JP2007136133A - System for presenting augmented reality - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system for presenting augmented reality which collectively presents an image obtained by imaging an objective region and the additional distribution information on the objective region. <P>SOLUTION: The image of the object region is obtained by an imaging unit by detecting (coordinates and orientations) the position (both three dimensions and two dimensions are appropriate) of the imaging unit employed for imaging the objective region and the position of a sensor unit which acquires additional information on the objective region and then by utilizing the above position information. The additional information of the objective region is obtained by the sensor unit. The image and the additional information are collectively presented as an image from the same viewpoint or from different viewpoints having a fixed relation. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an augmented reality presentation system.

Technical background

  In recent years, augmented reality (AR) technology has been used in the medical field, entertainment field, information communication field, and the like. Augmented reality technology is different from virtual reality, which aims to create a completely virtual space and immerse the user in it. It is intended to be extended to.

According to this augmented reality technology, the computer-side video is superimposed on the real landscape and displayed to the user in accordance with the situation, invisible or supplementary information. Can do.

  These augmented reality technologies are useful for constructing surgical navigation in landmine exploration, fish school detection, temperature / velocity measurement, and especially in minimally invasive medicine such as endovascular surgery and laparoscopic surgery. .

  To date, bones, organs, blood vessels, etc. to be operated on the basis of in-body information of individual patients previously taken before surgery by fluoroscopic imaging means such as X-ray CT, MRI and ultrasonic imaging A method has been proposed in which a three-dimensional image is generated in a computer and the information thus generated is projected onto the patient's body using a transmission display or the like. It is possible to make the body structure on the other side of the body surface recognized.

  Specific examples include projections of abdominal organs (or lesion areas inside abdominal organs) for laparoscopic surgery, vertebral shape projections for vertebral screw fixation, and target areas for biopsy. For example, projection. In addition to the transmissive display, a head-mounted display can be used for information projection. In this case, the movement of the head of the surgeon wearing the head-mounted display is acquired by a position sensor, and information projection is performed. It is also possible to track the image of the operative field with the movement of the head. Of course, it is also possible to use a normal display.

  However, in these methods, information prepared before the operation by fluoroscopic imaging such as CT, MRI, and ultrasonic imaging is used, so that the information projection area has a form as the operation progresses, for example, during the operation. When it fluctuates, there is a problem that the actual state is different from the projected image, and subsequent surgical navigation is not established.

  In order to avoid this problem, it is possible to perform fluoroscopy again during the operation and update the information again, but in this case, the relative positional relationship between the imaged image and the patient's body must be set again. Is usually not easy, requires time and effort each time, and may hinder the progress of surgery.

  For this reason, it quickly generates an augmented reality image obtained by presenting the operative field image (target region image) and the body perspective image (spatial information of the target region) together, facilitating the work, It is desirable to improve efficiency.

Object of the invention

  The present invention has been made in view of the above problems, and the purpose thereof is to promptly display an augmented reality image obtained by presenting the image of the target region and the spatial information of the target region together. It is to make the work easier and more efficient.

Means for solving the problem

  In order to achieve the above object, according to the first aspect of the present invention, additional distribution information (internal perspective image, velocity distribution, acceleration distribution, optical distribution, chemical distribution, temperature distribution, concentration) that can be obtained for the target region. An augmented reality presentation system that presents an image of the target area together with an image of the target area, an imaging unit that images the target area, a sensor unit that acquires additional information of the target area, and the imaging unit And a position detection unit for detecting the position of the sensor unit, and a display unit for presenting an image of the target region, and using the position information of the imaging unit and the sensor unit obtained by the position detection unit Thus, the image of the target area obtained by the imaging unit and the additional information of the target area obtained by the sensor unit can be used as an image from the same viewpoint or from different viewpoints having a certain relationship. Display section Presentation to be, characterized by.

  According to a second aspect of the present invention, in the augmented reality presentation system according to the first aspect, the display unit adds an image of a target region obtained by the imaging unit and a target region obtained by the sensor unit. Characteristic distribution information is displayed as an overlay image as an image from the same viewpoint.

  According to a third aspect of the present invention, in the augmented reality presentation system according to the first aspect, the display unit adds an image of a target area obtained by the imaging unit and a target area obtained by the sensor unit. Characteristic distribution information is presented in real time as images from the same viewpoint or from different viewpoints having a certain relationship.

  According to a fourth aspect of the present invention, in the augmented reality presentation system according to any one of the first to third aspects, the sensor unit is a fluoroscopic sensor (for example, an ultrasonic sensor or an X-ray sensor). It is characterized by being.

  According to a fifth aspect of the present invention, in the augmented reality presentation system according to the fourth aspect, the imaging unit is a laparoscope.

  The inventions according to claims 6 to 8 have the advantage of software for realizing such an augmented reality presentation system.

  In the invention of claim 6, additional distribution information (internal perspective image, velocity distribution, acceleration distribution, optical distribution, chemical distribution, temperature distribution, concentration distribution, etc.) that can be obtained for the target region is A software for presenting augmented reality that is presented together with an image of the target area, the image captured for the target area, any additional information obtained for the target area, the image and the information Augmented reality presentation that presents additional information of the target area from the position information (coordinate information and orientation information) together with the image as an image from the same viewpoint or from different viewpoints having a certain relationship Generating an image.

  According to a seventh aspect of the invention, there is provided the augmented reality presentation software according to the sixth aspect, wherein the augmented reality presentation image has additional information on the target area as the same viewpoint as the image. It is characterized by presenting an overlay as an image from.

  The invention according to claim 8 is the software for presenting augmented reality according to claim 6, wherein the augmented reality presentation image is obtained by adding additional information on the target area to the image in the same viewpoint. Or real-time presentation as images from different viewpoints having a certain relationship.

The invention's effect

  According to the augmented reality system according to claim 1 configured as described above, the positions of both the imaging unit that performs imaging of the target region and the sensor unit that acquires additional information of the target region are used for position detection. Since it can be specified by the position detection unit, the information of the target region obtained by the imaging unit and the additional information of the target region obtained by the sensor unit can be obtained from the same viewpoint by capturing and processing these pieces of information into a computer. It is possible to present it as information from different viewpoints having a certain relationship.

  According to the augmented reality system of claim 2, the image of the target area and the additional information of the target area are displayed as information from the same viewpoint, so that the positional relationship between the two is easier. Can be recognized.

  According to the augmented reality system according to claim 3, the image of the target area and the additional information of the target area are updated and presented in real time, so that the latest information can always be obtained. It is.

  Further, according to the augmented reality system according to claim 4, by using a fluoroscopic sensor for the sensor unit, the image of the target area and the image inside the target area can be presented together. It is possible to know both the appearance of the target area and its internal state.

  According to the augmented reality system of claim 5, it is possible to construct a surgical navigation system for laparoscopic surgery by using a laparoscope for the imaging unit.

  According to the software for an augmented reality system according to claim 6, an image photographed about the target area, additional information obtained about the target area, and position information (coordinate information) of these images and additional information , And orientation information), an augmented reality presentation image that presents the additional information as information from the same viewpoint or information from different viewpoints having a certain relationship to the image of the target area. It is possible to generate.

  According to the software for the augmented reality system according to claim 7, the image of the target area and the additional information of the target area can be presented as an overlay as information from the same viewpoint. It is possible to recognize more easily.

  According to the software for an augmented reality system according to claim 8, the image of the target area and the additional information of the target area can be updated in real time, so that the latest information can always be presented. Is possible.

(Component)
Hereafter, each element which comprises this invention is demonstrated in detail.
The present invention includes an imaging unit that captures an image of a target region, a sensor unit that acquires additional information of the target region, a position detection unit for specifying the positions of the imaging unit and the sensor unit, It is comprised by the presentation part for presenting the augmented reality image produced | generated automatically. Here, it is assumed that the imaging unit and the sensor unit are independent structures, but if possible, the imaging unit and the sensor unit can be integrated into a structure.

  Here, the target area refers to a certain area having a spatial extent, and solids, liquids, and gases contained therein are regarded as components of the target area. Examples of the target area include a specific area of the human body to be operated on, a specific area of the ground surface that is the target of landmine exploration, a specific area in the flow of liquid or gas that is the target of temperature measurement or flow velocity measurement, Specific areas in the air that are the targets of astronomical observation can be mentioned, and all the areas existing in the natural world can be candidates for the target area used here.

The imaging unit is a component that captures an image of such a target area, and means a structure having an imaging function described in detail below. Here, imaging means obtaining a spatial state (including one-dimensional, two-dimensional, and three-dimensional) of the target region. For example, it captures light having a visible wavelength emitted from the target region, Images similar to those observed by the eye may be obtained, or special invisible images such as fluoroscopic images and temperature distribution images that are not observed by the human eye by capturing invisible light (such as infrared rays) emitted from the target area A transparent image may be obtained by irradiation with X-rays or the like, or by a method using a physical phenomenon such as a nuclear magnetic resonance (MR) method or an ultrasonic imaging method. An image may be obtained. As described above, the photographing unit is a structure including a unit capable of obtaining a target image.
The image indicates general information including images and videos. The imaging unit is preferably configured to be connected to an electronic computer so that image information can be processed. However, the imaging unit may be connected to a converter or the like that realizes an equivalent function to replace this, or a video mixer. It is also possible to simply generate an augmented reality image by connecting to the above.

On the other hand, the sensor unit is one component that obtains information in the space (including both one-dimensional, two-dimensional, and three-dimensional) included in the target region, and includes the spatial information described in detail below. It means a structure with an acquisition function. Here, the information in space is information relating to a physical quantity having a spatial distribution generally called a scalar field or a vector field. Specific examples include temperature distribution, concentration distribution, density distribution, intensity distribution, velocity distribution, acceleration distribution, optical distribution, chemical distribution, etc., and ultrasound reflection distribution in ultrasonic imaging, In addition, the nuclear magnetic resonance distribution in MRI imaging and the distribution of X-ray transmittance in X-ray imaging are included, and thus the space inside the substance restored from these reflection distribution, nuclear magnetic resonance distribution, X-ray transmittance distribution, etc. Information (such as tomographic information and internal fluoroscopy information) is also included in the “information in space”.
The sensor unit is preferably configured to be able to process information by connecting to an electronic computer. However, it may be replaced with a converter or the like that realizes an equivalent function, or in some cases. It is also possible to simply generate an augmented reality image by connecting to a video mixer or the like.

In addition, the position detection unit acquires positions (coordinates and orientation) in the space of the imaging unit and the sensor unit. More specifically, the position detection unit specifies the position (coordinates and orientation) in the space of the “image captured by the imaging unit” and the “spatial information acquired by the sensor unit”. It is one component of the augmented reality presentation system that can be used, and can adopt any configuration as long as position detection is possible. As the position detection unit, for example, a sensor (marker) for position specification based on magnetism or light detection may be installed in the imaging unit or the sensor unit, or a mechanical link mechanism having a variable structure is imaged. It is possible to detect the position from the shape of the link mechanism by connecting to the sensor part or sensor part, or to install the external part without adding any extra objects (mechanism etc.) to the imaging part or sensor part. Position detection may be performed by a camera or the like, a specific marker may be installed in the imaging unit or sensor unit, and position detection may be performed by detecting the position of the marker from the external environment. The position may be detected by an installed apparatus such as CT or MRI. Different methods can be applied to the position detection of the imaging unit and the position detection of the sensor unit, and in addition to the above example, the position of each component can be determined by combining surgical position detection methods. Detection can be performed.
The position detection unit is preferably connected to an electronic computer so that information processing for viewpoint conversion described later can be performed. However, the position detection unit is connected to a converter or the like that realizes an equivalent function. It is also possible to substitute.

(Augmented reality image generation method, software processing)
Based on the respective position information of the imaging unit and the sensor unit acquired by the position detection unit, “the image of the target region captured by the imaging unit” and “in-space information of the target region acquired by the sensor unit” Is associated with a position (coordinates and orientation) in the space, and based on the “position in the space” information, the “image of the target region imaged by the imaging unit” or the “sensor After converting the in-space information of the target area acquired by the imaging unit or both into an image from a specific viewpoint, the "image of the target area captured by the imaging unit" and the "acquired by the sensor unit" Presented in-spatial information of the target area ”as an image from the same viewpoint, or as an image from different viewpoints having a certain relationship, or superimposed. (Including overlay presentation) can generate augmented reality images by. In general, since the position information is given for a specific point on (inside) the structure constituting the imaging unit or sensor unit, the position information of the specific point and the shape information of the structure (on the structure) (Including the position information of the specific point in (inside)) and the position information of the information acquisition point that realizes imaging or spatial information acquisition, and an arithmetic process is performed by an electronic computer or a converter having a function corresponding thereto. By executing, it is possible to obtain information regarding the position (coordinates and orientation) of the “image of the target region imaged by the imaging unit” or the “in-space information of the target region acquired by the sensor unit”.
Note that the augmented reality image is generated within the range in which the enhanced reality is realized by the computer (or the corresponding converter, etc.) and the like after each viewpoint conversion (of the target area imaged by the imaging unit). The image may be generated by fusing the image and the spatial information image of the target area acquired by the sensor unit, or may be generated by inputting and mixing the signals of the respective images to one display device. Then, it may be generated by projecting each image on a certain place, or may be individually presented on two or more display devices.

  Regarding the conversion of the viewpoint of the image based on the detected position information, the viewpoint information of “the image of the target area imaged by the imaging unit” is obtained from the position detection unit, and based on the viewpoint information, the “sensor The information in the space of the target area acquired by the imaging unit is converted into an image from the same viewpoint as the image, while the “image of the target area imaged by the imaging unit” is converted without performing viewpoint conversion. An overlay display is preferable. The augmented reality image obtained in this way is generally easy for the user to obtain augmented reality. In particular, when the imaging unit is a fixed-point camera, the imaging characteristics (view angle, lens distortion characteristics, etc.) of the camera are applied to viewpoint conversion of “in-space information of the target area acquired by the sensor unit” Thus, it is preferable to generate images of the same viewpoint.

Here, the viewpoint conversion is a process of converting the image obtained for the target area or the information in the space into an observation image from an arbitrary position inside or outside the target area, and is provided in the electronic computer. It is preferable to execute the processing by software. As an image after conversion, a spatial image (image having three-dimensional information), a plane (curved surface) image (image having two-dimensional information), a straight line, or the like, depending on the purpose and the type of information to be obtained. A (curve) -like image (an image having one-dimensional information) or an image obtained by mixing these images can be generated. In addition, as the spatial image, a parallel projection image, a center projection image, a stereoscopic projection image (perspective image, bird's-eye view image, bird's-eye view image, etc.), or an image in any form according to the purpose can be taken. However, it is usually preferable to unify the image and the information in the space into an image by the same projection method from the same viewpoint, and present both together by parallel display or overlay display.
It should be noted that after the viewpoint conversion, the in-space information does not have to exist for the entire range of the image, and the in-space information may be presented only for a part of the image. Conversely, the image need not be obtained for the entire range of the information image in space, and a part of the image may be displayed. Also, regarding the spatial dimension of the image, one may be a spatial image and the other may be a flat (curved) image or a straight (curved) image covering a part of the image. Any combination is possible.

  The sensor unit does not need to be fixedly installed at a single point, and it is possible to collect spatial information over a wide range of the target region by arbitrarily moving (parallel movement, rotational movement, or a combination thereof). . This makes it possible to acquire a wide range of information along the movement path, and to give more information when generating an augmented reality image. As a specific example, it is possible to obtain temperature distribution information on a line along the movement path by moving a temperature sensor that can measure the temperature on one point, or an image sensor (scanner that can acquire a pattern on a straight line). ) Can be obtained to obtain pattern information on the surface along the movement path, or three-dimensional information along the movement path can be obtained by moving an ultrasonic sensor capable of obtaining a cross-sectional perspective image. In addition, it is possible to obtain three-dimensional information along the movement path by moving a three-dimensional shape scanner capable of acquiring a three-dimensional shape. This also applies to the imaging unit, and a wide range of images can be obtained by moving the imaging unit.

  It is also possible to extract specific information from the spatial information obtained by the sensor unit and present only that information. As a specific example, after extracting only the blood vessel region from the tomographic information inside the body obtained by the ultrasonic sensor (example of sensor unit) and performing viewpoint conversion, it is superimposed on the image obtained by the imaging device. By combining them, you can generate an augmented reality image, acquire the temperature distribution inside the liquid obtained by the temperature sensor (example of sensor unit), and extract only the region within a certain temperature range, After the conversion, an augmented reality image can be generated by superimposing the image obtained by the imaging device. This also applies to the imaging unit, and a part of the image obtained by the imaging unit can be extracted and used to generate an augmented reality image. Such extraction of the specific area can be processed by an electronic computer (more specifically, software included in the electronic computer) used to generate an augmented reality image.

(Presentation method of augmented reality image)
The augmented reality image obtained as described above is an arbitrary image presenting device such as a display device (CRT, liquid crystal, plasma, etc.), a projector device, a stereoscopic projection device, a printer device, a drawing device, or an image presenting device based on a shape change. In addition to being presented to the user, it can also be worn by the user with a portable display, a head-mounted display, or the like. It is also possible to further give image information of actual objects existing on the other side of the display using a transmissive display.

When generating an augmented reality image, the image obtained by the imaging unit and the spatial information obtained by the sensor unit may be displayed in an overlay manner, displayed in parallel, or displayed arbitrarily. Although the style can be adopted, it is necessary for the user to easily grasp the relative relationship between these two pieces of information and to obtain augmented reality. In this respect, the above-described overlay display is particularly preferable. Note that a single display device or a plurality of display devices may be used to present the augmented reality image.

(First embodiment)
The present invention is applied to intraoperative imaging of laparoscopic surgery, and a system for presenting augmented reality to a blood vessel region included in the range of a surgical image is constructed. Details of the embodiment will be described below.

(Purpose of the first embodiment)
In laparoscopic surgery performed mainly for the treatment of abdominal organs (kidney, liver, bladder, stomach, and accompanying blood vessels, etc.) An object is to avoid damage to blood vessels caused by inappropriate operation of medical instruments and erroneous recognition of intraoperative images obtained by a laparoscope.

  Specifically, three-dimensional information inside the body is acquired by an ultrasonic sensor (corresponding to the sensor unit), a three-dimensional image of the blood vessel region is restored based on the three-dimensional information, and then the three-dimensional information of the blood vessel region is obtained. By displaying an image as an image (video) from the same viewpoint on an operation video obtained by a laparoscope (corresponding to the imaging unit), an augmented reality presentation of the blood vessel region is performed, so that the operator can The purpose is to create an environment where the position of the person can be understood. Here, each of the ultrasonic sensor and the laparoscope is provided with a magnetic sensor capable of detecting a position in real time (corresponding to the position detector), and based on position information obtained by the magnetic sensor. Realize image generation from the same viewpoint.

(Device configuration of the first embodiment)
In laparoscopic surgery, about 5 communication holes having a diameter of several centimeters are formed in the abdomen of a human body, and a laparoscope (equipped with a video photographing means) and forceps are inserted through the communication holes. The target region (disease) is treated by operating a medical instrument such as forceps while confirming the intraoperative image obtained by the laparoscope (the imaging unit).
In this embodiment, a DC-type magnetic sensor (the position) for detecting the position of the ultrasonic sensor is attached to the end of a rod-shaped ultrasonic sensor (the sensor unit) having a diameter of about 1.5 cm and a length of about 30 cm. A detection unit is attached, inserted into the abdominal cavity through the communication hole, and a magnetic sensor for position detection (the above-described imaging unit) is attached to the end of a rod-shaped laparoscope (the imaging unit) having a diameter of about 1 cm and a length of about 30 cm The position detection unit) was similarly attached and inserted into the abdominal cavity through the other communication hole. Here, the used ultrasonic sensor is configured by arranging a plurality of small ultrasonic sensor elements, and captures fluoroscopic information in the body of a conical region having the ultrasonic sensor as a vertex. (It is also possible to use an ultrasonic sensor composed of a single ultrasonic element, or an ultrasonic sensor that realizes fluoroscopic imaging of a conical (planar) two-dimensional region by multiple arrays of ultrasonic sensors. Is).

The ultrasonic sensor (the sensor unit), the laparoscope (the imaging unit), and the magnetic sensor (the position detection unit) are respectively passed through an ultrasonic sensor unit main body, a laparoscopic unit main body, and a magnetic sensor main body. Connected to a single computer. In the electronic computer, based on the signal information obtained by the ultrasonic sensor, a blood vessel region that is an object of augmented reality presentation is extracted and obtained from the magnetic sensor installed in each of the ultrasonic sensor and the laparoscope. The image of the blood vessel region is converted back to an image from the same viewpoint as the image obtained by the laparoscope, and both are overlaid on the monitor (the display unit) that presents the operation image. did.
In addition, according to the ultrasonic sensor, the flow of blood is directed using the Doppler effect generated by the blood flow. That is, it is possible to distinguish between arteries and veins.
The electronic computer may execute this processing together to distinguish between arteries and veins and present them on a surgical monitor. Such augmented reality presentation is particularly suitable as additional information in laparoscopic surgery. It will be a thing.

The present invention is not limited to the description of the embodiments and examples of the invention described above. In particular, not only the purpose of building a navigation system for laparoscopic surgery, but also augmented reality by providing an imaging unit, sensor unit, and position detection unit, such as landmine exploration, fish school detection, temperature distribution measurement, and flow velocity measurement. Various applications capable of generating an image are included. Various modifications are also included in the present invention as long as those skilled in the art can easily conceive without departing from the scope of the claims.

  FIG. 1 is a schematic diagram showing a configuration example of an embodiment of the present invention.   FIG. 2 shows an augmented reality image obtained by the present invention.   FIG. 3 is a schematic diagram showing a configuration example of the first embodiment.   FIG. 4 is a flowchart showing the processing contents of the software in the first embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electronic computer 2 Display part 3 Main body unit of sensor part 4 Main body unit of position detection part 5 Position detection part attached to the imaging part 6 Position detection part attached to the sensor part 7 Sensor part 8 Imaging part 9 Target area 10 Space Information 31 Spatial information acquired from the sensor unit (after changing viewpoint)
32 Image captured by the imaging unit (after changing the viewpoint)
33 Display 34 Augmented Reality Image 51 Computer 52 Display Unit 53 Sensor Unit Main Unit 54 Position Detection Unit Main Unit 55 Position Detection Unit Attached to Imaging Unit 56 Laparoscope (Imaging Unit)
57 Position detection unit attached to the sensor unit 58 Ultrasonic sensor (sensor unit)
59 Target area 60 Human abdomen

Claims (8)

Additional distribution information (internal perspective image, velocity distribution, acceleration distribution, optical distribution, chemical distribution, temperature distribution, concentration distribution, etc.) that can be obtained for the target area is presented together with the image of the target area. An augmented reality presentation system,
An imaging unit for imaging a target area;
A sensor unit for acquiring additional information of the target area;
A position detection unit for detecting the position of the imaging unit and the sensor unit;
A display unit for presenting an image of the target area;
With
By using the position information of the imaging unit and the sensor unit obtained by the position detection unit,
An image of the target area obtained by the imaging unit;
Additional information on the target area obtained by the sensor unit,
Presenting the display unit as an image from the same viewpoint or from different viewpoints having a certain relationship;
Augmented Reality Presentation System Characteristic The display unit
An image of the target area obtained by the imaging unit;
Additional distribution information of the target area obtained by the sensor unit,
It is characterized by showing an overlay as an image from the same viewpoint,
The augmented reality presentation system according to claim 1, wherein: The display unit
An image of the target area obtained by the imaging unit;
Additional distribution information of the target area obtained by the sensor unit,
It is characterized by being presented in real time as an image from the same viewpoint or from different viewpoints with a certain relationship,
The augmented reality presentation system according to claim 1, wherein: The augmented reality presentation system according to claim 1, wherein the sensor unit is a fluoroscopic sensor (for example, an ultrasonic sensor or an X-ray sensor). The augmented reality presentation system according to claim 4, wherein the imaging unit is a laparoscope. Additional distribution information (internal perspective image, velocity distribution, acceleration distribution, optical distribution, chemical distribution, temperature distribution, concentration distribution, etc.) that can be obtained for the target area is presented together with the image of the target area. A software for presenting augmented reality,
An image captured of the target area;
Any additional information obtained about the area of interest, and
From the image and position information (coordinate information and orientation information) of the information,
Additional information of the target area is added to the image,
Generate augmented reality presentation images that are presented together as images from the same viewpoint or from different viewpoints with a certain relationship,
Augmented reality presentation software featuring The augmented reality presentation image is:
Additional information on the target area is added to the image.
It is characterized by showing an overlay as an image from the same viewpoint,
The augmented reality presentation system according to claim 6, wherein The augmented reality presentation image is:
Additional information on the target area is added to the image.
It is characterized by being presented in real time as an image from the same viewpoint or from different viewpoints with a certain relationship,
The augmented reality presentation system according to claim 6, wherein