying boat. In addition, when letting a wearer of a head-mounted display device experience a virtual reality space by visually recognizing an image that changes according to the movement of the head, the orientation and position of the head can be measured. Necessary.

このような頭部の向きと位置を３次元測定空間において測定するためのヘッドモーショントラッカとして、磁気方式のものと光学式のものがある。磁気方式のヘッドモーショントラッカとしては、磁気ソースを用いて周囲の空間に磁界を発生させておき、頭部装着型表示装置に固定した磁気センサにより磁気を測定し、測定された磁気データから磁気センサの現在位置や現在角度、ひいては頭部装着装置の現在位置や現在角度を検出する磁気測定方式のものが開示されている（特許文献１参照）。
磁気方式は、磁気センサが移動する空間に磁界が発生している限り特に制限なく使用することができるものの、磁気センサが移動する空間の磁気情報を予め測定し、磁気マッピングしておく必要がある。また、この空間内に金属等の磁気歪を生じる物体が存在すると、その影響で測定誤差を生じてしまうので、その補正を行う必要がある。 As head motion trackers for measuring the orientation and position of the head in a three-dimensional measurement space, there are a magnetic type and an optical type. As a magnetic head motion tracker, a magnetic source is used to generate a magnetic field in the surrounding space, the magnetism is measured by a magnetic sensor fixed to a head-mounted display device, and the magnetic sensor is measured from the measured magnetic data. A magnetic measurement system that detects the current position and current angle of the head and thus the current position and current angle of the head-mounted device is disclosed (see Patent Document 1).
Although the magnetic method can be used without any limitation as long as a magnetic field is generated in the space in which the magnetic sensor moves, it is necessary to measure in advance the magnetic information of the space in which the magnetic sensor moves and to perform magnetic mapping. . In addition, if an object that causes magnetostriction such as metal exists in this space, a measurement error occurs due to the influence, and it is necessary to correct it.

これに対し、光学式のものとして、例えば、頭部装着型表示装置に多数の紫外光反射板からなるマーカを取り付けてカメラでマーカを撮影し、その映像データを利用してマーカの位置や角度を測定するような光学測定によるものが開示されている（特許文献２参照）。
光学式のヘッドモーショントラッカは、磁気マッピングの必要がなく、また、金属等による影響を受けることはないので、磁気歪の影響を受けやすい環境や場所では光学式が使いやすい。
特開２００２−８１９０４号公報 特表平９−５０６１９４号公報 On the other hand, as an optical type, for example, a marker composed of a large number of ultraviolet light reflectors is attached to a head-mounted display device, and the marker is photographed with a camera. There is disclosed an optical measurement method for measuring (see Patent Document 2).
The optical head motion tracker does not require magnetic mapping and is not affected by metal or the like. Therefore, the optical head motion tracker is easy to use in an environment or place that is susceptible to magnetostriction.
JP 2002-81904 A JP-T 9-506194

しかし、上記した光学式ヘッドモーショントラッカは、太陽光やその反射光等の外乱光（ノイズ）の多い環境において使用すると、カメラ画像に写るマーカに対し外乱光の影響によりマーカ光量の低下やマーカ画像の変形等が発生し、マーカの誤認識、追従異常、検出精度の低下、ひいては検出不能等が生じることになる。従って、太陽光がある屋外や外乱光の多い場所では光学式のヘッドモーショントラッカは使用することが困難であった。   However, when the optical head motion tracker described above is used in an environment where there is a lot of disturbance light (noise) such as sunlight or its reflected light, the marker light amount decreases or the marker image is affected by the disturbance light on the marker reflected in the camera image. Deformation, etc., may cause marker misrecognition, follow-up abnormalities, a decrease in detection accuracy, and inability to detect. Therefore, it is difficult to use the optical head motion tracker outdoors where there is sunlight or where there is a lot of disturbance light.

そこで本発明は、上記の従来課題を解消し、太陽光がある屋外や外乱光の多い場所でも悪影響を受けることなく使用することのできるヘッドモーショントラッカを提供することを主たる目的とするものである。   SUMMARY OF THE INVENTION Accordingly, it is a primary object of the present invention to provide a head motion tracker that solves the above-described conventional problems and can be used without being adversely affected even outdoors where there is sunlight or where there is a lot of ambient light. .

上記目的を達成するため本発明では次のような技術的手段を講じた。即ち、本発明にかかるヘッドモーショントラッカは、頭部装着型表示装置に配置したＬＥＤマーカをカメラで認識してその位置や角度を測定することにより、頭部装着型表示装置の現在位置や現在角度を検出する光学式ヘッドモーショントラッカであって、ＬＥＤマーカの発光波長の透過を許容し、かつ、カメラに入射する太陽光の波長帯域の少なくとも一部を光学フィルタまたは光学フィルムで減衰するように形成されている構成とした。
ここでＬＥＤマーカには、太陽光の発光スペクトルで発光強度の弱い波長領域にて発光強度が大きくなるＬＥＤを用いるのが好ましい。 これによれば、光学フィルタや光学フィルムにＬＥＤマーカの発光波長の透過を許容し、かつ、カメラに入射する太陽光の波長帯域の少なくとも一部を光学フィルタまたは光学フィルムで減衰するようにする。これにより、カメラへの入射光のうちＬＥＤマーカの発光光の光量比を増大する。 In order to achieve the above object, the present invention takes the following technical means. That is, the head motion tracker according to the present invention recognizes the LED marker arranged on the head-mounted display device by the camera and measures the position and angle of the LED marker. Is an optical head motion tracker that detects the light emitted from the LED marker and allows at least part of the wavelength band of sunlight incident on the camera to be attenuated by an optical filter or film. It was set as the structure.
Here, as the LED marker, it is preferable to use an LED whose emission intensity increases in a wavelength region where emission intensity is weak in the emission spectrum of sunlight. According to this, the optical filter or the optical film is allowed to transmit the emission wavelength of the LED marker, and at least a part of the wavelength band of sunlight incident on the camera is attenuated by the optical filter or the optical film. Thereby, the light quantity ratio of the emitted light of an LED marker among the incident light to a camera is increased.

本発明によれば、光学フィルタ又は光学フィルムによりＬＥＤマーカからの発光光は透過するが、カメラに入射する外乱光である太陽光は減衰されるので、ＬＥＤマーカをカメラで確実に検出することができ、これにより屋外や外乱光の多い場所でもヘッドモーショントラッカを使用することができるといった優れた効果がある。   According to the present invention, the light emitted from the LED marker is transmitted by the optical filter or the optical film, but sunlight that is disturbance light incident on the camera is attenuated, so that the LED marker can be reliably detected by the camera. Therefore, there is an excellent effect that the head motion tracker can be used outdoors or in a place with a lot of disturbance light.

（その他の課題を解決するための手段及び効果）
上記発明において、ＬＥＤマーカの発光ピーク波長は９３０ｎｍ〜９６０ｎｍであることが好ましい。
太陽光は８００ｎｍ以上の波長は放射強度（発光強度）が弱くなっているので、発光波長が９３０ｎｍ〜９６０ｎｍであるＬＥＤマーカを用いることにより、太陽光の発光強度が大きい８００ｎｍ以下の太陽光を減衰させることで、外乱光（太陽光）を効果的に減衰させることができる。 (Means and effects for solving other problems)
In the said invention, it is preferable that the light emission peak wavelength of an LED marker is 930 nm-960 nm.
Since sunlight has a weak radiant intensity (emission intensity) at wavelengths of 800 nm or more, the use of an LED marker having an emission wavelength of 930 nm to 960 nm attenuates sunlight with a high emission intensity of 800 nm or less. Thus, disturbance light (sunlight) can be effectively attenuated.

上記発明において、カメラのレンズ前方に光学フィルタを配置するように構成するのがよい。
これにより、カメラに入射する外乱光を除去してＬＥＤマーカを確実に検出することができると共に、カメラレンズの前に光学フィルタを設置するだけでよいから、コンパクトに且つ経済的に形成することができる。 In the above invention, it is preferable that the optical filter is arranged in front of the lens of the camera.
As a result, the ambient light incident on the camera can be removed and the LED marker can be reliably detected, and it is only necessary to install an optical filter in front of the camera lens. it can.

上記発明において、例えば航空機のコクピットのように、光学式ヘッドモーショントラッカを使用する空間に入射する太陽光を、光学フィルムで覆うようにするのがよい。
これにより、使用空間に入射する太陽光を減衰して使用空間内での外乱光を低減することができ、ＬＥＤマーカをカメラで確実に検出することができる。 In the above invention, for example, sunlight incident on a space where an optical head motion tracker is used, such as a cockpit of an aircraft, may be covered with an optical film.
Thereby, sunlight incident on the use space can be attenuated to reduce disturbance light in the use space, and the LED marker can be reliably detected by the camera.

また、光学式ヘッドモーショントラッカを使用する空間に入射する太陽光を、光学フィルムで覆う場合、光学フィルムによる透過光量が２０％〜５０％になるように減衰するのが好ましい。
これにより、太陽光スペクトルの波長帯域３８０〜７８０ｎｍの可視光線の一部も透過して、使用空間内の暗室化を阻止することができる。 Moreover, when the sunlight which enters the space which uses an optical head motion tracker is covered with an optical film, it is preferable to attenuate so that the transmitted light amount by the optical film becomes 20% to 50%.
Thereby, a part of visible light with a wavelength band of 380 to 780 nm of the sunlight spectrum is also transmitted, and darkening in the use space can be prevented.

以下において、本発明の詳細を図に示した実施例に基づき説明する。図１は光学フィルタを用いた本発明にかかるヘッドモーショントラッカの第１の実施例を示す概略的な側面図であり、図２はその要部を示す拡大側面図であり、図３は光学フィルムを透過した太陽光とＬＥＤマーカの合成波長を説明するための図を示すものである。   The details of the present invention will be described below based on the embodiments shown in the drawings. FIG. 1 is a schematic side view showing a first embodiment of a head motion tracker according to the present invention using an optical filter, FIG. 2 is an enlarged side view showing an essential part thereof, and FIG. 3 is an optical film. The figure for demonstrating the synthetic | combination wavelength of the sunlight which permeate | transmitted and the LED marker is shown.

図１並びに図２では、光学式ヘッドモーショントラッカを航空機のコクピットＡに装着した第１の実施例を示すものであり、この光学式ヘッドモーショントラッカは搭乗員の頭部装着型表示装置１の表面に配置された発光ピーク波長が９３０ｎｍ〜９６０ｎｍである複数のＬＥＤマーカ２と、このＬＥＤマーカ２を認識するためにコクピットＡ内の空間上部に設けられたカメラ３とを含み、このカメラ３により、頭部装着型表示装置１に配置したＬＥＤマーカ２を認識してその位置や角度を測定することにより、頭部装着型表示装置１の現在位置や現在角度を検出するようになっている。
光学式ヘッドモーショントラッカによる現在位置や現在角度を検出するための手順については、従来より公知であるから、詳細な説明は省略する（例えば上述した特許文献２参照）。 FIGS. 1 and 2 show a first embodiment in which an optical head motion tracker is mounted on a cockpit A of an aircraft. This optical head motion tracker is a surface of a head mounted display device 1 for a crew member. A plurality of LED markers 2 having an emission peak wavelength of 930 nm to 960 nm, and a camera 3 provided in the upper space of the cockpit A for recognizing the LED marker 2, The current position and the current angle of the head-mounted display device 1 are detected by recognizing the LED marker 2 disposed on the head-mounted display device 1 and measuring the position and angle thereof.
Since the procedure for detecting the current position and the current angle by the optical head motion tracker is conventionally known, detailed description thereof is omitted (for example, see Patent Document 2 described above).

本実施例では、カメラ３のレンズ前方に太陽光の波長帯域の一部を遮断（カット）する光学フィルタが設けられている。図３の（ａ）は太陽光の発光スペクトルの波長分布を示し、図３の（ｂ）はＬＥＤマーカの発光波長を示すものであって、太陽光の放射強度の高い約８００ｎｍまでの波長帯域を、図３の（ｃ）で示すような光学フィルタ４で遮断するようにした。   In this embodiment, an optical filter that blocks (cuts) a part of the wavelength band of sunlight is provided in front of the lens of the camera 3. 3 (a) shows the wavelength distribution of the emission spectrum of sunlight, and FIG. 3 (b) shows the emission wavelength of the LED marker, which is a wavelength band up to about 800 nm where the radiation intensity of sunlight is high. Is blocked by an optical filter 4 as shown in FIG.

その結果、図３（ｄ）に示すように、カメラ２に入力される光は、放射強度の低い波長８００ｎｍ以上の著しく減衰された太陽光と、波長帯域９３０〜９６０ｎｍの放射強度の高いＬＥＤマーカの合成光となり、これにより、使用空間内での外乱光の発生をなくすることができてＬＥＤマーカ２をカメラ３で確実に検出することが可能となった。   As a result, as shown in FIG. 3 (d), the light input to the camera 2 includes significantly attenuated sunlight having a wavelength of 800 nm or more having a low emission intensity and an LED marker having a high emission intensity in the wavelength band of 930 to 960 nm. Thus, the generation of disturbance light in the use space can be eliminated, and the LED marker 2 can be reliably detected by the camera 3.

図４は光学フィルムを使用した本発明の別の実施例を示すヘッドモーショントラッカの概略的な側面図であり、図５は光学フィルムを透過した太陽光とＬＥＤマーカの合成波長を説明するための図である。
上記第１実施例における光学フィルタに代えて、光学式ヘッドモーショントラッカを使用する空間、即ち、コクピットＡ内の空間に入射する太陽光の波長帯域の一部を遮断（カット）する光学フィルム５が、コクピットＡを覆う透明なコクピットカバー６の表面に積層されている。
この光学フィルム５は図５の（ｃ）に示すように太陽光の約８００ｎｍまでの波長光を減衰し、透過光量が約２０〜５０％になるまで減衰するように構成されており、その結果、図５の（ｄ）に示すように、カメラ２に入力される光は、光学フィルム５を透過して著しく減衰された太陽光と、波長帯域９３０〜９６０ｎｍの放射強度の高いＬＥＤマーカの合成光となり、これにより、ヘッドモーショントラッカの使用空間であるコクピット内での外乱光をおさえることができ、ＬＥＤマーカ２をカメラ３で確実に検出することができる。 FIG. 4 is a schematic side view of a head motion tracker showing another embodiment of the present invention using an optical film, and FIG. 5 is a diagram for explaining the combined wavelength of sunlight and an LED marker transmitted through the optical film. FIG.
Instead of the optical filter in the first embodiment, an optical film 5 that blocks (cuts) a part of the wavelength band of sunlight incident on the space in which the optical head motion tracker is used, that is, the space in the cockpit A, is provided. The transparent cockpit cover 6 covering the cockpit A is laminated on the surface.
As shown in FIG. 5 (c), the optical film 5 is configured to attenuate the wavelength light of sunlight up to about 800 nm and attenuate the transmitted light amount to about 20 to 50%. As shown in FIG. 5 (d), the light input to the camera 2 is composed of sunlight that has been transmitted through the optical film 5 and significantly attenuated, and an LED marker having a high emission intensity in the wavelength band of 930 to 960 nm. As a result, disturbance light in the cockpit, which is the space used by the head motion tracker, can be suppressed, and the LED marker 2 can be reliably detected by the camera 3.

また、この実施例では、太陽光の約８００ｎｍまでの波長光の透過光量が約２０％〜５０％になるので、波長帯域３８０〜７８０ｎｍの可視光線の一部の透過も許容し、これによりコクピット内の暗室化を阻止することができる。   Further, in this embodiment, since the amount of transmitted light of the wavelength up to about 800 nm of sunlight is about 20% to 50%, the transmission of a part of visible light in the wavelength band of 380 to 780 nm is allowed, and thereby the cockpit The dark room inside can be prevented.

図６は更に別の実施例を示す概略的な側面図である。本実施形態では図４で示した第２実施例において、更に、第１実施例で示した光学フィルタ４を、図６に示すようにカメラ２のレンズ前方に配置するようにしている。これにより、図５の（ｄ）における約８００ｎｍまでの波長の光が除去されて図５の（ｅ）に示すようなＬＥＤマーカの波長光のみをカメラ２に入力させることができ、外乱光による悪影響をより効果的になくすることができる。   FIG. 6 is a schematic side view showing still another embodiment. In this embodiment, in the second example shown in FIG. 4, the optical filter 4 shown in the first example is further arranged in front of the lens of the camera 2 as shown in FIG. As a result, light having a wavelength up to about 800 nm in FIG. 5D can be removed, and only the wavelength light of the LED marker as shown in FIG. 5E can be input to the camera 2 due to disturbance light. Adverse effects can be eliminated more effectively.

上記実施例において、光学フィルタ４並びに光学フィルム５による太陽光の遮断波長帯域は約８００ｎｍとしたが、必ずしもその数値に特定されない。即ち、波長帯域９３０〜９６０ｎｍのＬＥＤマーカ２をカメラ３で確実に認識できる程度に太陽光を減衰できるのであればよい。
また、ＬＥＤマーカ２の発光波長が９３０ｎｍ〜９６０ｎｍ以外の波長帯域であるときは、その発光波長帯域については透過し、その他の波長帯域で太陽光を減衰することができる光学フィルタ、光学フィルムを用いるようにすればよい。 In the said Example, although the cutoff wavelength band of sunlight by the optical filter 4 and the optical film 5 was about 800 nm, it is not necessarily specified by the numerical value. That is, it is only necessary that the sunlight can be attenuated to such an extent that the LED marker 2 having the wavelength band of 930 to 960 nm can be reliably recognized by the camera 3.
Further, when the emission wavelength of the LED marker 2 is a wavelength band other than 930 nm to 960 nm, an optical filter or an optical film that transmits the emission wavelength band and can attenuate sunlight in the other wavelength band is used. What should I do?

本発明におけるフィルタには、例えば朝日分光社製の長波長カットフィルタ ＳＩＸ９６０と短波長カットフィルタ ＬＩＸ９３０とを使用することができる。
また光学フィルムは、例えば住友大阪セメント社製のＣＬＥＡＲＡＳ ＮＩＲ−ＮＴを使用することができる。
またＬＥＤマーカ用のＬＥＤには、浜松ホトニクス社製の赤外ＬＥＤ Ｌ９３３８を使用することができる。 As the filter in the present invention, for example, a long wavelength cut filter SIX960 and a short wavelength cut filter LIX930 manufactured by Asahi Spectroscopic Co., Ltd. can be used.
As the optical film, for example, CLEARAS NIR-NT manufactured by Sumitomo Osaka Cement Co., Ltd. can be used.
As the LED for the LED marker, an infrared LED L9338 manufactured by Hamamatsu Photonics Co., Ltd. can be used.

本発明は、光学式のヘッドモーショントラッカ全般に利用することができる。   The present invention can be used for all optical head motion trackers.

本発明にかかるヘッドモーショントラッカの第１の実施例を示す概略的な側面図。1 is a schematic side view showing a first embodiment of a head motion tracker according to the present invention. 上記実施例の要部を示す拡大側面図。The enlarged side view which shows the principal part of the said Example. 上記実施例の光学フィルタを透過した太陽光とＬＥＤマーカの合成波長を説明するための図。The figure for demonstrating the synthetic | combination wavelength of sunlight and the LED marker which permeate | transmitted the optical filter of the said Example. 本発明にかかるヘッドモーショントラッカの第２の実施例を示す概略的な側面図。FIG. 6 is a schematic side view showing a second embodiment of the head motion tracker according to the present invention. 第２実施例の光学フィルムを透過した太陽光とＬＥＤマーカの合成波長を説明するための図。The figure for demonstrating the synthetic | combination wavelength of sunlight and the LED marker which permeate | transmitted the optical film of 2nd Example. 更に別の実施例を示す概略的な側面図。The schematic side view which shows another Example.

符号の説明Explanation of symbols

Ａ コクピット
１ 頭部装着型表示装置
２ ＬＥＤマーカ
３ カメラ
４ 光学フィルタ
５ 光学フィルム
６ コクピットカバー
A Cockpit 1 Head-mounted display device 2 LED marker 3 Camera 4 Optical filter 5 Optical film 6 Cockpit cover

Claims (5)

頭部装着型表示装置に配置したＬＥＤマーカをカメラで認識してその位置や角度を測定することにより頭部装着型表示装置の現在位置や現在角度を検出する光学式ヘッドモーショントラッカであって、ＬＥＤマーカの発光波長透過を許容し、かつ、カメラに入射する太陽光の波長帯域の少なくとも一部を光学フィルタまたは光学フィルムで減衰するように形成することを特徴とする光学式ヘッドモーショントラッカ。   An optical head motion tracker that detects a current position and a current angle of a head-mounted display device by recognizing an LED marker arranged on the head-mounted display device with a camera and measuring its position and angle, An optical head motion tracker characterized in that the LED marker allows light emission wavelength transmission and is attenuated by an optical filter or an optical film at least part of the wavelength band of sunlight incident on the camera. ＬＥＤマーカの発光ピーク波長が９３０ｎｍ〜９６０ｎｍであることを特徴とする請求項１に記載の光学式ヘッドモーショントラッカ。   The optical head motion tracker according to claim 1, wherein the LED marker has a light emission peak wavelength of 930 nm to 960 nm. カメラのレンズ前方に光学フィルタを配置するようにしたことを特徴とする請求項１に記載の光学式ヘッドモーショントラッカ。   2. The optical head motion tracker according to claim 1, wherein an optical filter is disposed in front of the lens of the camera. 光学式ヘッドモーショントラッカの使用空間を前記光学フィルムで覆うように形成したことを特徴とする請求項１に記載の光学式ヘッドモーショントラッカ。   2. The optical head motion tracker according to claim 1, wherein a use space of the optical head motion tracker is covered with the optical film. 光学フィルムによる透過光量が２０％〜５０％になるように減衰したことを特徴とする請求項４に記載の光学式ヘッドモーショントラッカ。   5. The optical head motion tracker according to claim 4, wherein the optical head motion tracker is attenuated so that the amount of light transmitted through the optical film is 20% to 50%.
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