WO2016051431A1 - 入出力装置、入出力プログラム、および入出力方法 - Google Patents
入出力装置、入出力プログラム、および入出力方法 Download PDFInfo
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- WO2016051431A1 WO2016051431A1 PCT/JP2014/005005 JP2014005005W WO2016051431A1 WO 2016051431 A1 WO2016051431 A1 WO 2016051431A1 JP 2014005005 W JP2014005005 W JP 2014005005W WO 2016051431 A1 WO2016051431 A1 WO 2016051431A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- H04N13/344—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/361—Reproducing mixed stereoscopic images; Reproducing mixed monoscopic and stereoscopic images, e.g. a stereoscopic image overlay window on a monoscopic image background
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/64—Constructional details of receivers, e.g. cabinets or dust covers
Definitions
- the present invention relates to an input / output device, an input / output program, and an input / output method. More specifically, the present invention relates to an input / output device, an input / output program, and an input / output method capable of easily manipulating a stereoscopic image.
- Patent Document 1 discloses a computer graphics that displays a high-quality image on a screen at high speed, that is, a high-speed image generation and display method.
- the high-speed image generation and display method described in Patent Literature 1 is a high-speed image generation and display method for projecting and displaying an object having a three-dimensional structure on a two-dimensional screen, and the constituent surface of the object is a region in the target coordinate system.
- the size of the object is hierarchically described as at least one element, and is displayed in the target coordinate system from the origin or viewpoint of the display reference coordinate system when projecting the constituent plane of the target when viewed from an arbitrary viewpoint onto the two-dimensional screen.
- the degree of hierarchy is set with the distance to an arbitrary point of the target being set as at least one parameter.
- Patent Document 2 discloses a stereoscopic image generation method and a stereoscopic image generation apparatus that efficiently generate a stereoscopic video without burden on an observer.
- object data to be planarly displayed among objects composed of polygons having three-dimensional coordinates is displayed in the standard camera coordinate system data with the reference camera as the origin.
- the data of the object in the right-eye parallax camera coordinate system is rendered in the video memory as the image data for the right eye, and the data of the object in the reference camera coordinate system and the data of the object in the parallax camera coordinate system for the left eye
- image data draw in video memory and combine right-eye image data and left-eye image data drawn in video memory Te, and displaying an image with mixed stereoscopic object in a plan view object in the stereoscopic display device.
- Patent Document 3 discloses a method using face recognition and gesture / position recognition techniques.
- the method described in Patent Document 3 is a method for applying an attribute indicating a user's temperament to a visual display, which includes a step of rendering the user's visual display and a step of receiving physical space data.
- the data is representative of the user in physical space, the step of analyzing at least one detectable feature to infer the user's temperament, and an attribute indicative of the user's temperament Applying to the display.
- Patent Document 4 discloses a system and method for supplying a multi-mode input to a space or gesture calculation system.
- the system disclosed in Patent Literature 4 includes an input device and a detector that is coupled to a processor and detects the orientation of the input device, and the input device has a plurality of mode orientations corresponding to the orientation.
- Patent Document 5 discloses a system, method, and computer-readable medium for manipulating virtual objects.
- the method described in Patent Document 5 is a method for operating a virtual object in a virtual space, the step of determining at least one controller used by a user to operate the virtual object, and the controller as a cursor in the virtual space.
- a method is disclosed that includes mapping, determining a controller input indicating that a user operates a virtual object with a cursor, and displaying a result of the operation.
- Patent Document 6 In Japanese Patent Application Laid-Open No. 2012-106005 (Patent Document 6), an observer of an image display device obtains a feeling as if it can directly operate a stereoscopic image that does not actually exist.
- An image display device, a game program, and a game control method are disclosed.
- the image display device described in Patent Literature 6 includes an image display unit that displays a parallax image on a display screen, and a virtual spatial coordinate of a stereoscopic image that is recognized between the display screen and the observer by an observer of the parallax image.
- Patent Document 7 discloses a head mounted display having a depth sensor.
- the head mounted display discloses a yoga instruction or a game simulator.
- An input / output device includes a display device capable of generating a stereoscopic image, a depth sensor that measures a distance to an object, and a control unit that performs display on the display device according to the depth sensor.
- the detection area of the sensor consists of a measurement area that is wide and curved in the depth direction of the depth sensor, and has a curvature radius on the far side in the depth direction of the depth sensor and a curvature radius on the near side in the depth direction of the depth sensor.
- the radius of curvature on the far side is different from the radius of curvature on the near side. Therefore, it is possible to set a radius of curvature on the near side that is larger than the radius of curvature on the far side where the arm is extended. As a result, the user can operate smoothly on the near side and can be detected by the depth sensor. Therefore, the user can operate smoothly based on ergonomics.
- the input / output device is the input / output device according to one aspect, wherein the control unit may cause the display device to display the detection locus of the detection region along the far radius of curvature by linear movement.
- the control unit can display the detection locus along the far radius of curvature on the display device by linear movement. That is, when the user extends his / her hand to the maximum, the user's hand moves the radius of curvature on the far side around the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control unit recognizes it as a straight line and displays it on the display device with a linear movement. That is, the user can operate based on ergonomics.
- the input / output device is the input / output device according to one aspect or the second aspect, wherein the control unit linearly moves the detection locus of the detection region along the radius of curvature on the near side to the display device. May be displayed.
- the control unit can display the detection locus along the curvature radius on the near side on the display device by linear movement. That is, when the user bends his / her hand, the user's hand moves around the radius of curvature near the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control unit recognizes it as a straight line and displays it on the display device with a linear movement. That is, the user can operate based on ergonomics.
- An input / output device is the input / output device according to the third aspect of the invention, wherein the radius of curvature on the far side may be smaller than the radius of curvature on the near side.
- the input / output device can display the linear movement on the display device without making the user aware of it.
- the input / output device is the input / output device according to the fourth aspect of the present invention, wherein the curved measurement region may be a three-dimensional region including both the vertical direction and the horizontal direction.
- An input / output device is the input / output device according to the fifth aspect of the present invention, wherein the display device may be a head mounted display.
- the input / output device is small and wearable, for example, like glasses, it can be easily carried.
- the head mounted display is small, versatility and convenience can be enhanced.
- An input / output program includes a display process capable of generating a stereoscopic image, a depth sensor process for measuring a distance to an object, and a control process for displaying the display process according to the depth sensor process.
- the detection area of the depth sensor process includes a curved measurement area having a width in the depth direction of the depth sensor process, and a curvature radius on the far side in the depth direction in the depth sensor process, and the depth direction in the depth sensor process. The radius of curvature on the near side is different.
- the radius of curvature on the far side is different from the radius of curvature on the near side. Therefore, it is possible to set a radius of curvature on the near side that is larger than the radius of curvature on the far side where the arm is extended. As a result, the user can operate smoothly on the near side and detect the depth sensor process.
- the input / output program according to an eighth aspect of the present invention is the input / output program according to another aspect, wherein the control process may cause the display process to display the detection locus of the detection area along the radius of curvature on the far side by linear movement. .
- the control process can display the detection locus along the radius of curvature on the far side by linear movement in the display process. That is, when the user extends his / her hand to the maximum, the user's hand moves the radius of curvature on the far side around the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control process recognizes it as a straight line and causes the display process to display it with a linear movement. That is, the user can operate based on ergonomics.
- the input / output program according to the ninth invention is the input / output program according to another aspect or the eighth invention, in which the control process linearly displays the detection locus of the detection region along the radius of curvature on the near side in the display process. You may display by movement.
- the control process can display the detection area along the radius of curvature on the near side by linear movement in the display process. That is, when the user bends his / her hand, the user's hand moves around the radius of curvature near the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control process recognizes it as a straight line and causes the display process to display it with a linear movement. That is, the user can operate based on ergonomics.
- An input / output program according to a tenth aspect of the invention is the input / output program according to the ninth aspect of the invention from another aspect, wherein the far-side curvature radius may be smaller than the near-side curvature radius.
- the input / output program can display the linear movement in the display process without making the user aware of it.
- the input / output method includes a display step capable of generating a stereoscopic image, a depth sensor step of measuring a distance to the object, a control step of performing display on the display step according to the depth sensor step, And the detection area of the depth sensor process has a curved measurement area having a width in the depth direction of the depth sensor process, and a curvature radius on the far side in the depth direction in the depth sensor process, and the depth in the depth sensor process The radius of curvature on the near side of the direction is different.
- the radius of curvature on the far side is different from the radius of curvature on the near side. Therefore, it is possible to set a radius of curvature on the near side that is larger than the radius of curvature on the far side where the arm is extended. As a result, the user can operate smoothly on the near side and detect the depth sensor process.
- An input / output method is the input / output method according to another aspect, wherein the control step displays the detection locus of the detection region along the radius of curvature on the far side by linear movement in the display step. Good.
- the control process can display the detection area along the radius of curvature on the far side by linear movement in the display process. That is, when the user extends his / her hand to the maximum, the user's hand moves the radius of curvature on the far side around the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control process recognizes it as a straight line and displays it in the display process by linear movement. That is, the user can operate based on ergonomics.
- the input / output method according to the thirteenth invention is the input / output method according to still another aspect or the twelfth invention, wherein the control step uses the detection locus of the detection region along the radius of curvature on the near side as a display step. It may be displayed by linear movement.
- the control process can display the detection area along the radius of curvature on the near side by linear movement in the display process. That is, when the user bends his / her hand, the user's hand moves around the radius of curvature near the shoulder. As a result, although the user intends to move in a straight line, the user actually moves with a radius of curvature. Therefore, the control process recognizes it as a straight line and displays it in the display process by linear movement. That is, the user can operate based on ergonomics.
- the input / output method according to the fourteenth aspect of the present invention is the input / output method according to the thirteenth aspect of the present invention from yet another aspect, wherein the radius of curvature on the far side may be smaller than the radius of curvature on the near side.
- the input / output method can display the linear movement in the display process without making the user aware of it.
- FIG. 7 is a top view of FIG. 6.
- FIG. 7 is a side view of FIG. 6.
- FIG. 15 is a schematic diagram illustrating another example of the operation region described in FIGS. 12 to 14.
- FIG. 15 is a schematic diagram illustrating another example of the operation region described in FIGS. 12 to 14.
- FIG. 15 is a schematic diagram illustrating another example of the operation region described in FIGS. 12 to 14.
- FIG. 15 is a schematic diagram illustrating another example of the operation region described in FIGS. 12 to 14.
- the present invention is not limited to the eyeglass display device described below, but can be applied to other input / output devices, display devices, televisions, monitors, projectors, and the like.
- FIG. 1 is a schematic external front view showing an example of the basic configuration of a spectacle display device 100 according to an embodiment
- FIG. 2 is a schematic external perspective view showing an example of the spectacle display device 100.
- the glasses display device 100 is a glasses-type display device. As will be described later, the eyeglass display device 100 is used by being worn on the user's face.
- the eyeglass display device 100 mainly includes an eyeglass unit 200, a communication system 300, and an operation system 400.
- the eyeglass unit 200 includes an eyeglass frame 210, a pair of transflective displays 220, and a pair of display adjustment mechanisms 600.
- the spectacle frame 210 mainly includes a rim unit 211 and a temple unit 212.
- a pair of transflective displays 220 is supported by the rim unit 211 of the spectacle frame 210.
- the rim unit 211 is provided with a pair of display adjustment mechanisms 600.
- the rim unit 211 is provided with an infrared detection unit 410 and a unit adjustment mechanism 500. Details of the unit adjustment mechanism 500 will be described later.
- the pair of display adjustment mechanisms 600 can adjust the angle and position of the pair of transflective displays 220 as will be described later. Details of the pair of display adjustment mechanisms 600 will be described later.
- the pair of transflective displays 220 is provided in the pair of display adjustment mechanisms 600 of the rim unit 211 in the glasses display device 100.
- the pair of display adjustment mechanisms 600 of the unit 211 may be provided with lenses such as a normal sunglasses lens, an ultraviolet cut lens, or a spectacle lens, and may be provided with one transflective display 220 or a pair of transflective displays 220. Further, the transflective display 220 may be embedded in a part of the lenses. Further, although the pair of display adjustment mechanisms 600 are provided on the side portions of the transflective display 220, the present invention is not limited to this and may be provided around or inside the transflective display 220.
- the present embodiment is not limited to the eyeglass type, and can be used for a hat type or any other head mounted display device as long as it is a type that can be worn on the human body and disposed in the field of view of the wearer. .
- the communication system 300 includes a battery unit 301, an antenna module 302, a camera unit 303, a speaker unit 304, a GPS (Global Positioning System) unit 307, a microphone unit 308, a SIM (Subscriber Identity Module Card) unit 309, and a main unit 310.
- the camera unit 303 may be provided with a CCD sensor.
- the speaker unit 304 may be a normal earphone or a bone conduction earphone.
- the SIM unit 309 may include an NFC (Near Field Communication) unit and other contact IC card units, and a non-contact IC card unit.
- the communication system 300 includes at least one of the functions of a mobile phone, a smartphone, and a tablet terminal. Specifically, it includes a telephone function, an Internet function, a browser function, a mail function, an imaging function (including a recording function), and the like. Therefore, the user can use a call function similar to that of a mobile phone by using the eyeglass display device 100 with the communication device, the speaker, and the microphone. Further, since it is a glasses type, it is possible to make a call without using both hands.
- the operation system 400 includes an infrared detection unit 410, a gyro sensor unit 420, an acceleration detection unit 430, and a control unit 450.
- the infrared detection unit 410 mainly includes an infrared irradiation element 411 and an infrared detection camera 412.
- the unit adjustment mechanism 500 can adjust the angle of the infrared detection unit 410.
- the unit adjustment mechanism 500 has a structure that can adjust the angle of the infrared detection unit 410 about the horizontal axis of the arrow V5 and the vertical axis of the arrow H5.
- Unit adjustment mechanism 500 moves and adjusts in the directions of arrows V5 and H5 in accordance with instructions from control unit 450. For example, when a predetermined gesture is recognized by the control unit 450, the unit adjustment mechanism 500 may be operated at a predetermined angle. In that case, the user can adjust the angle of the infrared detection unit 410 by performing a predetermined gesture.
- the unit adjustment mechanism 500 is operated by the control unit 450.
- the present invention is not limited to this, and the adjustment unit 520 in FIG. It is good also as being able to move and adjust in this direction.
- FIG. 3 is a schematic diagram illustrating an example of the configuration of the control unit 450 of the operation system 400.
- the control unit 450 includes an image sensor calculation unit 451, a depth map calculation unit 452, an image processing unit 453, an anatomical recognition unit 454, a gesture data recording unit 455, a gesture identification unit 456, calibration data. It includes a recording unit 457, a composite arithmetic unit 458, an application software unit 459, an event service unit 460, a calibration service unit 461, a display service unit 462, a graphic arithmetic unit 463, a display arithmetic unit 464, and a six-axis drive driver unit 465.
- control unit 450 need not include all of the above, and may include one or more units as necessary.
- the gesture data recording unit 455 and the calibration data recording unit 457 may be arranged on the cloud, and the synthesis operation unit 458 may not be provided.
- FIG. 4 is a flowchart showing a flow of processing in the operation system 400
- FIG. 5 is a schematic diagram showing a concept corresponding to the flowchart of FIG.
- the target data is acquired from the infrared detection unit 410, and the depth calculation is performed by the depth map calculation unit 452 (step S1).
- the external image data is processed by the image processing unit 453 (step S2).
- the anatomical recognition unit 454 identifies anatomical features from the outline image data processed in step S2 based on the standard human body structure. Thereby, the outer shape is recognized (step S3).
- the gesture identification unit 456 identifies the gesture based on the anatomical features obtained in step S3 (step S4).
- the gesture identification unit 456 refers to the gesture data recorded in the gesture data recording unit 455 and identifies the gesture from the outer shape where the anatomical features are identified.
- the gesture identification unit 456 refers to the gesture data from the gesture data recording unit 455.
- the gesture identification unit 456 is not limited to referencing, and may refer to other arbitrary data without referring to it at all. It may be processed. As described above, the hand gesture is recognized as shown in FIG.
- the application software unit 459 and the event service unit 460 perform a predetermined event according to the gesture determined by the gesture identification unit 456 (step S5).
- the image by a photography application for example is displayed.
- the image data from the camera unit 303 may be displayed on the screen.
- the display service unit 462, the calibration service unit 461, the graphic operation unit 463, the display operation unit 464, and the composition operation unit 458 display an image on the translucent display 220 or a virtual display of the image (step). S6).
- a hand skeleton indicating a gesture is displayed as shown in FIG. 5 (c)
- the shape and size of the photograph match the shape and size of the skeleton as shown in FIG. 5 (d).
- the synthesized image is displayed.
- the 6-axis drive driver unit 465 always detects signals from the gyro sensor unit 420 and the acceleration detection unit 430, and transmits the posture state to the display arithmetic unit 464.
- the 6-axis drive driver unit 465 When the user wearing the glasses display device 100 tilts the glasses display device 100, the 6-axis drive driver unit 465 always receives signals from the gyro sensor unit 420 and the acceleration detection unit 430, and displays an image. Take control. In this control, the display of the image may be kept horizontal, or the display of the image may be adjusted according to the inclination.
- FIG. 6 is a schematic perspective view for explaining a detection region of the infrared detection unit 410 and a virtual display region of the pair of transflective displays 220
- FIG. 7 is a top view of FIG. 6
- FIG. FIG. 7 is a side view of FIG. 6.
- a three-dimensional orthogonal coordinate system including an x-axis, a y-axis, and a z-axis is defined.
- the x-axis arrows in the following figures indicate the horizontal direction.
- the y-axis arrow points in the vertical direction or the long axis direction of the user's body.
- the z-axis arrow points in the depth direction.
- the z-axis positive direction refers to the direction of greater depth.
- the direction of each arrow is the same in other figures.
- the eyeglass display device 100 includes a three-dimensional space detection region (3D space) 4103 ⁇ / b> D that can be detected by the infrared detection unit 410 of the operation system 400.
- the three-dimensional space detection area 4103D is formed of a conical or pyramidal three-dimensional space from the infrared detection unit 410.
- the infrared detection unit 410 can detect the infrared rays emitted from the infrared irradiation element 411 by the infrared detection camera 412, and thus can recognize a gesture in the three-dimensional space detection region 4103D.
- one infrared detection unit 410 is provided.
- the present invention is not limited to this, and a plurality of infrared detection units 410 may be provided, or one infrared irradiation element 411 may be provided.
- a plurality of detection cameras 412 may be provided.
- the pair of transflective displays 220 displays to the user a virtual image display that is not a part of the glasses display device 100 that is actually provided, but is located away from the glasses display device 100.
- the region 2203D is visually recognized as being virtually displayed with a depth.
- the depth corresponds to the thickness in the depth direction (z-axis direction) of the virtual three-dimensional shape of the virtual image display area 2203D. Therefore, the depth is provided according to the thickness of the virtual three-dimensional shape in the depth direction (z-axis direction).
- the user recognizes the right-eye image through the right-eye semi-transmissive display 220 in the three-dimensional space area 2203DR, and the left-eye image is The light is transmitted through the transflective display 220 on the left eye side and recognized by the three-dimensional space area 2203DL.
- both recognized images are synthesized in the user's brain, and can be recognized as a virtual image in the virtual image display area 2203D.
- the virtual image display area 2203D includes a frame sequential method, a polarization method, a linear polarization method, a circular polarization method, a top-and-bottom method, a side-by-side method, an anaglyph method, a lenticular method, and a parallax barrier method.
- the display may be performed using any one of a liquid crystal parallax barrier method, a two-parallax method, and a multi-parallax method using three or more parallaxes.
- the virtual image display area 2203D has a spatial area shared with the three-dimensional space detection area 4103D.
- the virtual image display area 2203D since the virtual image display area 2203D exists inside the three-dimensional space detection area 4103D, the virtual image display area 2203D serves as a shared area.
- the shape and size of the virtual image display area 2203D can be arbitrarily adjusted by the display method on the pair of transflective displays 220. Moreover, as shown in FIG. 8, although the case where the infrared detection unit 410 is arrange
- FIGS. 6 to 8 are schematic diagrams illustrating other examples of the detection area and the virtual display area illustrated in FIGS. 6 to 8.
- an input / output device 900 For example, as shown in FIGS. 9 to 11, other input / output devices, display devices, televisions, monitors, and the like may be used instead of the transflective display 220 of the eyeglass display device 100.
- other input / output devices, display devices, televisions, monitors, and projectors are collectively referred to as an input / output device 900.
- the virtual image display area 2203D is output from the input / output device 900 in the negative z-axis direction, and the infrared detection unit 410 disposed at a position facing the input / output device 900 in the z-axis direction outputs the z-axis.
- a three-dimensional space detection region 4103D may be formed in the positive direction.
- a virtual image display area 2203D by the input / output device 900 is generated as a space area shared with the three-dimensional space detection area 4103D.
- a virtual image display area 2203D is output from the input / output device 900, and the infrared detection unit 410 is in the same direction as the input / output device 900 (all directions on the z-axis positive side with respect to the xy plane).
- the three-dimensional space detection region 4103D may be formed. Even in this case, the virtual image display area 2203D by the input / output device 900 is generated as a space area shared with the three-dimensional space detection area 4103D.
- the virtual image display area 2203 ⁇ / b> D may be output from the input / output device 900 in a vertically upward direction (y-axis positive direction). Also in FIG. 11, similarly to FIGS. 9 and 10, the virtual image display area 2203 ⁇ / b> D by the input / output device 900 is generated as a space area shared with the three-dimensional space detection area 4103 ⁇ / b> D.
- the input / output device 900 is arranged above the three-dimensional space detection region 4103D (y-axis positive direction side), and the virtual image display region 2203D is vertically downward (y-axis negative direction). It may be output, may be output from the horizontal direction (x-axis direction), or may be output from the rear upper side (z-axis negative direction and y-axis positive direction) like a projector or a movie theater.
- FIGS. 12 and 13 are schematic diagrams illustrating examples of the operation area and the gesture area in the detection area.
- the user horizontally moves both hands around the shoulder joints of the right shoulder joint RP and the left shoulder joint LP, so that the area where both hands can move is surrounded by a dotted line.
- the moving area L and the moving area R become the same.
- the user vertically moves both hands around the shoulder joints of the right shoulder joint RP and the left shoulder joint LP, so that the area where both hands can move is surrounded by a dotted line.
- the moving area L and the moving area R become the same.
- the user has a spherical shape (having an arch-shaped curved surface convex in the depth direction) with both hands rotating around the right shoulder joint RP and the left shoulder joint LP, respectively. Can be moved.
- the three-dimensional space detection area 4103D by the infrared detection unit 410 the area where the virtual image display area may exist (the virtual image display area 2203D is illustrated in FIG. 12), the arm movement area L, and the movement area R are combined.
- a space area that overlaps with the selected area is set as the operation area 410c.
- a portion other than the operation region 410c in the three-dimensional space detection region 4103D and a portion overlapping with the combined region of the arm movement region L and the movement region R is set as the gesture region 410g.
- the operation region 410c has a three-dimensional shape in which the surface farthest in the depth direction is a curved surface curved in an arch shape convex in the depth direction (z-axis positive direction), whereas the virtual image display region 2203D has a depth of The surface farthest in the direction has a three-dimensional shape that is a plane.
- the user feels uncomfortable in the operation.
- adjustment is performed by a calibration process. Details of the calibration process will be described later.
- FIG. 14 is a flowchart for explaining the calibration process.
- a calibration process is performed to facilitate the operation in the virtual image display area 2203D by a recognition process described later.
- the finger length, hand length, and arm length that are different for each user are also adjusted.
- the user wears the eyeglass display device 100 and extends both arms to the maximum.
- the infrared detection unit 410 recognizes the maximum area of the operation area 410c (step S11). That is, since the length of the finger, the length of the hand, and the length of the arm, which are different for each user, are different depending on the user, the operation area 410c is adjusted.
- the display position of the virtual image display area 2203D is determined (step S12). That is, if the virtual image display area 2203D is arranged outside the operation area 410c, the operation by the user becomes impossible, so the virtual image display area 2203D is arranged inside the operation area 410c.
- the maximum area of the gesture area 410g is set in a position that does not overlap the display position of the virtual image display area 2203D within the three-dimensional space detection area 4103D of the infrared detection unit 410 of the eyeglass display device 100 (step S13).
- the gesture region 410g is preferably arranged so as not to overlap the virtual image display region 2203D and has a thickness in the depth direction (z-axis positive direction).
- the operation area 410c, the virtual image display area 2203D, and the gesture area 410g are set by the above method.
- step) S14 When it is determined that the user's finger, hand, or arm exists outside the virtual image display area 2203D in the operation area 410c, rounding is performed so that the user's finger, hand, or arm exists inside the virtual image display area 2203D (step) S14).
- both hands remain in the virtual image display area 2203D. Without any deviation in the depth direction (z-axis positive direction). Further, at the end of the virtually displayed image, it is not determined that both hands are present in the virtual image display area 2203D unless both arms are extended to the maximum. Therefore, if the signal from the infrared detection unit 410 is used without processing, even if the user moves away from the virtual image display area 2203D, it is difficult for the user to experience such a state.
- the signal from the infrared detection unit 410 is processed so as to correct the hand protruding outside from the virtual image display area 2203D within the virtual image display area 2203D. To do. As a result, the user can operate from the center to the end of the flat virtual image display area 2203D having a depth with both arms extended to the maximum or slightly bent.
- the virtual image display area 2203D is made up of a three-dimensional space area whose plane farthest in the depth direction is a plane, but is not limited to this, and is the plane area farthest in the depth direction. It is good also as consisting of the three-dimensional space area
- the transflective display 220 displays a rectangular image in the virtual image display area 2203D. For example, as shown in FIG. 5B, a rectangular image is displayed (step S15). Subsequently, display is performed when the periphery of the image is surrounded by a finger on the transflective display 220 (step S16).
- a finger-shaped image may be displayed lightly in the vicinity of the image, or an instruction may be transmitted from the speaker to the user by voice instead of being displayed on the transflective display 220.
- the user places his / her finger on the portion where the image can be seen as shown in FIG. Then, the correlation between the display area of the virtual image display area 2203D and the infrared detection unit 410 is automatically adjusted (step S17).
- a rectangle is formed with a finger, and is matched with the rectangle thus determined and the rectangle of the outer edge of the image.
- the rectangular viewing size and position determined by the finger are matched with the rectangular viewing size and position of the outer edge of the image.
- the method of determining the shape with the finger is not limited to this, and any other method such as a method of tracing the outer edge of the displayed image with a finger, a method of pointing a plurality of points on the outer edge of the displayed image with a finger, etc. It may be. Moreover, you may perform these methods about the image of several sizes.
- FIG. 15 is a schematic diagram illustrating an example of finger recognition.
- 15A is an enlarged view of the vicinity of the tip of the finger
- FIG. 15B is an enlarged view of the vicinity of the base of the finger.
- FIG. 16 is a flowchart illustrating an example of finger recognition processing.
- the device is initialized (step S21).
- the infrared ray irradiated from the infrared irradiation element 411 and reflected by the hand is detected by the infrared detection camera 412 (step S22).
- the image data is replaced with a distance in units of pixels by the infrared detection unit 410 (step S23).
- the brightness of infrared rays is inversely proportional to the cube of the distance.
- a depth map is created (step S24).
- an appropriate threshold value is provided for the created depth map.
- the image data is binarized (step S25). That is, the noise of the depth map is removed.
- a polygon having about 100 vertices is created from the binarized image data (step S26).
- a low-pass filter (LPF) so the vertex becomes smooth, by creating a new polygon having more vertexes p n, it extracts the outline OF hand shown in FIG. 15 (step S27).
- the number of vertices extracted to create a polygon from the binarized data in step S26 is about 100.
- the number of vertices is not limited to this, and 1000 or any other arbitrary number is used. It may be a number.
- step S28 From the set of vertices p n of new polygons created in step S27, using Convex Hull, it extracts the hull (step S28). Thereafter, a shared vertex p 0 between the new polygon created in step S27 and the convex hull created in step S28 is extracted (step S29).
- the shared vertex p 0 itself extracted in this way can be used as the finger tip point. Further, another point calculated based on the position of the vertex p 0 may be used as the tip point of the finger. For example, it is also possible to calculate the center of the inscribed circle of the contour OF as the tip points P0 at the vertex p 0 as shown in FIG. 15 (A).
- a vector of the reference line segment PP 1 passing through the pair of left and right vertices p 1 adjacent to the vertex p 0 is calculated.
- the side pp 2 connecting the vertex p 1 and the adjacent vertex p 2 is selected, and its vector is calculated.
- using the vertex p n constituting the outer OF repeated along the process of obtaining the vector edge to the outer periphery of the outer OF. It examines the respective sides of the orientation and the reference line segment PP 1 orientation determines that the sides pp k comprising parallel close to the reference line segment PP 1 is present at the position of the crotch of the finger.
- the root point P1 of the finger is calculated (step S30).
- a finger skeleton is obtained by connecting the finger tip point P0 and the finger root point P1 with a straight line (step S31).
- the extension direction of the finger can be recognized.
- skeletons for all fingers are obtained. Thereby, the hand pose can be recognized. That is, it is possible to recognize which of the thumb, the index finger, the middle finger, the ring finger, and the little finger is spread and which finger is gripped.
- a difference in hand pose is detected in comparison with the image data of several frames performed immediately before (step S32). That is, the hand movement can be recognized by comparing with the image data of the last several frames.
- the recognized hand shape is delivered to the event service unit 460 as gesture data (step S33).
- step S34 the application software unit 459 performs a behavior corresponding to the event.
- the display service unit 462 requests drawing in the three-dimensional space (step S35).
- the graphic operation unit 463 refers to the calibration data recording unit 457 using the calibration service unit 461, and corrects the display (step S36).
- display is performed on the transflective display 220 by the display arithmetic unit 464 (step S37).
- the root point of the finger is detected by the process of step S30 and the process of step S31, but the root point detection method is not limited to this.
- the length of the reference line segment PP 1 that connects a pair of adjacent vertices p 1 on one side and the other side of the vertex p 0 is calculated.
- the length of a line connecting between the pair of vertices p 2 at the one side and the other side is calculated.
- the length of the line segment connecting the pair of vertices on the one side and the other side is calculated in the order from the vertex located closer to the vertex p 0 to the vertex located further away.
- Such line segments are approximately parallel to each other without intersecting within the outer shape OF.
- the root point can be determined by detecting the line segment that does not exceed the predetermined amount and the farthest from the apex p 0 and extracts one point on the detected line segment. .
- FIG. 17 is a schematic diagram illustrating an example of palm recognition.
- the maximum inscribed circle C inscribed in the outer shape OF of the image data is extracted.
- the position of the maximum inscribed circle C can be recognized as the palm position.
- FIG. 18 is a schematic diagram showing an example of thumb recognition.
- the thumb has characteristics different from the other four fingers of the index finger, the middle finger, the ring finger, and the little finger.
- ⁇ 1 involving the thumb tends to be the largest.
- ⁇ 11 involving the thumb tends to be the largest.
- the thumb is determined based on such a tendency. As a result, it is possible to determine whether the hand is the right hand or the left hand, or the front or back of the palm.
- arm recognition Next, arm recognition will be described. In the present embodiment, arm recognition is performed after any of a finger, palm, and thumb is recognized. Note that the arm recognition may be performed before recognizing any one of the finger, the palm, and the thumb, or at least one of them.
- the polygon is extracted in a larger area than the hand-shaped polygon of the image data.
- the process of steps S21 to S27 is performed in a range of 5 cm to 100 cm in length, and more preferably in a range of 10 cm to 40 cm to extract the outer shape.
- a rectangular frame circumscribing the extracted outer shape is selected.
- the square frame is a parallelogram or a rectangle.
- the arm extending direction can be recognized from the long side extending direction, and the arm direction can be determined from the long side direction. I can do it.
- the movement of the arm may be detected in comparison with the image data of the previous few frames.
- the finger, palm, thumb, and arm are detected from the two-dimensional image.
- the present invention is not limited to the above, and the infrared detection unit 410 may be further added, and only the infrared detection camera 412 is used. May be further added to recognize a three-dimensional image from a two-dimensional image. As a result, the recognition accuracy can be further increased.
- FIG. 19 is a schematic diagram illustrating an example of display on the transflective display 220 of the eyeglass display device 100.
- an advertisement 221 is displayed on a part of the transflective display 220 of the glasses display device 100, a map 222 is displayed on a part of the display, and the other part is a half of the glasses display device 100.
- a landscape 223 is visually recognized through the transmissive display 220, and a weather forecast 224 and a time 225 are also displayed.
- FIGS. 20 to 23 are schematic diagrams illustrating other examples of the operation area 410c described with reference to FIGS. 20 and 21 are schematic views showing a state in which the user is visually recognized from above, and FIGS. 22 and 23 are schematic views showing a state in which the user is visually recognized from the side.
- FIG. 20 shows a case where the user fully extends the arm arm1, the arm arm2, and the hand H1, and the hand H1 in this case passes through the movement locus RL1 around the right shoulder joint RP.
- the radius of curvature of the movement locus RL1 is rad1.
- FIG. 21 shows a case where the user bends the arm arm1 and the arm arm2, and the hand H1 in this case passes through the movement locus RL2. That is, in FIG. 21, the user is trying to move the hand H1 in the horizontal direction, but will pass through a movement locus RL2 that is close to a straight line.
- the radius of curvature of the movement locus RL2 is rad2.
- the radius of curvature rad1 is smaller than the radius of curvature rad2.
- control unit 450 even if the control unit 450 detects the movement locus RL1 from the infrared unit 410, it calibrates that the movement is linear. Similarly, the control unit 450 calibrates that the movement is linear even when the movement locus RL2 is detected.
- FIG. 22 shows a case where the user fully extends the arm arm1, the arm arm2, and the hand H1, and the hand H1 in this case passes through the movement locus RL3 around the right shoulder joint RP.
- the radius of curvature of the movement locus RL3 is rad3.
- the user shows a case where the arm arm1 and the arm arm2 are bent, and the hand H1 in this case passes through the movement locus RL4. That is, in FIG. 23, the user is trying to move the hand H1 in the vertical direction, but passes the movement locus RL4 that is close to a straight line.
- the radius of curvature of the movement locus RL4 is rad4.
- the curvature radius rad3 is naturally smaller than the curvature radius rad4.
- control unit 450 even when the control unit 450 detects the movement locus RL3 from the infrared unit 410, it calibrates that the movement is linear. Similarly, the control unit 450 calibrates that the movement is a linear movement even when the movement locus RL4 is detected.
- calibration may be performed on an arbitrary trajectory passing between the movement trajectory RL1 and the movement trajectory RL2.
- calibration may be performed on an arbitrary trajectory passing between the movement trajectory RL3 and the movement trajectory RL4.
- the pair of light transmissive displays 220 has a straight line. In addition, it is displayed with a locus moved in a straight line.
- the curvature radius rad1 on the far side is different from the curvature radius rad2 on the near side.
- the radius of curvature rad3 on the far side is different from the radius of curvature rad4 on the near side. Accordingly, it is possible to set the nearer radius of curvature rad2, rad4 than the far radius of curvature rad1, rad3 obtained by extending the arms arm1, arm2. As a result, the user can operate smoothly on the near side and can be detected by the infrared unit 410. Therefore, the user can operate smoothly based on ergonomics.
- control unit 450 can display the movement trajectories RL1 and RL3 along the far side curvature radius rad1,3 on the light transmission display 220 by linear movement. That is, when the user extends the hand H1 to the maximum, the user's hand H1 moves on the far side radii of curvature rad1, rad3 around the right shoulder joint RP and the left shoulder joint LP. As a result, although the user intends to move in a straight line, the user actually moves with the radii of curvature rad1 and rad3, so the control unit 450 recognizes it as a straight line and displays it on the light transmission display 220 with a straight line movement.
- the control unit 450 can display the movement trajectories RL2 and RL4 along the near-side curvature radii rad2 and rad4 on the light transmission display 220 by linear movement. That is, when the user bends the arms arm1 and arm2, the user's hand moves around the curvature radiuses rad2 and rad4 on the near side around the right shoulder joint RP and the left shoulder joint LP. As a result, although the user intends to move in a straight line, the user actually moves with the radii of curvature rad2 and rad4. Therefore, the control unit 450 recognizes it as a straight line and displays it on the light transmission display 220 with a straight line movement.
- the eyeglass display device 100 can be easily carried. Moreover, since the head mounted display is small, versatility and convenience can be enhanced.
- the transflective display 220 corresponds to “display device”
- the hand H1 and the arm arm2 correspond to “object”
- the infrared detection unit 410 corresponds to “depth sensor”
- the control unit 450 “ The three-dimensional space detection area 4103D corresponds to the “measurement area”
- the far-side radius of curvature rad1, rad3 corresponds to the “far-side radius of curvature”
- the near-side radius of curvature rad2, rad4 corresponds to “the radius of curvature on the near side”
- the direction from the infrared unit 410 to the hand H1 corresponds to the “depth direction”
- the eyeglass display device 100 corresponds to the “input / output device”.
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Abstract
Description
特許文献1に記載の高速画像生成表示方法においては、立体構造をもつ対象を2次元画面に投影して表示する高速画像生成表示方法であって、対象の構成面は、対象座標系において、領域の大きさを少なくとも1つの要素として階層的に記述され、任意の視点から見た時の該対象の構成面を2次元画面へ投影するに際して、表示基準座標系原点または視点から対象座標系で表される該対象の任意の点までの距離を少なくとも1つのパラメータとして階層度を設定することを特徴とする。
特許文献2に記載の立体視画像生成方法は、三次元座標を有するポリゴンで構成されるオブジェクトのうち、平面視表示させるオブジェクトデータを基準カメラを原点とする基準カメラ座標系データに、立体視表示させるオブジェクトのデータを所定の視差角を有する右眼用及び左眼用視差カメラをそれぞれ原点とする右眼用及び左眼用視差カメラ座標系データに変換し、基準カメラ座標系のオブジェクトのデータと、右眼用視差カメラ座標系のオブジェクトのデータを右眼用画像データとして、ビデオメモリに描画し、基準カメラ座標系のオブジェクトのデータと、左眼用視差カメラ座標系のオブジェクトのデータを左眼用画像データとして、ビデオメモリに描画し、ビデオメモリに描画された右眼用画像データと左眼用画像データを合成して、立体視オブジェクトと平面視オブジェクトの混在する画像を立体視表示装置に表示することを特徴とする。
特許文献3に記載の方法は、ユーザの気質を示す属性を視覚表示に適用するための方法であって、ユーザの視覚表示をレンダリングするステップと、物理的な空間のデータを受信するステップであって、データが、物理的な空間内のユーザを代表しているものと、ユーザの気質を推論するために、少なくとも1つの検出可能な特徴を解析するステップと、ユーザの気質を示す属性を視覚表示に適用するステップと、を含む。
特許文献4に記載のシステムは、入力デバイスと、プロセッサに結合され、入力デバイスの方位を検出する検出器と、を備えているシステムであって、入力デバイスが、方位に対応する複数のモード方位を有し、複数のモード方位が、ジェスチャ制御システムの複数の入力モードに対応し、検出器が、ジェスチャ制御システムに結合され、方位に応答して、複数の入力モードからの入力モードの選択を自動的に制御する。
当該ヘッドマウントディスプレイにおいては、ヨガの指導またはゲームシミュレータについて開示されている。
本発明の他の目的は、人間工学に基づいて容易に操作することができる入出力装置、入出力プログラムおよび入出力方法を提供することである。
一局面に従う入出力装置は、立体視像を生成可能な表示装置と、対象物までの距離を測定する深度センサと、深度センサに応じて表示装置に表示を行う制御部と、を含み、深度センサの検知領域は、深度センサの深度方向に幅を有し、かつ湾曲した測定領域からなり、深度センサの深度方向の遠方側の曲率半径と、深度センサの深度方向の近方側の曲率半径とが、異なるものである。
第2の発明に係る入出力装置は、一局面に従う入出力装置において、制御部は、遠方側の曲率半径に沿った検知領域の検知軌跡を、表示装置に直線移動で表示させてもよい。
第3の発明に係る入出力装置は、一局面または第2の発明に係る入出力装置において、制御部は、近方側の曲率半径に沿った検知領域の検知軌跡を、表示装置に直線移動で表示させてもよい。
第4の発明に係る入出力装置は、一局面から第3の発明に係る入出力装置において、遠方側の曲率半径は、近方側の曲率半径よりも小さくてもよい。
第5の発明に係る入出力装置は、一局面から第4の発明に係る入出力装置において、湾曲した測定領域は、鉛直方向および水平方向の両方向を含む立体領域であってもよい。
第6の発明に係る入出力装置は、一局面から第5の発明に係る入出力装置において、表示装置がヘッドマウントディスプレイであってもよい。
他の局面に従う入出力プログラムは、立体視像を生成可能な表示処理と、対象物までの距離を測定する深度センサ処理と、深度センサ処理に応じて表示処理に表示を行う制御処理と、を含み、深度センサ処理の検知領域は、深度センサ処理の深度方向に幅を有し、かつ湾曲した測定領域からなり、深度センサ処理における深度方向の遠方側の曲率半径と、深度センサ処理における深度方向の近方側の曲率半径とが、異なるものである。
第8の発明に係る入出力プログラムは、他の局面に従う入出力プログラムにおいて、制御処理は、遠方側の曲率半径に沿った検知領域の検知軌跡を、表示処理に直線移動で表示させてもよい。
第9の発明に係る入出力プログラムは、他の局面または第8の発明に係る入出力プログラムにおいて、制御処理は、近方側の曲率半径に沿った検知領域の検知軌跡を、表示処理に直線移動で表示させてもよい。
第10の発明に係る入出力プログラムは、他の局面から第9の発明に係る入出力プログラムにおいて、遠方側の曲率半径は、近方側の曲率半径よりも小さくてもよい。
さらに他の局面に従う入出力方法は、立体視像を生成可能な表示工程と、対象物までの距離を測定する深度センサ工程と、深度センサ工程に応じて表示工程に表示を行う制御工程と、を含み、深度センサ工程の検知領域は、深度センサ工程の深度方向に幅を有し、かつ湾曲した測定領域からなり、深度センサ工程における深度方向の遠方側の曲率半径と、深度センサ工程における深度方向の近方側の曲率半径とが、異なるものである。
第12の発明に係る入出力方法は、さらに他の局面に従う入出力方法において、制御工程は、遠方側の曲率半径に沿った検知領域の検知軌跡を、表示工程に直線移動で表示させてもよい。
第13の発明に係る入出力方法は、さらに他の局面または第12の発明に係る入出力方法において、制御工程は、近方側の曲率半径に沿った検知領域の検知軌跡を、表示工程に直線移動で表示させてもよい。
第14の発明に係る入出力方法は、さらに他の局面から第13の発明に係る入出力方法において、遠方側の曲率半径は、記近方側の曲率半径よりも小さくてもよい。
220 半透過ディスプレイ
2203D 仮想イメージ表示領域(共有領域)
300 通信システム
303 カメラユニット
410 赤外線検知ユニット
410c 操作領域
420 ジャイロセンサユニット
430 加速度検知ユニット
4103D 三次元空間検知領域
450 制御ユニット
454 解剖学的認識ユニット
456 ジェスチャ識別ユニット
460 イベントサービスユニット
461 キャリブレーションサービスユニット
900 入出力装置
H1 手
RP 右肩関節
LP 左肩関節
また、本発明は、以下に説明する眼鏡表示装置に限定されるものではなく、他の入出力装置、表示装置、テレビジョン、モニタ、プロジェクタ等にも適用することができる。
図1は、一実施の形態にかかる眼鏡表示装置100の基本構成の一例を示す模式的外観正面図であり、図2は、眼鏡表示装置100の一例を示す模式的外観斜視図である。
図1および図2に示すように、眼鏡ユニット200は、眼鏡フレーム210、一対の半透過ディスプレイ220および一対の表示調整機構600からなる。眼鏡フレーム210は、主にリムユニット211、テンプルユニット212を含む。
眼鏡フレーム210のリムユニット211により一対の半透過ディスプレイ220が支持される。また、リムユニット211には、一対の表示調整機構600が設けられる。さらに、リムユニット211には、赤外線検知ユニット410およびユニット調整機構500が設けられる。ユニット調整機構500の詳細については後述する。
一対の表示調整機構600は、後述するように一対の半透過ディスプレイ220の角度および位置を調整することができる。一対の表示調整機構600の詳細については、後述する。
また、当該レンズ類の一部に、半透過ディスプレイ220を埋め込んで設けてもよい。
また、一対の表示調整機構600を半透過ディスプレイ220の側部に設けているが、これに限定されず、半透過ディスプレイ220の周囲または内部に設けてもよい。
次に、通信システム300について説明を行なう。
通信システム300は、バッテリーユニット301、アンテナモジュール302、カメラユニット303、スピーカユニット304、GPS(Global Positioning System)ユニット307、マイクユニット308、SIM(Subscriber Identity Module Card)ユニット309およびメインユニット310を含む。
なお、カメラユニット303にはCCDセンサが備えられてもよい。スピーカユニット304は、ノーマルイヤホンであってもよいし、骨伝導イヤホンであってもよい。SIMユニット309には、NFC(Near Field Communication:近距離無線通信)ユニットおよび他の接触式ICカードユニット、ならびに非接触式ICカードユニットを含んでもよい。
したがって、ユーザは、眼鏡表示装置100を用いて、通信装置、スピーカおよびマイクにより、携帯電話と同様の通話機能を使用することができる。また、眼鏡型であるので、両手を利用せず、通話を行なうことができる。
続いて、操作システム400は、赤外線検知ユニット410、ジャイロセンサユニット420、加速度検知ユニット430および制御ユニット450からなる。赤外線検知ユニット410は、主に赤外線照射素子411および赤外線検知カメラ412からなる。
図2に示すように、ユニット調整機構500は、赤外線検知ユニット410の角度を調整することができる。具体的には、ユニット調整機構500は、矢印V5の水平軸周り、および、矢印H5の垂直軸周り、に赤外線検知ユニット410の角度を調整可能な構造である。
例えば、制御ユニット450により所定のジェスチャを認識した場合に、ユニット調整機構500を所定の角度で動作させてもよい。その場合、ユーザは、所定のジェスチャを行うことにより赤外線検知ユニット410の角度の調整を行うことができる。
ジェスチャ識別ユニット456は、ジェスチャデータ記録ユニット455に記録されたジェスチャデータを参照し、解剖学的特徴が識別された外形からジェスチャの識別を行なう。なお、ジェスチャ識別ユニット456は、ジェスチャデータ記録ユニット455からのジェスチャデータを参照することとしているが、参照することに限定されず、他の任意のデータを参照してもよく、全く参照することなく処理してもよい。
以上により、図5(a)に示すように、手のジェスチャを認識する。
これによって、図5(b)に示すように、たとえば写真アプリによる画像が表示される。この際、当該画面には、カメラユニット303からの撮像データが表示されてよい。
次に、操作システム400の赤外線検知ユニット410の検知領域と、一対の半透過ディスプレイ220の仮想表示領域との関係について説明を行なう。
図6は、赤外線検知ユニット410の検知領域と、一対の半透過ディスプレイ220の仮想表示領域とを説明するための模式的斜視図であり、図7は図6の上面図であり、図8は、図6の側面図である。
三次元空間検知領域4103Dは、赤外線検知ユニット410からの円錐状または角錐状の三次元空間からなる。
また、本実施の形態においては、赤外線検知ユニット410を1個設けることとしているが、これに限定されず、赤外線検知ユニット410を複数個設けてもよいし、赤外線照射素子411を1個、赤外線検知カメラ412を複数個設けてもよい。
すなわち、実際には眼鏡表示装置100の半透過ディスプレイ220に表示されるものの、ユーザは、右目のイメージは右目側の半透過ディスプレイ220を透過し三次元空間領域2203DRで認識し、左目のイメージは左目側の半透過ディスプレイ220を透過し三次元空間領域2203DLで認識する。その結果、認識された両イメージがユーザの脳内で合成されることにより、仮想イメージ表示領域2203Dで仮想イメージとして認識することができる。
また、図8に示すように、一対の半透過ディスプレイ220よりも赤外線検知ユニット410が上方(y軸正方向)に配設されている場合について説明しているが、鉛直方向(y軸方向)に対して、赤外線検知ユニット410の配設位置が半透過ディスプレイ220よりも下方(y軸負方向)または半透過ディスプレイ220と同位置であっても、同様に、仮想イメージ表示領域2203Dは、三次元空間検知領域4103Dと共有する空間領域を有する。
続いて、図9から図11は、図6から図8において示した検知領域と仮想表示領域との他の例を示す模式図である。
この場合、入出力装置900による仮想イメージ表示領域2203Dが、三次元空間検知領域4103Dと共有の空間領域として生じる。
この場合でも、入出力装置900による仮想イメージ表示領域2203Dが、三次元空間検知領域4103Dと共有の空間領域として生じる。
続いて、検知領域における操作領域とジェスチャ領域とについて説明する。図12および図13は、検知領域における操作領域と、ジェスチャ領域との一例を示す模式図である。
また、三次元空間検知領域4103D内における操作領域410c以外の部分で、かつ腕の移動領域Lおよび移動領域Rを合わせた領域と重なる部分をジェスチャ領域410gとして設定する。
次いで、キャリブレーション処理について説明を行なう。図14は、キャリブレーション処理の説明を行なうためのフローチャートである。
また、キャリブレーション処理には、ユーザの個々で異なる指の長さ、手の長さ、腕の長さの調整も行なう。
すなわち、ユーザによりユーザの個々で異なる指の長さ、手の長さ、腕の長さが異なるので、操作領域410cの調整を行なうものである。
なお、ジェスチャ領域410gは、仮想イメージ表示領域2203Dと重ならないように配置しかつ深さ方向(z軸正方向)に厚みを持たせることが好ましい。
そのため、赤外線検知ユニット410からの信号を無処理のまま使用すると、ユーザは、手先が仮想イメージ表示領域2203Dから外れたとしても、そのような状態であることを体感しにくい。
その結果、ユーザは、両腕を最大限に伸ばした状態、または少し曲げた状態で、奥行きのある平面状の仮想イメージ表示領域2203D内の中央部から端部まで操作することができる。
続いて、半透過ディスプレイ220に、像の周囲を指で囲んでくださいと、表示を行なう(ステップS16)。ここで、像の近傍に指の形の像を薄く表示してもよいし、半透過ディスプレイ220に表示を行なう代わりにスピーカから音声により指示をユーザに伝えてもよい。
なお、上記においては、指で矩形を形作り、そのように定められた矩形と、像の外縁の矩形にあわせる。このことによって、指により定められた矩形の視認サイズおよび位置と像の外縁の矩形の視認サイズ及び位置とを合わせることとした。しかしながら、指によって形状を定める手法はこれに限定されず、表示された像の外縁を指でなぞる手法、表示された像の外縁上の複数の点を指で指し示す手法等、他の任意の手法であってもよい。また、これらの手法を複数のサイズの像について行ってもよい。
次いで、指認識について説明を行い、その後掌認識、腕認識の順で説明を行なう。図15は、指認識の一例を示す模式図である。図15において、(A)は指の先端付近の拡大図であり、(B)は指の根元付近の拡大図である。図16は、指認識の処理の一例を示すフローチャートである。
次に、赤外線検知ユニット410により画像データをピクセル単位で距離に置き換える(ステップS23)。この場合、赤外線の明るさは、距離の三乗に反比例する。これを利用し、デプスマップを作成する(ステップS24)。
続いて、二値化した画像データから約100個の頂点を持つポリゴンを作成する(ステップS26)。そして、頂点が滑らかになるようにローパスフィルタ(LPF)により、より多くの頂点pnを有する新たな多角形を作成することによって、図15に示す手の外形OFを抽出する(ステップS27)。
なお、本実施の形態においては、ステップS26において二値化したデータからポリゴンを作成するために抽出する頂点の数を約100個としているが、これに限定されず、1000個、その他の任意の個数であってもよい。
その後、ステップS27で作成された新たな多角形と、ステップS28で作成された凸包との共有の頂点p0を抽出する(ステップS29)。このように抽出された共有の頂点p0自体を指の先端点として用いることができる。
さらに、頂点p0の位置に基づいて算出される他の点を指の先端点として用いてもよい。例えば、図15(A)に示すように頂点p0における外形OFの内接円の中心を先端点P0として算出することもできる。
全ての指について同様の処理を行なうことで、全ての指のスケルトンを得る。これにより、手のポーズを認識することができる。すなわち、親指、人差し指、中指、薬指、小指のいずれの指が広げられ、いずれの指が握られているかを認識することができる。
グラフィック演算ユニット463は、キャリブレーションサービスユニット461を用いてキャリブレーションデータ記録ユニット457を参照し、表示の補正を行なう(ステップS36)。
最後に、ディスプレイ演算ユニット464により半透過ディスプレイ220に表示を行なう(ステップS37)。
次いで、図17は、掌認識の一例を示す模式図である。
次いで、腕認識について説明を行なう。本実施の形態において、腕認識は、指、掌および親指のいずれかを認識した後に実施する。なお、腕認識は、指、掌および親指のいずれかを認識する前、またはそれらの少なくともいずれかと同時に実施してもよい。
その後、抽出した外形に外接する四角枠を選定する。本実施の形態においては、当該四角枠は、平行四辺形または長方形からなる。
この場合、平行四辺形または長方形は、対向する長辺を有するので、長辺の延在方向から腕の延在方向を認識することができ、長辺の向きから腕の向きを判定することが出来る。なお、ステップS32の処理と同様に、直前の数フレームの画像データと比較して、腕の動きを検知させてもよい。
次に、図19は、眼鏡表示装置100の半透過ディスプレイ220の表示の一例を示す模式図である。
図20から図23は、図12から図14において説明した操作領域410cの他の例を示す模式図である。
図20および図21は、ユーザを上方から視認した状態を示す模式図であり、図22および図23は、ユーザを側方から視認した状態を示す模式図である。
すなわち、図21においては、ユーザが水平方向に手H1を移動させようとしているが、直線に近い移動軌跡RL2を通ることとなる。この場合、移動軌跡RL2の曲率半径はrad2である。ここで、人間工学に基づいて、当然のことながら、曲率半径rad1は、曲率半径rad2よりも小さい値となる。
すなわち、図23においては、ユーザが鉛直方向に手H1を移動させようとしているが、直線に近い移動軌跡RL4を通ることとなる。この場合、移動軌跡RL4の曲率半径はrad4である。ここで、人間工学に基づいて、当然のことながら、曲率半径rad3は、曲率半径rad4よりも小さい値となる。
Claims (14)
- 立体視像を生成可能な表示装置と、
対象物までの距離を測定する深度センサと、
前記深度センサに応じて前記表示装置に表示を行う制御部と、を含み、
前記深度センサの検知領域は、前記深度センサの深度方向に幅を有し、かつ湾曲した測定領域からなり、
前記深度センサの深度方向の遠方側の曲率半径と、前記深度センサの深度方向の近方側の曲率半径とが、異なる、入出力装置。 - 前記制御部は、前記遠方側の曲率半径に沿った検知領域の検知軌跡を、前記表示装置に直線移動で表示する、請求項1記載の入出力装置。
- 前記制御部は、前記近方側の曲率半径に沿った検知領域の検知軌跡を、前記表示装置に直線移動で表示する、請求項1または2記載の入出力装置。
- 前記遠方側の曲率半径は、前記近方側の曲率半径よりも小さい、請求項1から3のいずれかに記載の入出力装置。
- 前記湾曲した測定領域は、鉛直方向および水平方向の両方向を含む立体領域である、請求項1から4のいずれかに記載の入出力装置。
- 前記表示装置がヘッドマウントディスプレイである、請求項1から5のいずれか1項に記載の入出力装置。
- 立体視像を生成可能な表示処理と、
対象物までの距離を測定する深度センサ処理と、
前記深度センサ処理に応じて前記表示処理に表示を行う制御処理と、を含み、
前記深度センサ処理の検知領域は、前記深度センサ処理の深度方向に幅を有し、かつ湾曲した測定領域からなり、
前記深度センサ処理における深度方向の遠方側の曲率半径と、前記深度センサ処理における深度方向の近方側の曲率半径とが、異なる、入出力プログラム。 - 前記制御処理は、前記遠方側の曲率半径に沿った検知領域の検知軌跡を、前記表示処理に直線移動で表示する、請求項7記載の入出力プログラム。
- 前記制御処理は、前記近方側の曲率半径に沿った検知領域の検知軌跡を、前記表示処理に直線移動で表示する、請求項7または8記載の入出力プログラム。
- 前記遠方側の曲率半径は、前記近方側の曲率半径よりも小さい、請求項7から9のいずれかに記載の入出力プログラム。
- 立体視像を生成可能な表示工程と、
対象物までの距離を測定する深度センサ工程と、
前記深度センサ工程に応じて前記表示工程に表示を行う制御工程と、を含み、
前記深度センサ工程の検知領域は、前記深度センサ工程の深度方向に幅を有し、かつ湾曲した測定領域からなり、
前記深度センサ工程における深度方向の遠方側の曲率半径と、前記深度センサ工程における深度方向の近方側の曲率半径とが、異なる、入出力方法。 - 前記制御工程は、前記遠方側の曲率半径に沿った検知領域の検知軌跡を、前記表示工程に直線移動で表示する、請求項11記載の入出力方法。
- 前記制御工程は、前記近方側の曲率半径に沿った検知領域の検知軌跡を、前記表示工程に直線移動で表示する、請求項11または12記載の入出力方法。
- 前記遠方側の曲率半径は、前記近方側の曲率半径よりも小さい、請求項11から13のいずれかに記載の入出力方法。
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JP6446465B2 (ja) | 2018-12-26 |
US20170300121A1 (en) | 2017-10-19 |
JPWO2016051431A1 (ja) | 2017-08-03 |
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