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- JPWO2020028191A5 JPWO2020028191A5 JP2021505884A JP2021505884A JPWO2020028191A5 JP WO2020028191 A5 JPWO2020028191 A5 JP WO2020028191A5 JP 2021505884 A JP2021505884 A JP 2021505884A JP 2021505884 A JP2021505884 A JP 2021505884A JP WO2020028191 A5 JPWO2020028191 A5 JP WO2020028191A5
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Description
（関連出願の相互参照）
本願は、その全てが、参照することによってその全体として本明細書に組み込まれる、２０１８年８月３日に出願された米国仮特許出願第６２／７１４，６０９号および２０１９年３月１３日に出願された米国仮特許出願第６２／８１８，０３２号の優先権を主張する。
(Mutual reference of related applications)
The present application is filed on August 3, 2018, US Provisional Patent Application No. 62 / 714,609 and March 13, 2019, all of which are incorporated herein by reference in their entirety. Claim the priority of the filed US provisional patent application No. 62 / 818,032.
本発明は、６自由度（「６ｄｏｆ」）姿勢、すなわち、ユーザによって知覚される仮想オブジェクトの姿勢を定義する、トーテムを有する、ユーザ相互作用システムに関する。 The present invention relates to a user interaction system having a totem that defines a 6 degree of freedom (“6DOF”) attitude, i.e., the orientation of a virtual object perceived by the user.
現代のコンピューティングおよびディスプレイ技術は、「拡張現実」視認デバイスを含む、ユーザ相互作用システムの開発を促進している。そのような視認デバイスは、通常、ユーザの頭部に搭載可能であって、ユーザの各眼の正面に１つずつ、２つの導波管を含む場合が多い、頭部ユニット本体を伴う、頭部ユニットを有する。導波管は、実世界オブジェクトからの周囲光が導波管を通して透過し得、ユーザに実世界オブジェクトが見え得るように、透明である。各導波管はまた、プロジェクタから投影された光をユーザの個別の眼に透過させる役割を果たす。投影された光は、画像を眼の網膜上に形成する。眼の網膜は、したがって、周囲光および投影された光を受光する。ユーザには、同時に、実世界オブジェクトと、投影された光によって作成される、１つ以上の仮想オブジェクトとが見える。 Modern computing and display technologies are driving the development of user interaction systems, including "augmented reality" visual devices. Such a visual device is usually mounted on the user's head and often includes two waveguides, one in front of each of the user's eyes, with the head unit body. Has a unit. The waveguide is transparent so that ambient light from the real-world object can pass through the waveguide and the user can see the real-world object. Each waveguide also serves to transmit the light projected from the projector through the individual eye of the user. The projected light forms an image on the retina of the eye. The retina of the eye therefore receives ambient and projected light. At the same time, the user sees a real-world object and one or more virtual objects created by the projected light.
そのようなユーザ相互作用システムは、多くの場合、トーテムを含む。ユーザは、例えば、トーテムをその右手に保持し、３次元空間内で６自由度を伴って、トーテムを移動させてもよい。仮想オブジェクトは、トーテムに取り付けられており、３次元空間内のトーテムに伴って移動するように、ユーザによって知覚されてもよい、または仮想オブジェクトは、壁に衝打する光ビームまたはユーザが壁を横断して移動させる別のオブジェクトの知覚であってもよい。 Such user interaction systems often include totems. The user may, for example, hold the totem in his right hand and move the totem in three-dimensional space with six degrees of freedom. The virtual object is attached to the totem and may be perceived by the user to move with the totem in three-dimensional space, or the virtual object may be a light beam hitting the wall or the user touching the wall. It may be the perception of another object that is moved across.
仮想オブジェクトが、トーテムに対してその現実的姿勢のままであることが重要である。例えば、トーテムが、ラケットの柄を表し、仮想オブジェクトが、ラケットのヘッドを表す場合、ラケットのヘッドは、経時的に、ラケットの柄に「取り付けられた」ままである必要がある。 It is important that the virtual object remains in its realistic attitude towards the totem. For example, if the totem represents the racket handle and the virtual object represents the racket head, the racket head needs to remain "attached" to the racket handle over time.
本発明は、トーテム本体と、トーテム本体上の電磁（ＥＭ）伝送機と、トーテム上に位置し、トーテムの移動に起因して、トーテムＩＭＵ信号を生成する、トーテム慣性測定ユニット（ＩＭＵ）とを有する、トーテムと、頭部ユニット本体と、頭部ユニット本体上にあって、ＥＭ伝送機によって伝送されるＥＭ波であって、トーテムの場所を示す、ＥＭ波を受信する、ＥＭ受信機とを有する、頭部ユニットと、プロセッサと、プロセッサに接続される、記憶デバイスと、記憶デバイス上にあって、プロセッサによって実行可能である、命令のセットとを含む、ユーザ相互作用システムを提供する。命令のセットは、世界フレームと、ＥＭ受信機およびトーテムＩＭＵに接続され、ＥＭ波、頭部ユニット姿勢、およびトーテムＩＭＵデータの組み合わせに基づいて、世界フレーム内のトーテムの融合姿勢を生成する、融合ルーチンと、頭部ユニットに対するトーテムの姿勢および世界フレームに対する頭部ユニットの姿勢を決定し、世界フレームに対するトーテムの非融合姿勢を確立する、非融合姿勢決定モデラ（ｍｏｄｅｌｅｒ）と、融合姿勢決定モデラおよび非融合姿勢決定モデラに接続され、融合姿勢と非融合姿勢を比較する、コンパレータ（ｃｏｍｐａｒａｔｏｒ）と、コンパレータに接続され、融合姿勢が非融合姿勢から所定の距離を上回る場合のみ、ドリフトを宣言する、ドリフトディクレアラ（ｄｅｃｌａｒｅｒ）と、ドリフトディクレアラに接続され、ドリフトが宣言される場合のみ、トーテムＩＭＵの姿勢をリセットし、非融合場所にマッチングさせる、場所補正ルーチンと、画像データを搬送する、データソースと、データソースに接続され、画像データを使用して、仮想オブジェクトをユーザに表示する、ディスプレイシステムであって、仮想オブジェクトの場所は、トーテムの融合場所に基づく、ディスプレイシステムとを含む。 The present invention includes a totem body, an electromagnetic (EM) transmitter on the totem body, and a totem inertial measurement unit (IMU) located on the totem that generates a totem IMU signal due to the movement of the totem. It has a totem, a head unit body, and an EM wave that is on the head unit body and is transmitted by an EM transmitter, that indicates the location of the totem, and that receives an EM wave and receives an EM receiver. It provides a user interaction system that includes a head unit, a processor, a storage device connected to the processor, and a set of instructions on the storage device that can be executed by the processor. A set of instructions is connected to the world frame and the EM receiver and totem IMU to generate a fusion of totems within the world frame based on a combination of EM waves, head unit orientation, and totem IMU data. A non-fusion posture determination modeler and a fusion posture determination modeler that determine the routine and the attitude of the totem with respect to the head unit and the attitude of the head unit with respect to the world frame and establish the totem's non-fusion posture with respect to the world frame. Connected to a non-fused posture determination modeler to compare fused and non-fused postures, a comparator connected to the comparator and declared drift only if the fused posture exceeds a predetermined distance from the non-fused posture. A location correction routine that resets the posture of the Totem IMU and matches it to a non-fusion location and transports image data only when it is connected to a drift declarer and a drift is declared. , A data source and a display system that is connected to the data source and uses image data to display virtual objects to the user, including the display system where the location of the virtual objects is based on the fusion location of the totem. ..
本発明はまた、トーテム本体上のＥＭ伝送機を用いて、電磁（ＥＭ）波を伝送するステップと、トーテムの移動に起因して、トーテム本体上のトーテムＩＭＵを用いて、トーテム慣性測定ユニット（ＩＭＵ）信号を生成するステップと、ユーザの頭部上の頭部ユニット本体を位置特定するステップと、頭部ユニット本体上のＥＭ受信機によって、ＥＭ伝送機によって伝送されるＥＭ波を受信するステップであって、ＥＭ波は、トーテムの姿勢を示す、ステップと、世界フレームを記憶するステップと、プロセッサを用いて、融合ルーチンを実行し、ＥＭ波、頭部ユニット姿勢、およびトーテムＩＭＵデータの組み合わせに基づいて、世界フレーム内のトーテムの融合姿勢を生成するステップと、プロセッサを用いて、頭部ユニットに対するトーテムの姿勢および世界フレームに対する頭部ユニットの場所を決定し、世界フレームに対するトーテムの非融合姿勢を確立する、非融合姿勢決定モデラを実行するステップと、プロセッサを用いて、コンパレータを実行し、融合姿勢と非融合姿勢を比較するステップと、プロセッサを用いて、ドリフトディクレアラを実行し、融合姿勢が非融合姿勢から所定の姿勢を上回る場合のみ、ドリフトを宣言するステップと、プロセッサを用いて、姿勢補正ルーチンを実行し、ドリフトが宣言される場合のみ、トーテムＩＭＵの姿勢をリセットし、非融合姿勢にマッチングさせるステップと、画像データをデータソースから受信するステップと、データソースに接続されるディスプレイシステムを用いて、画像データを使用して、仮想オブジェクトをユーザに表示するステップであって、仮想オブジェクトの場所は、トーテムの融合場所に基づく、ステップとを含む、ユーザ相互作用システムを提供する。 The present invention also uses a totem inertial measurement unit (totem inertial measurement unit) using a totem IMU on the totem body due to the steps of transmitting electromagnetic (EM) waves using the EM transmitter on the totem body and the movement of the totem. IMU) A step to generate a signal, a step to locate the head unit body on the user's head, and a step to receive the EM wave transmitted by the EM transmitter by the EM receiver on the head unit body. The EM wave is a combination of the EM wave, the head unit posture, and the totem IMU data by executing a fusion routine using a processor, a step indicating the attitude of the totem, a step of storing the world frame, and a processor. Based on, the steps to generate the fused orientation of the totem in the world frame and the processor are used to determine the attitude of the totem with respect to the head unit and the location of the head unit with respect to the world frame, and the non-fusion of the totem with respect to the world frame. A step to establish a posture, execute a non-fused posture determination modeler, a step to execute a comparator using a processor and compare a fused posture and a non-fused posture, and a step to execute a drift decreara using a processor. Only when the fused posture exceeds the predetermined posture from the non-fused posture, the step of declaring the drift and the attitude correction routine using the processor are executed, and the posture of the Totem IMU is reset only when the drift is declared. A step of matching to a non-fused posture, a step of receiving image data from a data source, and a step of displaying a virtual object to the user using image data using a display system connected to the data source. The location of the virtual object provides a user interaction system, including steps, based on the fusion location of the totem.
本発明はさらに、付随の図面を参照して、一例として説明される。 The present invention will be further described as an example with reference to the accompanying drawings.
付随の図面の図１は、ユーザ１０と、本発明の実施形態による、ユーザ相互作用システム１２と、テーブルの形態における実世界オブジェクト１４と、図の視点から不可視であるが、ユーザ１０には可視である、仮想オブジェクト１６とを図示する。 FIG. 1 of the accompanying drawing is invisible to the user 10, the user interaction system 12 according to the embodiment of the present invention, the real world object 14 in the form of a table, and the user 10 from the viewpoint of the figure. The virtual object 16 is illustrated.
ユーザ相互作用システム１２は、頭部ユニット１８と、ベルトパック２０と、ネットワーク２２と、サーバ２４とを含む。 The user interaction system 12 includes a head unit 18, a belt pack 20, a network 22, and a server 24.
頭部ユニット１８は、頭部ユニット本体２６と、ディスプレイシステム２８とを含む。頭部ユニット本体２６は、ユーザの頭部１０にわたって適合する、形状を有する。ディスプレイシステム２８は、頭部ユニット本体２６に固着される。 The head unit 18 includes a head unit main body 26 and a display system 28. The head unit body 26 has a shape that fits over the user's head 10. The display system 28 is fixed to the head unit main body 26.
ベルトパック２０は、プロセッサと、プロセッサに接続される、記憶デバイスとを有する。視覚アルゴリズムが、記憶デバイス上に記憶され、プロセッサによって実行可能である。ベルトパック２０は、ケーブル接続３０を用いて、ディスプレイシステム２８に通信可能に接続される。ベルトパック２０はさらに、ベルトパック２０が、ネットワーク２２とのリンク３２を経由して、無線で接続することを可能にする、ネットワークインターフェースデバイスを含む。サーバ２４は、ネットワーク２２に接続される。 The belt pack 20 has a processor and a storage device connected to the processor. The visual algorithm is stored on the storage device and can be executed by the processor. The belt pack 20 is communicably connected to the display system 28 using the cable connection 30. The belt pack 20 further includes a network interface device that allows the belt pack 20 to connect wirelessly via a link 32 with the network 22. The server 24 is connected to the network 22.
使用時、ユーザ１０は、頭部ユニット本体２６をその頭部に固着させる。ディスプレイシステム２８は、ユーザ１０に、導波管を通して、実世界オブジェクト１４が見え得るように、透明である、光学導波管（図示せず）を含む。 At the time of use, the user 10 fixes the head unit main body 26 to the head. The display system 28 includes an optical waveguide (not shown) that is transparent so that the real-world object 14 can be seen through the waveguide to the user 10.
ベルトパック２０は、ネットワーク２２およびリンク３２を経由して、画像データをサーバ２４からダウンロードしてもよい。ベルトパック２０は、画像データを、ケーブル接続３０を通して、ディスプレイシステム２８に提供する。ディスプレイシステム２８は、画像データに基づいて光を作成する、１つ以上のプロジェクタを有する。光は、１つ以上の光学導波管を通して、ユーザ１０の眼に伝搬する。各導波管は、眼に仮想オブジェクト１６がディスプレイシステム２８の背後のある距離において見えるように、光を個別の眼の網膜上の特定の焦点距離に作成する。眼には、したがって、仮想オブジェクト１６が３次元空間内に見える。加えて、若干異なる画像が、ユーザ１０の脳が３次元空間内の仮想オブジェクト１６を知覚するように、眼毎に作成される。ユーザ１０には、したがって、３次元空間内に仮想オブジェクト１６で拡張された実世界オブジェクト１４が見える。 The belt pack 20 may download image data from the server 24 via the network 22 and the link 32. The belt pack 20 provides image data to the display system 28 through the cable connection 30. The display system 28 has one or more projectors that create light based on image data. Light propagates to the user 10's eyes through one or more optical waveguides. Each waveguide creates light at a specific focal length on the retina of the individual eye so that the virtual object 16 is visible to the eye at some distance behind the display system 28. To the eye, therefore, the virtual object 16 is visible in three-dimensional space. In addition, slightly different images are created for each eye so that the user 10's brain perceives the virtual object 16 in 3D space. Therefore, the user 10 sees the real-world object 14 extended by the virtual object 16 in the three-dimensional space.
ユーザ相互作用システム１２はさらに、トーテム３４を含む。使用時、ユーザ１０は、トーテム３４をその手のうちの一方に保持する。仮想オブジェクト１６は、トーテム３４の位置付けに基づいて、３次元空間内に位置付けられる。一例として、トーテム３４は、ラケットの柄であってもよく、仮想オブジェクト１６は、ラケットのヘッドを含んでもよい。ユーザ１０は、トーテム３４を３次元空間内で６自由度において移動させることができる。トーテム３４は、したがって、実世界オブジェクト１４および頭部ユニット本体２６に対して３次元空間内を移動する。頭部ユニット１８およびベルトパック２０内の種々のコンポーネントは、トーテム３４の移動を追跡し、仮想オブジェクト１６をトーテム３４とともに移動させる。ラケットのヘッドは、したがって、ユーザ１０のビュー内でハンドルに取り付けられたままである。 The user interaction system 12 further includes a totem 34. At the time of use, the user 10 holds the totem 34 in one of his hands. The virtual object 16 is positioned in the three-dimensional space based on the position of the totem 34. As an example, the totem 34 may be a racket handle, and the virtual object 16 may include a racket head. The user 10 can move the totem 34 in three-dimensional space with six degrees of freedom. The totem 34 therefore moves in three-dimensional space with respect to the real-world object 14 and the head unit body 26. Various components within the head unit 18 and the belt pack 20 track the movement of the totem 34 and move the virtual object 16 with the totem 34. The racket head therefore remains attached to the handle within the view of user 10.
図２は、視覚アルゴリズム３８とともに、ディスプレイシステム２８をさらに詳細に図示する。視覚アルゴリズム３８は、主に、図１におけるベルトパック２０内に常駐する。他の実施形態では、視覚アルゴリズム３８は、頭部ユニット内に全体的に常駐してもよい、または頭部ユニットとベルトパックとの間に分裂されてもよい。図２はさらに、データソース４０を含む。本実施例では、データソース４０は、ベルトパック２０の記憶デバイス上に記憶される、画像データを含む。画像データは、例えば、仮想オブジェクト１６をレンダリングするために使用され得る、３次元画像データであってもよい。代替実施形態では、画像データは、２または３次元で移動するビデオの作成を可能にする、時系列画像データであってもよく、その目的として、トーテムとの結び付きを有する、実世界オブジェクト上に位置する、またはユーザがその頭部を移動させると、ユーザの正面の固定位置にあってもよい。 FIG. 2 illustrates the display system 28 in more detail, along with the visual algorithm 38. The visual algorithm 38 mainly resides in the belt pack 20 in FIG. In other embodiments, the visual algorithm 38 may reside entirely within the head unit or may be split between the head unit and the belt pack. FIG. 2 further includes a data source 40. In this embodiment, the data source 40 includes image data stored on the storage device of the belt pack 20. The image data may be, for example, three-dimensional image data that can be used to render the virtual object 16. In an alternative embodiment, the image data may be time-series image data that allows the creation of moving video in two or three dimensions, for which purpose is on a real-world object that has a connection with a totem. It may be in a fixed position in front of the user when it is located or the user moves its head.
視覚アルゴリズム３８は、レンダリングエンジン４２と、立体視分析器４４と、ディスプレイ調節アルゴリズム４６と、同時位置特定およびマッピング（ＳＬＡＭ）システム４８とを含む。 The visual algorithm 38 includes a rendering engine 42, a stereoscopic analyzer 44, a display adjustment algorithm 46, and a simultaneous localization and mapping (SLAM) system 48.
レンダリングエンジン４２は、データソース４０およびディスプレイ調節アルゴリズム４６に接続される。レンダリングエンジン４２は、種々のシステム、本実施例では、ディスプレイ調節アルゴリズム４６からの入力を受信し、ディスプレイ調節アルゴリズム４６に基づいて、画像データをユーザ１０によって視認されることになるフレーム内に位置付けることが可能である。ディスプレイ調節アルゴリズム４６は、ＳＬＡＭシステム４８に接続される。ＳＬＡＭシステム４８は、画像データを受信し、画像データの画像内のオブジェクトを決定する目的のために、画像データを分析し、オブジェクトの場所を画像データ内に記録することが可能である。 The rendering engine 42 is connected to the data source 40 and the display adjustment algorithm 46. The rendering engine 42 receives input from various systems, in this embodiment, the display adjustment algorithm 46, and positions the image data in a frame that will be visible to the user 10 based on the display adjustment algorithm 46. Is possible. The display adjustment algorithm 46 is connected to the SLAM system 48. The SLAM system 48 is capable of receiving image data, analyzing the image data and recording the location of the object in the image data for the purpose of determining the object in the image of the image data.
立体視分析器４４は、レンダリングエンジン４２に接続される。立体視分析器４４は、レンダリングエンジン４２によって提供されるデータストリームから、左および右画像データセットを決定することが可能である。 The stereoscopic analyzer 44 is connected to the rendering engine 42. The stereoscopic analyzer 44 is capable of determining left and right image datasets from the data stream provided by the rendering engine 42.
ディスプレイシステム２８は、左および右プロジェクタ４８Ａおよび４８Ｂと、左および右導波管５０Ａおよび５０Ｂと、検出デバイス５２とを含む。左および右プロジェクタ４８Ａおよび４８Ｂは、電力供給源に接続される。各プロジェクタ４８Ａまたは４８Ｂは、画像データが個別のプロジェクタ４８Ａまたは４８Ｂに提供されるための個別の入力を有する。個別のプロジェクタ４８Ａまたは４８Ｂは、給電されると、光を２次元パターンで生成し、光をそこから発出する。左および右導波管５０Ａおよび５０Ｂは、それぞれ、左および右プロジェクタ４８Ａおよび４８Ｂからの光を受光するように位置付けられる。左および右導波管５０Ａおよび５０Ｂは、透明導波管である。 The display system 28 includes left and right projectors 48A and 48B, left and right waveguides 50A and 50B, and a detection device 52. The left and right projectors 48A and 48B are connected to a power source. Each projector 48A or 48B has a separate input for image data to be provided to a separate projector 48A or 48B. The individual projectors 48A or 48B, when fed, generate light in a two-dimensional pattern and emit light from it. The left and right waveguides 50A and 50B are positioned to receive light from the left and right projectors 48A and 48B, respectively. The left and right waveguides 50A and 50B are transparent waveguides.
検出デバイス５２は、頭部ユニット慣性運動ユニット（ＩＭＵ）６０と、１つ以上の頭部ユニットカメラ６２とを含む。頭部ユニットＩＭＵ６０は、１つ以上のジャイロスコープと、１つ以上の加速度計とを含む。ジャイロスコープおよび加速度計は、典型的には、半導体チップ内に形成され、３つの直交軸に沿った移動と、３つの直交軸を中心とする回転とを含む、頭部ユニットＩＭＵ６０および頭部ユニット本体２６の移動を検出することが可能である。 The detection device 52 includes a head unit inertial motion unit (IMU) 60 and one or more head unit cameras 62. The head unit IMU60 includes one or more gyroscopes and one or more accelerometers. Gyroscopes and accelerometers are typically formed within a semiconductor chip and include head unit IMU60 and head unit that include movement along three orthogonal axes and rotation around the three orthogonal axes. It is possible to detect the movement of the main body 26.
頭部ユニットカメラ６２は、画像を頭部ユニット本体２６の周囲の環境から継続的に捕捉する。画像は、相互に比較され、頭部ユニット本体２６およびユーザの頭部１０の移動を検出することができる。 The head unit camera 62 continuously captures images from the environment around the head unit body 26. The images are compared to each other and can detect the movement of the head unit body 26 and the user's head 10.
ＳＬＡＭシステム４８は、頭部ユニットカメラ６２に接続される。ディスプレイ調節アルゴリズム４６は、頭部ユニットＩＭＵ６０に接続される。当業者は、検出デバイス５２と視覚アルゴリズム３８との間の接続が、ハードウェア、ファームウェア、およびソフトウェアの組み合わせを通して遂行されることを理解されるであろう。視覚アルゴリズム３８のコンポーネントは、サブルーチンまたはコールを通して相互にリンクされる。 The SLAM system 48 is connected to the head unit camera 62. The display adjustment algorithm 46 is connected to the head unit IMU60. Those skilled in the art will appreciate that the connection between the detection device 52 and the visual algorithm 38 is made through a combination of hardware, firmware, and software. The components of the visual algorithm 38 are linked to each other through subroutines or calls.
使用時、ユーザ１０は、頭部ユニット本体２６をその頭部に搭載する。頭部ユニット本体２６のコンポーネントは、例えば、ユーザの頭部１０の背面の周囲に巻着する、ストラップ（図示せず）を含んでもよい。左および右導波管５０Ａおよび５０Ｂは、次いで、ユーザ１０の左および右眼１２０Ａおよび１２０Ｂの正面に位置する。 At the time of use, the user 10 mounts the head unit main body 26 on the head. The component of the head unit body 26 may include, for example, a strap (not shown) that wraps around the back of the user's head 10. The left and right waveguides 50A and 50B are then located in front of the user 10's left and right eyes 120A and 120B.
レンダリングエンジン４２は、画像データをデータソース４０から受信する。レンダリングエンジン４２は、画像データを立体視分析器４４の中に入力する。画像データは、図１における仮想オブジェクト１６の３次元画像データである。立体視分析器４４は、画像データを分析し、画像データに基づいて、左および右画像データセットを決定する。左および右画像データセットは、ユーザ１０に３次元レンダリングの知覚を与える目的のために、相互に若干異なる、２次元画像を表す、データセットである。本実施形態では、画像データは、経時的に変化しない、静的データセットである。 The rendering engine 42 receives the image data from the data source 40. The rendering engine 42 inputs the image data into the stereoscopic analyzer 44. The image data is the three-dimensional image data of the virtual object 16 in FIG. The stereoscopic analyzer 44 analyzes the image data and determines the left and right image data sets based on the image data. The left and right image datasets are datasets that represent two-dimensional images that are slightly different from each other for the purpose of giving the user 10 the perception of three-dimensional rendering. In this embodiment, the image data is a static data set that does not change over time.
立体視分析器４４は、左および右画像データセットを左および右プロジェクタ４８Ａおよび４８Ｂの中に入力する。左および右プロジェクタ４８Ａおよび４８Ｂは、次いで、左および右光パターンを作成する。ディスプレイシステム２８のコンポーネントは、平面図に示されるが、左および右パターンは、正面立面図に示されるとき、２次元パターンであることを理解されたい。各光パターンは、複数のピクセルを含む。例証目的のために、ピクセルのうちの２つからの光線１２４Ａおよび１２６Ａが、左プロジェクタ４８Ａから出射し、左導波管５０Ａに入射するように示される。光線１２４Ａおよび１２６Ａは、左導波管５０Ａの側面から反射する。光線１２４Ａおよび１２６Ａは、左導波管５０Ａ内で左から右に内部反射を通して伝搬することが示されるが、光線１２４Ａおよび１２６Ａはまた、屈折性および反射性システムを使用して、紙面の向こう側への方向にも伝搬することを理解されたい。 The stereoscopic analyzer 44 inputs left and right image data sets into the left and right projectors 48A and 48B. The left and right projectors 48A and 48B then create left and right light patterns. It should be understood that the components of the display system 28 are shown in plan view, but the left and right patterns are two-dimensional patterns when shown in front elevation. Each light pattern contains multiple pixels. For illustration purposes, rays 124A and 126A from two of the pixels are shown to exit from the left projector 48A and enter the left waveguide 50A. The rays 124A and 126A are reflected from the side surface of the left waveguide 50A. Rays 124A and 126A are shown to propagate through internal reflections from left to right within the left waveguide 50A, but rays 124A and 126A are also shown across the paper using a refractive and reflective system. It should be understood that it also propagates in the direction of.
光線１２４Ａおよび１２６Ａは、瞳孔１２８Ａを通して、左光導波管５０Ａから出射し、次いで、左眼１２０Ａの瞳孔１３０Ａを通して、左眼１２０Ａに入射する。光線１２４Ａおよび１２６Ａは、次いで、左眼１２０Ａの網膜１３２Ａに当たる。このように、左光パターンは、左眼１２０Ａの網膜１３２Ａに当たる。ユーザ１０は、網膜１３２Ａ上に形成されるピクセルが、ユーザ１０が左眼１２０Ａに対向する左導波管５０Ａの側のある距離にあると知覚する、ピクセル１３４Ａおよび１３６Ａであるという知覚を与えられる。深度知覚は、光の焦点距離を操作することによって作成される。 The rays 124A and 126A exit the left optical waveguide 50A through the pupil 128A and then enter the left eye 120A through the pupil 130A of the left eye 120A. The rays 124A and 126A then hit the retina 132A of the left eye 120A. Thus, the left light pattern corresponds to the retina 132A of the left eye 120A. The user 10 is given the perception that the pixels formed on the retina 132A are the pixels 134A and 136A, which the user 10 perceives to be at a distance on the side of the left waveguide 50A facing the left eye 120A. .. Depth perception is created by manipulating the focal length of light.
同様に、立体視分析器４４は、右画像データセットを右プロジェクタ４８Ｂの中に入力する。右プロジェクタ４８Ｂは、光線１２４Ｂおよび１２６Ｂの形態におけるピクセルによって表される、右光パターンを伝送する。光線１２４Ｂおよび１２６Ｂは、右導波管５０Ｂ内で反射し、瞳孔１２８Ｂを通して出射する。光線１２４Ｂおよび１２６Ｂは、次いで、右眼１２０Ｂの瞳孔１３０Ｂを通して入射し、右眼１２０Ｂの網膜１３２Ｂに当たる。光線１２４Ｂおよび１２６Ｂのピクセルは、右導波管５０Ｂの背後のピクセル１３４Ｂおよび１３６Ｂとして知覚される。 Similarly, the stereoscopic analyzer 44 inputs the right image data set into the right projector 48B. The right projector 48B transmits a right light pattern represented by pixels in the form of rays 124B and 126B. The rays 124B and 126B are reflected within the right waveguide 50B and exit through the pupil 128B. The rays 124B and 126B then enter through the pupil 130B of the right eye 120B and hit the retina 132B of the right eye 120B. The pixels of the rays 124B and 126B are perceived as the pixels 134B and 136B behind the right waveguide 50B.
網膜１３２Ａおよび１３２Ｂ上に作成されたパターンは、左および右画像として個々に知覚される。左および右画像は、立体視分析器４４の機能に起因して、相互に若干異なる。左および右画像は、ユーザ１０の頭では、３次元レンダリングとして知覚される。 The patterns created on the retinas 132A and 132B are individually perceived as left and right images. The left and right images are slightly different from each other due to the function of the stereoscopic analyzer 44. The left and right images are perceived as 3D rendering by the user 10's head.
述べられたように、左および右導波管５０Ａおよび５０Ｂは、透明である。眼１２０Ａおよび１２０Ｂに対向する左および右導波管５０Ａおよび５０Ｂの側の実在のオブジェクトからの光は、左および右導波管５０Ａおよび５０Ｂを通して投影され、網膜１３２Ａおよび１３２Ｂに当たることができる。特に、図１における実世界オブジェクト１４からの光は、ユーザ１０に実世界オブジェクト１４が見え得るように、網膜１３２Ａおよび１３２Ｂに当たる。加えて、ユーザ１０には、トーテム３４が見え得、拡張現実が、作成され、実世界オブジェクト１４およびトーテム３４が、組み合わせてユーザ１０によって知覚される、左および右画像に起因して、ユーザ１０によって知覚される仮想オブジェクト１６の３次元レンダリングで拡張される。 As mentioned, the left and right waveguides 50A and 50B are transparent. Light from real objects on the sides of the left and right waveguides 50A and 50B facing the eyes 120A and 120B is projected through the left and right waveguides 50A and 50B and can hit the retinas 132A and 132B. In particular, the light from the real-world object 14 in FIG. 1 hits the retinas 132A and 132B so that the user 10 can see the real-world object 14. In addition, the user 10 may see the totem 34, an augmented reality is created, and the real-world object 14 and the totem 34 are combined and perceived by the user 10, due to the left and right images. Extends with a three-dimensional rendering of the virtual object 16 perceived by.
頭部ユニットＩＭＵ６０は、ユーザ１０の頭部のあらゆる移動を検出する。ユーザ１０が、例えば、その頭部を反時計回りに移動させ、同時に、その身体をその頭部とともに右に向かって移動させる場合、そのような移動は、頭部ユニットＩＭＵ６０内のジャイロスコープおよび加速度計によって検出されるであろう。頭部ユニットＩＭＵ６０は、ジャイロスコープおよび加速度計からの測定値をディスプレイ調節アルゴリズム４６に提供する。ディスプレイ調節アルゴリズム４６は、設置値を計算し、設置値をレンダリングエンジン４２に提供する。レンダリングエンジン４２は、データソース４０から受信された画像データを修正し、ユーザ１０の頭部の移動を補償する。レンダリングエンジン４２は、ユーザ１０への表示のために、修正された画像データを立体視分析器４４に提供する。 The head unit IMU60 detects any movement of the user 10's head. If, for example, the user 10 moves its head counterclockwise and at the same time moves its body to the right with its head, such movement is the gyroscope and acceleration within the head unit IMU60. Will be detected by the meter. The head unit IMU60 provides measurements from the gyroscope and accelerometer to the display adjustment algorithm 46. The display adjustment algorithm 46 calculates the installation value and provides the installation value to the rendering engine 42. The rendering engine 42 modifies the image data received from the data source 40 to compensate for the movement of the user 10's head. The rendering engine 42 provides the stereoscopic analyzer 44 with the modified image data for display to the user 10.
頭部ユニットカメラ６２は、ユーザ１０がその頭部を移動させるにつれて、画像を継続的に捕捉する。ＳＬＡＭシステム４８は、画像を分析し、画像内のオブジェクトの画像を識別する。ＳＬＡＭシステム４８は、オブジェクトの移動を分析し、頭部ユニット本体２６の姿勢位置を決定する。ＳＬＡＭシステム４８は、姿勢位置をディスプレイ調節アルゴリズム４６に提供する。ディスプレイ調節アルゴリズム４６は、姿勢位置を使用して、ディスプレイ調節アルゴリズム４６がレンダリングエンジン４２に提供する、設置値をさらに精緻化する。レンダリングエンジン４２は、したがって、頭部ユニットＩＭＵ６０内の運動センサと頭部ユニットカメラ６２によって撮影された画像の組み合わせに基づいて、データソース４０から受信された画像データを修正する。実践的実施例として、ユーザ１０が、その頭部を右に回転させる場合、仮想オブジェクト１６の場所は、ユーザ１０の視野内で左に回転し、したがって、ユーザ１０に、仮想オブジェクト１６の場所が実世界オブジェクト１４およびトーテム３４に対して定常のままであるという印象を与える。 The head unit camera 62 continuously captures images as the user 10 moves his head. The SLAM system 48 analyzes the image and identifies the image of the object in the image. The SLAM system 48 analyzes the movement of the object and determines the posture position of the head unit main body 26. The SLAM system 48 provides the posture position to the display adjustment algorithm 46. The display adjustment algorithm 46 uses the posture position to further refine the installation values that the display adjustment algorithm 46 provides to the rendering engine 42. The rendering engine 42 therefore modifies the image data received from the data source 40 based on the combination of the motion sensor in the head unit IMU 60 and the image taken by the head unit camera 62. As a practical example, if the user 10 rotates its head to the right, the location of the virtual object 16 will rotate to the left within the field of view of the user 10, so that the user 10 will have the location of the virtual object 16. It gives the impression that the real-world object 14 and the totem 34 remain stationary.
図３は、頭部ユニット１８、トーテム３４、および視覚アルゴリズム３８のさらなる詳細を図示する。頭部ユニット１８はさらに、頭部ユニット本体２６に固着される、電磁（ＥＭ）受信機１５０を含む。ディスプレイシステム２８、頭部ユニットカメラ６２、およびＥＭ受信機１５０は、頭部ユニット本体２６に対して固定位置に搭載される。ユーザ１０が、その頭部を移動させる場合、頭部ユニット本体２６は、ユーザ１０の頭部とともに移動し、ディスプレイシステム２８、頭部ユニットカメラ６２、およびＥＭ受信機１５０は、頭部ユニット本体２６とともに移動する。 FIG. 3 illustrates further details of the head unit 18, totem 34, and visual algorithm 38. The head unit 18 further includes an electromagnetic (EM) receiver 150 that is secured to the head unit body 26. The display system 28, the head unit camera 62, and the EM receiver 150 are mounted in a fixed position with respect to the head unit main body 26. When the user 10 moves its head, the head unit main body 26 moves together with the user 10's head, and the display system 28, the head unit camera 62, and the EM receiver 150 move the head unit main body 26. Move with.
トーテム３４は、トーテム本体１５２と、ＥＭ伝送機１５４と、トーテムＩＭＵ１５６とを有する。ＥＭ伝送機１５４およびトーテムＩＭＵ１５６は、トーテム本体１５２に対して固定位置に搭載される。ユーザ１０は、トーテム本体１５２を保持し、ユーザ１０がトーテム本体１５２を移動させると、ＥＭ伝送機１５４およびトーテムＩＭＵ１５６は、トーテム本体１５２とともに移動する。ＥＭ伝送機１５４は、ＥＭ波を伝送することが可能であって、ＥＭ受信機１５０は、ＥＭ波を受信することが可能である。トーテムＩＭＵ１５６は、１つ以上のジャイロスコープと、１つ以上の加速度計とを有する。ジャイロスコープおよび加速度計は、典型的には、半導体チップ内に形成され、３つの直交軸に沿った移動および３つの直交軸を中心とする回転を含む、トーテムＩＭＵ１５６およびトーテム本体１５２の移動を検出することが可能である。 The totem 34 has a totem main body 152, an EM transmitter 154, and a totem IMU 156. The EM transmitter 154 and the totem IMU 156 are mounted in a fixed position with respect to the totem body 152. The user 10 holds the totem main body 152, and when the user 10 moves the totem main body 152, the EM transmitter 154 and the totem IMU 156 move together with the totem main body 152. The EM transmitter 154 is capable of transmitting EM waves, and the EM receiver 150 is capable of receiving EM waves. The totem IMU156 has one or more gyroscopes and one or more accelerometers. Gyroscopes and accelerometers are typically formed within a semiconductor chip to detect movement of the totem IMU 156 and totem body 152, including movement along three orthogonal axes and rotation around the three orthogonal axes. It is possible to do.
視覚アルゴリズム３８はさらに、図２を参照して説明される、データソース４０、レンダリングエンジン４２、立体視分析器４４、およびＳＬＡＭシステム４８に加え、融合ルーチン１６０と、非融合姿勢決定モデラ１６２と、コンパレータ１６４と、ドリフトディクレアラ１６６と、姿勢補正ルーチン１６８と、逐次制御器１７０とを含む。 The visual algorithm 38 is further described with reference to FIG. 2, in addition to the data source 40, the rendering engine 42, the stereoscopic analyzer 44, and the SLAM system 48, as well as the fusion routine 160 and the non-fusion orientation determination modeler 162. It includes a comparator 164, a drift descriptor 166, an attitude correction routine 168, and a sequential controller 170.
頭部ユニットカメラ６２は、実世界オブジェクト１４の画像を捕捉する。実世界オブジェクト１４の画像は、図２を参照して説明されるように、ＳＬＡＭシステム４８によって処理され、世界フレーム１７２を確立する。ＳＬＡＭシステム４８が世界フレーム１７２を確立する方法の詳細は、図面を不明瞭にしないように、図３に示されない。 The head unit camera 62 captures an image of the real world object 14. The image of the real world object 14 is processed by the SLAM system 48 to establish world frame 172, as described with reference to FIG. Details of how the SLAM system 48 establishes the world frame 172 are not shown in FIG. 3 so as not to obscure the drawings.
ＥＭ伝送機１５４は、ＥＭ受信機１５０によって受信される、ＥＭ波を伝送する。ＥＭ受信機１５０によって受信される、ＥＭ波は、ＥＭ伝送機１５４の姿勢または姿勢の変化を示す。ＥＭ受信機１５０は、ＥＭ波のデータを融合ルーチン１６０の中に取り込む。 The EM transmitter 154 transmits an EM wave received by the EM receiver 150. The EM wave received by the EM receiver 150 indicates the attitude or change in attitude of the EM transmitter 154. The EM receiver 150 captures the EM wave data into the fusion routine 160.
トーテムＩＭＵ１５６は、トーテム本体１５２の移動を継続的に監視する。トーテムＩＭＵ１５６からのデータは、融合ルーチン１６０の中に取り込まれる。 The totem IMU156 continuously monitors the movement of the totem body 152. The data from the totem IMU 156 is incorporated into the fusion routine 160.
逐次制御器１７０は、融合ルーチン１６０を２５０Ｈｚの周波数で実行する。融合ルーチン１６０は、ＥＭ受信機１５０からのデータとトーテムＩＭＵ１５６およびＳＬＡＭシステム４８からのデータを組み合わせる。ＥＭ受信機１５０によって受信される、ＥＭ波は、６自由度（「６ｄｏｆ」）において、ＥＭ受信機１５０に対するＥＭ伝送機１５４の姿勢を比較的に正確に表す、データを含む。しかしながら、ＥＭ測定雑音に起因して、測定されたＥＭ波は、ＥＭ受信機１５０に対するＥＭ伝送機１５４の姿勢を正確に表さない場合がある。ＥＭ測定雑音は、図１における仮想オブジェクト１６のジッタをもたらし得る。トーテムＩＭＵ１５６からのデータを組み合わせる目的は、ジッタを低減させることである。融合ルーチン１６０は、融合姿勢１７４を世界フレーム１７２内に提供する。融合姿勢１７４は、データソース４０からの画像データを使用して図１における仮想オブジェクト１６の姿勢を決定する目的のために、レンダリングエンジン４２によって使用される。 The sequential controller 170 executes the fusion routine 160 at a frequency of 250 Hz. The fusion routine 160 combines data from the EM receiver 150 with data from the totem IMU 156 and the SLAM system 48. The EM wave received by the EM receiver 150 contains data that relatively accurately represent the attitude of the EM transmitter 154 with respect to the EM receiver 150 in 6 degrees of freedom (“6DOF”). However, due to the EM measurement noise, the measured EM wave may not accurately represent the attitude of the EM transmitter 154 with respect to the EM receiver 150. The EM measurement noise can result in the jitter of the virtual object 16 in FIG. The purpose of combining the data from the Totem IMU156 is to reduce jitter. The fusion routine 160 provides the fusion posture 174 within the world frame 172. The fusion posture 174 is used by the rendering engine 42 for the purpose of determining the posture of the virtual object 16 in FIG. 1 using image data from the data source 40.
図４に示されるように、仮想オブジェクト１６は、トーテム３４に対して正しい姿勢に示される。さらに、ユーザ１０が、トーテム３４を移動させる場合、仮想オブジェクト１６は、最小量のジッタを伴って、トーテム３４とともに移動する。 As shown in FIG. 4, the virtual object 16 is shown in the correct posture with respect to the totem 34. Further, when the user 10 moves the totem 34, the virtual object 16 moves with the totem 34 with a minimum amount of jitter.
トーテムＩＭＵ１５６は、本質的に、６自由度において、加速および角速度を測定する。加速および角速度は、トーテムＩＭＵ１５６の場所および配向を決定するように統合される。統合誤差に起因して、融合姿勢１７４は、経時的にドリフトし得る。 The totem IMU156 essentially measures acceleration and angular velocity in 6 degrees of freedom. Acceleration and angular velocity are integrated to determine the location and orientation of the totem IMU156. Due to the integration error, the fusion posture 174 can drift over time.
図５は、仮想オブジェクト１６がトーテム３４に対するその正しい姿勢からドリフトしたことを図示する。ドリフトは、いわゆる「モデル不整合」、すなわち、物理的量（例えば、６ｄｏｆ、加速、および角速度）と実際に測定された信号（ＥＭ波測定値およびＩＭＵ信号等）との間の関係を説明する、不完全な数学的モデルによって生じ得る。また、そのようなドリフトは、融合アルゴリズムを発散させる状態にさえつながり得る、高動的運動に関して増幅され得る（すなわち、仮想オブジェクトは、実際のオブジェクトから「吹き飛ばされた」ようになるであろう）。本実施例では、仮想オブジェクト１６は、トーテム３４に対して右にドリフトしている。図３における融合姿勢１７４は、トーテム３４が実際に位置する場所より右に位置するというシステムによる確信に基づく。融合データは、したがって、仮想オブジェクト１６が図４に示されるようにトーテム３４に対するその正しい場所に再び配置されるように、補正されている。 FIG. 5 illustrates that the virtual object 16 has drifted from its correct attitude towards the totem 34. Drift describes the so-called "model mismatch", that is, the relationship between physical quantities (eg, 6df, acceleration, and angular velocity) and actually measured signals (EM wave measurements, IMU signals, etc.). , Can be caused by an incomplete mathematical model. Also, such drift can be amplified with respect to high dynamic motion, which can even lead to a state that diverges the fusion algorithm (ie, the virtual object will be "blown" from the real object). .. In this embodiment, the virtual object 16 is drifting to the right with respect to the totem 34. The fusion posture 174 in FIG. 3 is based on the system's belief that the totem 34 is located to the right of where it is actually located. The fusion data is therefore corrected so that the virtual object 16 is repositioned in its correct location with respect to the totem 34 as shown in FIG.
図３では、逐次制御器１７０は、非融合姿勢決定モデラ１６２を２４０Ｈｚの周波数で実行する。非融合姿勢決定モデラ１６２は、したがって、融合ルーチン１６０に対して非同期して実行する。本実施例では、非融合姿勢決定モデラ１６２は、ＳＬＡＭシステム４８を利用して、トーテム３４の場所を決定する。他のシステムは、他の技法を使用して、トーテム３４の場所を決定してもよい。 In FIG. 3, the sequential controller 170 runs the non-fused attitude determination modeler 162 at a frequency of 240 Hz. The non-fused posture determination modeler 162 is therefore executed asynchronously to the fusion routine 160. In this embodiment, the non-fusion posture determination modeler 162 utilizes the SLAM system 48 to determine the location of the totem 34. Other systems may use other techniques to determine the location of the totem 34.
頭部ユニットカメラ６２は、実世界オブジェクト１４等の実世界オブジェクトの画像とともに、トーテム３４の画像をルーチン的に捕捉する。頭部ユニットカメラ６２によって捕捉される、画像は、ＳＬＡＭシステム４８の中に取り込まれる。ＳＬＡＭシステム４８はまた、実世界オブジェクト１４等の実世界オブジェクトの場所を決定することに加え、トーテム３４の場所を決定する。したがって、ＳＬＡＭシステム４８は、頭部ユニット１８に対するトーテム３４の関係１８０を確立する。ＳＬＡＭシステム４８はまた、関係１８０を確立するために、ＥＭ受信機１５０からのデータに依拠する。 The head unit camera 62 routinely captures an image of the totem 34 along with an image of a real-world object such as the real-world object 14. The image captured by the head unit camera 62 is captured into the SLAM system 48. The SLAM system 48 also determines the location of the totem 34 in addition to determining the location of real-world objects such as the real-world object 14. Therefore, the SLAM system 48 establishes a relationship 180 of the totem 34 with respect to the head unit 18. The SLAM system 48 also relies on data from the EM receiver 150 to establish the relationship 180.
ＳＬＡＭシステム４８はまた、世界フレーム１７２に対する頭部ユニットの関係１８２を確立する。前述のように、融合ルーチン６０は、ＳＬＡＭシステム４８からの入力を受信する。融合ルーチンは、頭部ユニットと世界フレームの関係１８２、すなわち、頭部姿勢を、トーテム３４の姿勢の融合モデルの計算の一部として使用する。 The SLAM system 48 also establishes a head unit relationship 182 to the world frame 172. As mentioned above, the fusion routine 60 receives the input from the SLAM system 48. The fusion routine uses the relationship between the head unit and the world frame 182, i.e., the head posture, as part of the calculation of the fusion model of the totem 34 posture.
頭部ユニット１８に対するトーテム３４の相対的姿勢は、ＥＭ双極子モデルをＥＭ受信機１５０による測定値から求めることによって確立される。２つの関係１８０および１８２が、したがって、世界フレーム１７２内のトーテム３４の姿勢を確立する。トーテム３４および世界フレーム１７２の関係は、世界フレーム１７２内に非融合姿勢１８４として記憶される。 The relative orientation of the totem 34 with respect to the head unit 18 is established by determining the EM dipole model from the readings taken by the EM receiver 150. The two relationships 180 and 182 therefore establish the attitude of the totem 34 within the world frame 172. The relationship between the totem 34 and the world frame 172 is stored in the world frame 172 as a non-fused posture 184.
コンパレータ１６４は、非融合姿勢決定モデラ１６２とともに同期して実行する。コンパレータ１６４は、融合姿勢１７４と非融合場所１８４を比較する。コンパレータ１６４は、次いで、融合姿勢１７４と非融合姿勢１８４との間の差異をドリフトディクレアラ１６６の中に取り込む。ドリフトディクレアラ１６６は、融合姿勢１７４と非融合姿勢１８４との間の差異が視覚アルゴリズム３８内に記憶される所定の最大距離１８８を上回る場合のみ、ドリフトを宣言する。所定の最大距離１８８は、典型的には、１００ｍｍ未満、好ましくは、３０ｍｍ、２０ｍｍ、またはより好ましくは、１０ｍｍのオーダーであって、センサ融合システムのデータ分析を通して決定または調整される。ドリフトディクレアラ１６６は、融合姿勢１７４と非融合姿勢１８４との間の差異が所定の最大距離１８８未満である場合、ドリフトを宣言しない。 Comparator 164 executes synchronously with the non-fusion posture determination modeler 162. Comparator 164 compares the fusion posture 174 with the non-fusion location 184. Comparator 164 then captures the difference between the fused posture 174 and the non-fused posture 184 into the drift declarer 166. The Drift Declara 166 declares a drift only if the difference between the fused posture 174 and the non-fused posture 184 exceeds a predetermined maximum distance 188 stored in the visual algorithm 38. The predetermined maximum distance 188 is typically on the order of less than 100 mm, preferably 30 mm, 20 mm, or more preferably 10 mm, and is determined or adjusted through data analysis of the sensor fusion system. The Drift Declara 166 does not declare a drift if the difference between the fused posture 174 and the non-fused posture 184 is less than a predetermined maximum distance of 188.
ドリフトディクレアラ１６６が、ドリフトを宣言すると、ドリフトディクレアラ１６６は、姿勢リセットルーチン１６８に入る。姿勢リセットルーチン１６８は、非融合姿勢１８４を使用して、融合ルーチン１６０内の融合姿勢１７４をリセットし、したがって、ドリフトは、停止され、融合ルーチン１６０は、ドリフトが排除された状態で姿勢追跡を再開する。 When the Drift Declara 166 declares a drift, the Drift Declara 166 enters the attitude reset routine 168. The attitude reset routine 168 uses the non-fusion attitude 184 to reset the fusion attitude 174 in the fusion routine 160, so that the drift is stopped and the fusion routine 160 tracks the attitude with the drift eliminated. resume.
図６は、リグフレーム１９６と、世界フレーム１７２と、融合姿勢１７４との間の関係を図示する。リグフレーム１９６は、頭部ユニット１８の頭部フレームを表す、数学的オブジェクトである。リグフレーム１９６は、導波管５０Ａと５０Ｂとの間に位置する。高動的運動シナリオでは、融合姿勢１７４は、実際のＥＭ受信機測定値の不完全なモデル化に起因して、経時的に（Ｔ１；Ｔ２；Ｔ３；Ｔ４）ドリフトし得る。融合姿勢１７４は、最初に、トーテム３４の実際の姿勢を表すが、そのような高動的運動シナリオでは、徐々に、トーテム３４の実際の姿勢から経時的にさらにドリフトするにつれて、トーテム３４の実際の姿勢を表すことに失敗し得る。 FIG. 6 illustrates the relationship between the rig frame 196, the world frame 172, and the fusion posture 174. The rig frame 196 is a mathematical object that represents the head frame of the head unit 18. The rig frame 196 is located between the waveguides 50A and 50B. In the hyperdynamic motion scenario, the fusion posture 174 can drift over time (T1; T2; T3; T4) due to incomplete modeling of actual EM receiver measurements. The fusion posture 174 initially represents the actual posture of the totem 34, but in such a high dynamic motion scenario, the actual posture of the totem 34 gradually drifts further over time from the actual posture of the totem 34. Can fail to express the attitude of.
図７は、ドリフトを補正する１つの方法を図示する。図７に図示される方法は、距離ベースのユーザドリフト検出閾値を有する。一例として、トーテム３４が、頭部ユニット１８から２メートルを上回って離れる場合、ユーザ１０がトーテム３４をそのような距離に保持することは、不可能であって、ドリフトが、宣言される。ユーザ１０が、例えば、その腕を０．５メートル延在させることができる場合、システムは、ドリフトがさらに１．５メートルに到達したときのみ、ドリフトを宣言するであろう。そのような大ドリフトは、望ましくない。ドリフトがより迅速に宣言される、システムが、より望ましい。 FIG. 7 illustrates one method of correcting drift. The method illustrated in FIG. 7 has a distance-based user drift detection threshold. As an example, if the totem 34 is more than 2 meters away from the head unit 18, it is not possible for the user 10 to hold the totem 34 at such a distance and a drift is declared. If the user 10 can extend his arm 0.5 meters, for example, the system will only declare a drift when the drift reaches an additional 1.5 meters. Such large drifts are not desirable. A system in which the drift is declared more quickly is more desirable.
図８は、ドリフトが図３における実施形態に従って宣言される、様式を図示する。図３を参照して記載されるように、非融合姿勢決定モデラ１６２は、非融合姿勢１８４を２４０Ｈｚの周波数で計算する。上記に述べられたように、ドリフトは、融合姿勢１７４と非融合場所１８４との間の差異が、上記に説明されるように、１００ｍｍまたはそれ未満である場合、宣言され得る。ｔ１では、例えば、１００ｍｍのシステム誤差検出閾値に到達し、ドリフトが、宣言される。ｔ２では、ドリフトは、直ちに補正された。ドリフトは、したがって、図８におけるシステムでは、図７のシステムより小さい距離誤差に関して補正されることができる。加えて、ドリフトは、再び、ｔ３において補正されてもよい。ドリフトは、したがって、図８のシステムでは、図７のシステムより頻繁に補正されることができる。 FIG. 8 illustrates a mode in which the drift is declared according to the embodiment in FIG. As described with reference to FIG. 3, the unfused attitude determination modeler 162 calculates the unfused attitude 184 at a frequency of 240 Hz. As mentioned above, drift can be declared if the difference between the fusion posture 174 and the non-fusion site 184 is 100 mm or less, as described above. At t1, for example, the system error detection threshold of 100 mm is reached and the drift is declared. At t2, the drift was immediately corrected. The drift can therefore be corrected for the system in FIG. 8 with respect to a smaller distance error than the system in FIG. In addition, the drift may be corrected again at t3. Drift can therefore be corrected more often in the system of FIG. 8 than in the system of FIG.
図９は、ドリフトが補正される方法を示す。Ａでは、関係が、世界フレーム１７２とリグフレーム１９６との間に確立される。リグフレーム１９６は、ＥＭ受信機１５０と同一位置に位置しない。工場較正に起因して、リグフレーム１９６に対するＥＭ受信機１５０の場所は、既知である。Ｂでは、調節が、行われ、ＥＭ受信機１５０の場所に対するリグフレーム１９６を計算する。Ｃでは、推定が、ＥＭ伝送機１５４に対するＥＭ受信機１５０の場所から行われる。上記に述べられたように、そのような推定は、ＳＬＡＭシステム４８を使用して行われてもよい。工場較正に起因して、ＥＭ伝送機１５４の場所は、トーテムＩＭＵ１５６の場所に対して既知である。Ｄでは、調節が、行われ、ＥＭ伝送機１５４に対するトーテムＩＭＵ１５６の場所を決定する。Ａ、Ｂ、Ｃ、およびＤにおいて行われる計算は、したがって、世界フレーム１７２内のトーテムＩＭＵ１５６の場所を確立する。トーテムＩＭＵ１５６の姿勢は、次いで、計算されるような世界フレーム１７２内のトーテムＩＭＵ１５６の場所に基づいて、リセットされることができる。 FIG. 9 shows how the drift is corrected. In A, a relationship is established between the world frame 172 and the rig frame 196. The rig frame 196 is not located in the same position as the EM receiver 150. Due to factory calibration, the location of the EM receiver 150 with respect to the rig frame 196 is known. At B, adjustments are made to calculate the rig frame 196 for the location of the EM receiver 150. In C, the estimation is made from the location of the EM receiver 150 with respect to the EM transmitter 154. As mentioned above, such estimates may be made using the SLAM system 48. Due to factory calibration, the location of the EM transmitter 154 is known for the location of the totem IMU156. At D, adjustments are made to determine the location of the totem IMU 156 with respect to the EM transmitter 154. The calculations performed at A, B, C, and D therefore establish the location of the totem IMU156 within world frame 172. The attitude of the totem IMU156 can then be reset based on the location of the totem IMU156 within the world frame 172 as calculated.
図１０は、機械に本明細書で議論される方法論のうちの任意の１つ以上のものを実施させるための命令のセットがいくつかの実施形態に従って実行され得る、コンピュータシステム９００の例示的形態における機械の概略表現を示す。代替実施形態では、機械は、独立型デバイスとして動作する、または他の機械に接続（例えば、ネットワーク化）されてもよい。さらに、単一機械のみが、図示されるが、用語「機械」はまた、個々にまたはともに、命令のセット（または複数のセット）を実行し、本明細書で議論される方法論のうちの任意の１つ以上のものを実施する、機械の任意の集合を含むものと捉えられるものとする。 FIG. 10 is an exemplary embodiment of a computer system 900 in which a set of instructions for causing a machine to implement any one or more of the methodologies discussed herein can be performed according to some embodiments. The schematic representation of the machine in. In an alternative embodiment, the machine may operate as a stand-alone device or be connected (eg, networked) to another machine. Further, although only a single machine is illustrated, the term "machine" also performs a set of instructions (or a set of instructions) individually or together and is any of the methodologies discussed herein. It shall be considered to include any set of machines that carry out one or more of the above.
例示的コンピュータシステム９００は、プロセッサ９０２（例えば、中央処理ユニット（ＣＰＵ）、グラフィック処理ユニット（ＧＰＵ）、または両方）と、メインメモリ９０４（例えば、読取専用メモリ（ＲＯＭ）、フラッシュメモリ、動的ランダムアクセスメモリ（ＤＲＡＭ）、例えば、同期ＤＲＡＭ（ＳＤＲＡＭ）またはＲａｍｂｕｓ ＤＲＡＭ（ＲＤＲＡＭ）等）と、静的メモリ９０６（例えば、フラッシュメモリ、静的ランダムアクセスメモリ（ＳＲＡＭ）等）とを含み、これらは、バス９０８を介して、相互に通信する。 An exemplary computer system 900 is a processor 902 (eg, central processing unit (CPU), graphics processing unit (GPU), or both) and main memory 904 (eg, read-only memory (ROM), flash memory, dynamic random). Includes access memory (DRAM), eg, synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.) and static memory 906 (eg, flash memory, static random access memory (SRAM), etc.). Communicate with each other via bus 908.
コンピュータシステム９００はさらに、ディスクドライブユニット９１６と、ネットワークインターフェースデバイス９２０とを含んでもよい。 The computer system 900 may further include a disk drive unit 916 and a network interface device 920.
ディスクドライブユニット９１６は、その上に本明細書に説明される方法論または機能のうちの任意の１つ以上のものを具現化する１つ以上の命令のセット９２４（例えば、ソフトウェア）が記憶される、機械可読媒体９２２を含む。ソフトウェアはまた、コンピュータシステム９００、メインメモリ９０４、およびプロセッサ９０２によるその実行の間、完全または少なくとも部分的に、メインメモリ９０４および／またはプロセッサ９０２内に常駐し、また、機械可読媒体を構成してもよい。 The disk drive unit 916 stores on it a set of one or more instructions 924 (eg, software) embodying any one or more of the methodologies or functions described herein. Includes machine-readable medium 922. The software also resides completely or at least partially in the main memory 904 and / or the processor 902 during its execution by the computer system 900, main memory 904, and processor 902, and also constitutes a machine-readable medium. May be good.
ソフトウェアはさらに、ネットワークインターフェースデバイス９２０を介して、ネットワーク９２８を経由して、伝送または受信されてもよい。 The software may also be transmitted or received via network 928 via network interface device 920.
コンピュータシステム９００は、プロジェクタを駆動し、レーザ光を生成するために使用される、レーザドライバチップ９５０を含む。レーザドライバチップ９５０は、その独自のデータ記憶装置９６０と、その独自のプロセッサ９６２とを含む。 The computer system 900 includes a laser driver chip 950, which is used to drive a projector and generate laser light. The laser driver chip 950 includes its own data storage device 960 and its own processor 962.
機械可読媒体９２２は、例示的実施形態では、単一媒体であるように示されるが、用語「機械可読媒体」は、１つ以上の命令のセットを記憶する、単一媒体または複数の媒体（例えば、集中型または分散型データベースおよび／または関連付けられるキャッシュおよびサーバ）を含むものと捉えられるべきである。用語「機械可読媒体」はまた、機械による実行のための命令のセットを記憶、エンコーディング、または搬送することが可能であって、機械に本発明の方法論のうちの任意の１つ以上のものを実施させる、任意の媒体を含むものと捉えられるものとする。用語「機械可読媒体」は、故に、限定ではないが、ソリッドステートメモリ、光学および磁気媒体、および搬送波信号を含むものと捉えられるものとする。 The machine-readable medium 922 is shown in an exemplary embodiment as a single medium, although the term "machine-readable medium" is a single medium or a plurality of media that stores a set of one or more instructions. For example, it should be considered to include centralized or distributed databases and / or associated caches and servers). The term "machine readable medium" is also capable of storing, encoding, or transporting a set of instructions for execution by a machine, to give the machine any one or more of the methodologies of the invention. It shall be considered to include any medium to be implemented. The term "machine readable medium" is therefore considered to include, but is not limited to, solid state memory, optical and magnetic media, and carrier signals.
ある例示的実施形態が、説明され、付随の図面に示されたが、そのような実施形態は、単に、本発明の例証であって、制限ではなく、本発明は、修正が当業者に想起され得るため、図示および説明される具体的構造および配列に制限されないことを理解されたい。 Although certain exemplary embodiments have been described and shown in the accompanying drawings, such embodiments are merely exemplary of the invention, not a limitation, the invention of which modifications are recalled to those of skill in the art. It should be understood that, as it may be, it is not limited to the specific structures and sequences illustrated and described.
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