JP2001268595A - Video display method and video display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply express a below mentioned space without losing presence when persons who are not at the same position perform communication as if they share the same space. SOLUTION: Three-dimensional structure information is required to be extracted to express an object existing in the space without losing the presence, however, three-dimensional structure is approximated in a plane and arranged in the space like a backdrop placed on a stage for the object distant to some extent. Thus, the distance to the object distant to some extent is measured by a distance measuring device 51 and a plane approximated parameter is calculated by using measured distance data by a plane parameter calculating means 53. A video signal S56 of the approximated plane is generated from the calculated plane approximated parameter and image data photographed by an image photographing device 54 by a video generating means 56 are three- dimensionally displayed on a first display device 30-1 as a three-dimensional display device. Thus, simple display of the object in consideration of the three- dimensional structure is enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image display method and an image display apparatus for easily displaying a stereoscopic image by extracting structural information for constructing a shared space of an image signal and improving the efficiency of space sharing communication. It is about.

[0002]

2. Description of the Related Art When people who are not in the same place communicate with each other as if they were in the same place (that is, when people who are not in the same place communicate as if they share the same space). This space is called a shared space. Conventionally, images in such a shared space have been represented by, for example, computer graphics, but recently, with the speeding-up of computers, attempts to incorporate live-action images have increased. In order for a person who communicates in the shared space to feel a sense of reality, it is necessary that the video is represented (displayed) with a three-dimensional structure.

Conventionally, such an image display method or an image display apparatus has been described in, for example, the following literature. Reference 1: Proceedings of the 3rd Annual Meeting of the Virtual Reality Society of Japan, 3 (1998-8) Sumio Yokomitsu, Takashi Osumi, Haruo Takemura, Naokazu Yokoya "A Study on Construction of Virtual Space Using Multi-view Stereo Real Images"
P.223-224

FIG. 2 is a configuration diagram showing a conventional video display device described in the above-mentioned document 1. This video display device
A video processing device 10 for extracting structural information for building a shared space of a video signal captured by a video capturing device, and a display device 2 for displaying a three-dimensional (three-dimensional) video based on the extracted structural information
0. The video processing device 10 includes a left image photographing device 11-1 for photographing a left image S11 of a target object, a middle image photographing device 11-2 for photographing a middle image S1b, and a right image photographing a right image S1r. Photographing device 11-3 and image correction / feature region extraction device 12-1
12-3, devices 13-1 and 13-2 for searching for corresponding points and disparity maps in feature regions, integrating devices 14 for disparity maps in feature regions, and devices for generating interpolation and three-dimensional information of disparity maps 15.

In the video display device having such a configuration, the left image S11 of the target object is photographed by the left image photographing device 11-1, and the photographed video signal S11-1 is used for image correction / correction.
The information is sent to the characteristic region extraction device 12-1.
Is sent to the corresponding point search / parallax map creation device 13-1 in the characteristic region. The middle image S1b of the target object is photographed by the middle image photographing device 11-2, and the photographed video signal S11-2 is sent to the image correction / feature region extraction device 12-2,
-2, the signals S12-2a and S12-2b extracted by
Corresponding point search / parallax map creation device 13- in characteristic region
1, 13-2. Further, the right image S of the target object
1r is photographed by the right image photographing device 11-3, and the photographed video signal S11-3 is sent to the image correction / characteristic region extracting device 12-3, and the signal S12 extracted by the device 12-3. -3 is sent to the corresponding point search / parallax map creation device 13-2 in the characteristic region. The output signals S13-1 and S13-2 of the corresponding point search / parallax map creation devices 13-1 and 13-2 in the feature region are sent to the disparity map integration device 14 in the feature region. The integrated signal S14 is sent to the parallax map interpolation / three-dimensional information generation device 15, and the output signal S15 of this device 15 is sent to the display device 20 as the final output.

Here, an image correction / characteristic region extraction device 1
In 2-1 to 12-3, each of the photographing apparatuses 11-1 to 11-1
Video signals S11-1 to S11- sent from 1-3
3, the lens distortion of the original image is corrected, the edge region is extracted as a characteristic region, and these extracted signals S12-
1, S12-2a, S12-2b, and S12-3 are output. Corresponding point search / parallax map creation device 1 in characteristic region
In 3-1 and 13-2, the extracted signals S12-1 and S12
12-2a, S12-2b, and S12-3 are input, corresponding points are searched by template matching, and signals S13-1 and S13-2 of the search results are output. In the disparity map integrating device 14 in the characteristic region, coordinate conversion is performed in accordance with the coordinate system of the middle image photographing device 11-2, the coordinate systems are matched, and the matched signal S14 is output. Parallax map interpolation / three-dimensional information generation device 15
Then, the signal S14 is input, the three-dimensional information of only the edge area is converted into dense surface information using linear interpolation, and the converted signal S15 is output. The output device S15 displays a three-dimensional stereoscopic image on the display device 20.

[0007]

However, in the conventional video display device, the structure information for building the shared space of the video signal is extracted and the display device 20 displays the stereoscopic video. Challenges. When there are a plurality of target objects, the video processing device 10 tries to uniformly and faithfully obtain the three-dimensional structure information of each of these target objects. In addition, a great load is applied to the computer at the time of reconfiguration. For this reason, there is a problem that the display device 20 cannot sufficiently express the three-dimensional structure information of a communication person and a target object near the communication person, which are most important for communication in the shared space.

[0008] In order to solve such a problem, for example, it is conceivable to use the technique of the following reference 2. Reference 2: Proceedings of the 4th Annual Meeting of the Virtual Reality Society of Japan, (1999-9) Toshika Tanaka, Shinji Uchiyama, Hiroyuki Yamamoto, Hideyuki Tamura "Mid-Range
Virtualization-Model Generation Method for Virtual Realization of Indoor Real Space-"P.203-206

[0009] This reference 2 describes a technique for extracting structure information for constructing a shared space of a video signal. In this technology, for example, when virtualization or drawing is performed on a target object existing in a mid-range environment of several meters to several tens of meters, the shape information of the target object is actually measured by an optical method (that is, the distance image is measured). measure). Then, a geometric model of the target object is constructed based on the acquired distance image. At this time, redundant distance image data is selected and integrated to reduce the data amount required for drawing.

[0010] However, when the technique of Document 2 is used, the amount of data required for drawing can be reduced. However, the selection and integration processing of the distance image data often depends on manual work, and the processing is complicated and complicated. There is a disadvantage that there is. For this reason, even if the technique of Reference 2 is applied to the technique of Reference 1, it has been difficult to solve the problem of Reference 1 to a degree that can be technically sufficiently satisfied.

An object of the present invention is to provide a video display method and a video display device which solve the problems of the prior art and improve the efficiency of shared space communication.

[0012]

In order to solve the above-mentioned problems, a first invention of the present invention is a method of making a communication between a first speaker and a second speaker who communicate with each other at different points. , The first
A first display device displaying a stereoscopic video including the second speaker and being observed by the second speaker, and a stereoscopic video including the second speaker communicating with the first speaker And a second display device observed by the first speaker and a first speaker displayed on the first display device and a second display device displayed on the second display device. Communication means for transmitting and receiving communication information to and from a speaker, wherein the first and second speakers not located at the same point share the same space via the first and second display devices. In a space-sharing communication system that performs communication in a manner similar to that of the first and second speakers, a distance from a reference point is measured by a distance measuring means for a target object outside and in the vicinity of the first and second speakers. The three-dimensional structure information of the target object is approximated by a plane, extracted and expressed, and the first and second tables are described. And so as to three-dimensionally displayed on the device.

[0013] By adopting such a configuration, the first and second speakers communicating with each other at different points,
These nearby target objects are displayed three-dimensionally on the first and second display devices, for example. For a target object distant from the first and second speakers, the distance from the reference point is measured by the distance measuring means, and from the measured distance data, the three-dimensional structure information of the target object is approximated in a plane. Are extracted and arranged and displayed on the first and second display devices, for example, like a book layout of a stage device.

According to a second aspect, in the video display method according to the first aspect, for a target object outside the vicinity of the first and second speakers, a parameter of a plane approximation is extracted while extracting a region of the target object. (For example, a plane approximation parameter) is obtained, and the three-dimensional structure information of the target object is represented by approximating the plane using the parameter. Thereby, the parameter of the plane approximation is obtained at the same time as the extraction of the region of the target object.

According to a third aspect, in the video display method according to the second aspect, the entire area of the target object is divided into a plurality of areas, and the measured distance data and the plurality of divided areas are theoretically combined. The divided regions are integrated so that an error from the distance value of the divided region is equal to or smaller than a predetermined threshold, and a region is extracted, and a parameter of the plane approximation for the extracted region is obtained. Thereby, for a plurality of divided regions constituting the entire region of the target object, regions are integrated so that an error is equal to or less than a predetermined threshold, and regions are extracted. Is required.

According to a fourth aspect of the present invention, the first speaker and the second speaker who communicate with each other at different points are displayed on a three-dimensional image including the first speaker and the second speaker. A first display device that is observed by the first speaker, and a three-dimensional image that includes the second speaker that communicates with the first speaker and that is displayed by the first speaker. And a communication unit for transmitting and receiving communication information between a first speaker displayed on the first display device and a second speaker displayed on the second display device. Wherein the first and second speakers that are not at the same point share the same space via the first and second display devices, and communicate as if they were: Means.

That is, in the fourth invention, a first distance measurement for measuring a distance from a first reference point to a target object outside the vicinity of the first speaker and outputting first distance data. Means, a second distance measuring means for measuring a distance from a second reference point to a target object outside the vicinity of the second speaker and outputting second distance data, and the first reference point A first photographing means for photographing a target object outside the vicinity of the first speaker from the first speaker and outputting first image data; and an object outside the vicinity of the second speaker from the second reference point. A second photographing means for photographing an object and outputting second image data, and for a target object outside the vicinity of the first speaker, from the first distance data,
First variable calculation means for calculating and outputting a first planar approximation parameter of the shape of the target object; and for the target object outside the vicinity of the second speaker, the second distance data Second variable calculating means for calculating and outputting a second planar approximation parameter of the shape of the target object, position data of the target object approximated by the first planar approximation parameter, and the first image data From the above, the video signal is generated and the first
First image generation means for stereoscopically displaying the image on the display device, and position data of the target object approximated by the second plane approximation parameter and the second image data,
And a second video generation unit for generating a video signal and displaying the video signal three-dimensionally on the second display device.

By adopting such a configuration, the first and second speakers and the target object in the vicinity thereof are stereoscopically displayed on, for example, the first and second display devices. First,
For target objects distant from the second speaker, the first and second
And the first and second image data are output. Further, the distance to the target object is measured by the first and second distance measurement means, and the first and second distance data are output. From the outputted first and second distance data, first and second plane approximation parameters are calculated by first and second variable calculation means, respectively. A video signal is generated by first and second video generation means from the position data of the target object approximated by the first and second plane approximation parameters and the first and second image data. , Are arranged and displayed on the second display device, for example, like a book layout of a stage device.

According to a fifth aspect, in the video display apparatus according to the fourth aspect, the first and second variable calculating means are configured to determine the target object outside the vicinity of the first and second speakers. The first and second plane approximation parameters are calculated while extracting the region of the object. This allows
At the same time as the region of the target object is extracted by the first and second variable calculation means, the first and second planar approximation parameters are calculated.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (Principle of the Embodiment) FIG.
(B) is a figure showing the common space used for description of embodiment of this invention. In FIGS. 3A and 3B, the first and second display devices 30-1 and 30-2 for displaying a stereoscopic image are shown.
, A first speaker (for example, a girl) 31-1 and a second speaker (for example, a boy) 31-2 that are not at the same point
Indicate that communication is being performed via the communication means 32. The first and second display devices 30-1 and 30-2 are configured by, for example, screens of a binocular stereoscopic display device, and time-divide the image signals for the left eye and the right eye. A signal is input to a projector, and the image for the left eye and the image for the right eye are alternately displayed on a screen by the projector,
The stereoscopic image can be viewed by observing the screen using shutter glasses or the like.

The first speaker 31-1 is connected to the first display device 30.
-1, and the first speaker 31-
Object object (eg, cube) 31 very close to 1
-3 is also displayed while substantially maintaining the three-dimensional structure information.
In addition, target objects (for example, trees 31-4 and 31-5, house 3
Since 1-6) exists at a relatively distant distance from the first speaker 31-1, the sense of reality is not completely restored to the three-dimensional structure information but is approximated by a plane. Not too bad. Therefore, as shown in FIG. 3 (b), by placing a photograph on a board and arranging it in a space like a book layout of a stage device, a shared space can be constructed easily and with a sense of reality. In this case, each target object (for example, tree 31-
4, 31-5, house 31-6) is a very important technique for obtaining a plane-parameter (for example, a parameter) by plane approximation. Hereinafter, a method of obtaining the plane approximation parameter will be described.

FIG. 4 is a diagram showing a three-dimensional (stereo) coordinate system used for describing the embodiment of the present invention. In the present embodiment, for example, as shown in FIG. 3, a case where the plane approximation parameters k ₁ , k ₂ , and k ₃ of the shape of the target object (the tree 31-5) away from the first speaker 31-1 is obtained. The distance from the reference point (the point at which the image is captured) to the target object 31-5 is measured by a distance measuring device (for example, a laser distance meter) as a distance measuring means, and the plane approximation parameter k is calculated from the measured distance data. ₁ , k ₂ and k ₃ are calculated. At this time, if the entire area of the target object 31-5 is large, the entire area is divided into a plurality of areas R ₁ , R ₂ , R ₃ ,
R ₄ ,..., And the plurality of divided areas R ₁ , R ₂ , R
_3, R _4, about ..., the divided region R ₁ as the error E between the distance value on the distance data and the theoretical measured falls below a predetermined threshold value TH, R _2, R _3, R _4, ... and integration to perform extraction region (e.g., by integrating the regions R ₁ and R ₂ were extracted for this integration regions R _{1, 2),} the planar approximation parameters k ₁ for the extracted area R _{1, 2} , K ₂ ,
and to calculate the k _3.

The stereo coordinate system shown in FIG. 4 is represented by an X axis, a Y axis, and a Z axis which are orthogonal to each other. Target object 3 from origin 0
When one point P on 1-5 is observed, this point P is represented by three-dimensional coordinates (X, Y, Z). Assuming that the target object 31-5 can be approximated by a plane, the equation of this plane is

(Equation 1)

[0024]

(Equation 2)

[0025]

(Equation 3)

[0026]

(Equation 4) It turns out that it becomes. This means that for each of the divided regions R ₁ and R ₂ of the target object 31-5, a matrix ArrayA (which is obtained from the formed angles θ and φ of the polar coordinates) and a matrix Array
b (this is the measurement error for each parameter k ₁ , k ₂ , k ₃ ) and the sum of data D ′ ² (φ, θ) (this is obtained from the measured distance data D (φ, θ)) If they are stored in the means, for example, the regions R ₁ and R ₂ can be easily integrated while evaluating the expression (19), and the plane approximation parameter Arrayk of the regions R ₁ and ₂ when the integration is completed is It indicates that it is a plane approximation parameter for the regions R ₁ and R ₂ .

(Embodiment) FIGS. 1A and 1B are configuration diagrams of a video display device showing an embodiment of the present invention. FIG. 1A is a configuration diagram of the entire video display device, and FIG. FIG.
3 is a configuration diagram of a plane parameter calculation unit in FIG. 1 (a) and 1 (b), components common to those in FIGS. 3 and 4 are denoted by common reference numerals. The video display device of this embodiment is provided on the first display device 30-1 side in FIG. The same device as this video display device is also provided on the second display device 30-2 side in FIG.

The video display device shown in FIG. 1A includes a first video processing device 40 and a second video processing device 50, and the first display device 30-1 is connected to the output side of these devices. I have. The first video processing device 40 captures an image S31a of the first speaker 30-1 and a target object (for example, a cube) 31-3 near the first speaker 30-1 using a capturing unit (for example, a plurality of video cameras). This is a device for three-dimensionally displaying the three-dimensional structure information of the captured video signal S40 on the first display device 30-1, and is configured by a known device such as the conventional video display device of FIG. I have.

[0029] The second video processing device 50 controls the first speaker 3
Target object (eg, tree, house) distant from 1-1
4, 31-5 and 31-6 are imaged, the distance r to each of the target objects 31-4 to 31-6 is measured, and from the measured distance r, the target objects 31-4 to 31-6 are taken.
By calculating plane approximation parameters k ₁ , k ₂ , and k ₃ of the shape of 31-6, the structure information for constructing the shared space of the video signal is extracted, and this structure information and photographed image data S5
4 to generate a video signal S56.
Is arranged and displayed on the first display device 30-1 like a book layout of a stage device.

The second video processing device 50 is a distance measuring device which is a distance measuring means for measuring a distance r to a target object (for example, a tree 31-5) and outputting distance data S51 measured in polar coordinates. (For example, a laser distance meter) 51
And a distance buffer 52 for storing the measured distance data S51, and reading out the stored distance data S52 to obtain a plane approximation parameter k ₁ ,
plane parameter calculating means 53 for calculating k ₂ and k ₃ . Further, the second video processing device 50 captures an image S31b of the target object 31-5 and outputs image data S54 captured by the planar image (for example, an image capturing device such as a video camera). 54, and an image buffer 55 for storing captured image data S54. Further, on the output side of the plane parameter calculating means 53 and the image buffer 55, a video generating means 56 is provided.
Is connected, and the first display device 30-1 is connected to the output side.

The video generation means 56 converts the video signal S56 from the position data of the target object 31-5 approximated by the plane approximation parameters k ₁ , k ₂ and k ₃ and the image data S55 read from the image buffer 55. It is generated and displayed three-dimensionally on the first display device 30-1. The plane parameter calculation unit 53 and the video generation unit 56 are configured by executing a program such as an individual circuit using a semiconductor integrated circuit or the like or a computer.

As shown in FIG. 1B, the plane parameter calculating means 53 calculates a matrix Array of the regions R ₁ , R ₂ ,.
A, a matrix calculating means 53a for calculating Arrayb, and a matrix ArrayA and ArrayA for each region R ₁ , R ₂ ,.
yb, matrix storage means 53b for storing the sum of data D ' ² (φ, θ) and regions R ₁ , R ₂ ,... so that the error E is equal to or less than a predetermined threshold value TH. R ₁ ,
And the area integration means 53c for outputting the plane approximation parameters k ₁ , k ₂ , k ₃ of R ₂ ,.

Next, an image display method using the image display device of FIG. 1 will be described. As shown in FIG. 3A, a first speaker 31-1 and a second speaker 31-2 that are not at the same point are connected to a first display device 30-1 and a second display device 30-.
When communication is performed via the first display device 30-1
In the first video display device on the side, an image S31a of the first speaker 31-1 and a cube 31-3 near the first speaker 31-1 is captured by the first video processing device 40, and the captured video signal S40-3 is captured. The dimensional structure information is stereoscopically displayed on the first display device 30-1.

For a target object (for example, a tree 31-5) distant from the first speaker 31-1, a distance measuring device 51 is used.
Is measured, and the distance data S51 measured in the polar coordinates is stored in the distance buffer 52. The distance data S52 read from the distance buffer 52 is
It is sent to the plane parameter calculation means 53. The matrix calculating means 53a in the plane parameter calculating means 53 uses the angles θ and φ included in the distance data S52 to calculate the target object 31-.
5, a matrix Array of the divided regions R ₁ , R ₂ ,.
A, Arrayb is calculated from equations (14) and (16),
The calculation result is sent to the matrix storage unit 53b. In the matrix storage means 53b, for each divided region R ₁ , R ₂ ,.
4), matrices ArrayA and Arrayb in equations (16),
D ′ obtained from the distance data D (φ, θ)
² The sum of (φ, θ) is stored, and the storage result is sent to the area integration means 53c.

In the area integrating means 53c, when, for example, the areas R ₁ and R ₂ are integrated using the equation (19), whether or not the error E of the integrated result is equal to or less than a predetermined threshold value TH is determined. Is determined, and when it is equal to or less than the predetermined value TH, the region R
Integrating ₁ and R _2. The matrix Arrayk of Expression (18) at the time of completion of the integration is output as the plane approximation parameters k ₁ , k ₂ , and k ₃ of the regions R ₁ and R ₂ . When the regions R ₁ and R ₂ cannot be integrated, the plane approximation parameters k ₁ , k ₂ and k ₃ are output for each of these regions R ₁ and R ₂ .
These calculated plane approximation parameters k ₁ , k ₂ , k ₃
Is sent to the image generation means 56.

On the other hand, the image S31b of the target object 31-5 is photographed by the image photographing device 54, and the image data S54 photographed at the plane coordinates is stored in the image buffer 55, and the stored image data S55 is It is read and sent to the video generation means 56. The image generating unit 56, the position data of the target object 31-5 approximated by a plane approximation parameters k _1, k _2, k _3, from the image data S55 Prefecture, for example, each of the two-dimensional for the left eye and the right eye Is generated and sent to the first display device 30-1.
In the first display device 30-1, the target object 31-5 is arranged and displayed like a split of a stage device based on the structure information for building a shared space of the left-eye and right-eye video signals S56. .

The same display as that of the first video display device on the first display device 30-1 side is displayed on the second display device 30.
-2 is performed by the video display device provided on the side. Then, the first speaker 31-1 and the second speaker 31-2 at different points are connected to the first and second display devices 30-1 and 30-3.
Communication with each other can be performed by the communication means 32 via 0-2.

As described above, the present embodiment has the following effects. In the second video processing device 50, the speaker 31-
Target objects 31-4, 31-5, distant from 1, 31-2
Distance data S51 is measured with respect to 31-6 by the distance measurement device 56, and the target objects 31-4 to 31 are determined by the plane parameter calculation means 53 using the distance data S51.
Since the three-dimensional structure of −6 is extracted by plane approximation, simple three-dimensional spatial information can be obtained by the video processing device 50. Therefore, the speakers 31-1, 31-
2 and a target object such as the target object 31-3 in the vicinity thereof, which require a more precise three-dimensional structure, can reduce the load on the computer or the like, and reduce the amount of information to the transmission path or the like in the communication means 32. The burden on the user can be reduced.

Note that the present invention is not limited to the above embodiment, and various modifications are possible. For example, there are the following modifications. (A) The first and second display devices 30-1 and 30-2 and the first video processing device 40 can be constituted by devices of various stereoscopic display systems. (B) In FIG. 3, the space sharing communication system between one first speaker 31-1 and one second speaker 31-2 has been described. Second speaker 3
1-2 may be composed of a plurality of persons, and the same operational effects as those of the above embodiment can be obtained.

[0040]

As described in detail above, according to the first and fourth aspects of the present invention, the distance data measured by the distance measuring means for the object outside the vicinity of the first and second speakers is obtained. The parameters of the plane approximation are obtained using the parameters, and the three-dimensional structure of the target object is approximated to a plane by the plane approximation parameters, extracted and displayed three-dimensionally on the first and second display devices. Three-dimensional spatial information can be easily displayed. For this reason,
With respect to the first and second speakers and the target objects in the vicinity thereof, it is possible to reduce the load on the target object that requires a more precise three-dimensional structure, and also reduce the load on the transmission path of the communication means. it can.

According to the second, third, and fifth aspects of the present invention, the parameters of the plane approximation are obtained while extracting the region of the target object. For example, the entire region of the target object is divided into a plurality of regions. If the area is extracted while performing the integration process on the plurality of divided areas, the parameters of the plane approximation for the extracted area can be calculated at the same time. Thereby, three-dimensional space information can be displayed more easily.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a video display device according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a conventional video display device.

FIG. 3 is a diagram illustrating a shared space used for describing an embodiment of the present invention.

FIG. 4 is a diagram illustrating a three-dimensional (stereo) coordinate system used for describing an embodiment of the present invention.

[Explanation of symbols]

 30-1, 30-2 First and second display devices 31-1, 31-2 First and second speakers 31-3 Target objects (cubes) near speakers 31-4, 31-5 Target object outside tree (tree) 31-6 Target object outside speaker (house) 40, 50 First and second video processing device 51 Distance measurement device 52 Distance buffer 53 Planar parameter calculation means 54 Image shooting Device 55 Image buffer 56 Image generation means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04N 7/14 G09G 5/36 520K 520P F term (Reference) 5B050 AA08 BA09 BA11 BA12 CA05 CA07 EA07 EA26 FA06 5C061 AA01 AA03 AB01 AB08 AB11 AB12 AB17 AB24 5C064 AA01 AB04 AB06 AC02 AC11 AC12 AC22 AD14 5C082 AA22 AA27 BA20 BA42 BA46 BD02 CA54 CA81 CB03 DA86 EA15 MM02

Claims (5)

[Claims] 1. A first system for communicating with each other at different points.
A first display device that displays a stereoscopic image including the first speaker and is observed by the second speaker, among the first speaker and the second speaker; A stereoscopic image including the second speaker communicating with the second speaker is displayed, and a second image observed by the first speaker is displayed.
And a first speaker displayed on the first display device and the second speaker.
Communication means for transmitting and receiving communication information to and from the second speaker displayed on the display device, wherein the first and second speakers not at the same point are connected to each other by the first
And a space-sharing communication system that communicates as if sharing the same space via the second display device, wherein a target object outside the vicinity of the first and second speakers is distanced from a reference point by distance measurement means. From the measured distance data, extracting and expressing the three-dimensional structure information of the target object by approximating the plane with a plane, and displaying the information three-dimensionally on the first and second display devices. Characteristic video display method. 2. The video display method according to claim 1, wherein, for a target object outside the vicinity of the first and second speakers, a parameter of a plane approximation is determined while extracting a region of the target object. A video display method characterized by expressing three-dimensional structure information of the target object by approximating it to a plane using a parameter. 3. The video display method according to claim 2, wherein the entire area of the target object is divided into a plurality of areas, and the measured distance data and the theoretical distance value are divided for the plurality of divided areas. A method of integrating the divided regions so as to extract the region so that an error of the divided region is equal to or less than a predetermined threshold, and obtaining a parameter of the plane approximation for the extracted region. 4. A first system for communicating with each other at different points.
A first display device that displays a stereoscopic image including the first speaker and is observed by the second speaker, among the first speaker and the second speaker; A stereoscopic image including the second speaker communicating with the second speaker is displayed, and a second image observed by the first speaker is displayed.
And a first speaker displayed on the first display device and the second speaker.
Communication means for transmitting and receiving communication information to and from the second speaker displayed on the display device, wherein the first and second speakers not at the same point are connected to each other by the first
And a space-sharing communication system that communicates as if sharing the same space via the second display device, wherein a distance from a first reference point to a target object outside the vicinity of the first speaker is measured. First distance measuring means for outputting first distance data, and measuring a distance from a second reference point to a target object outside the vicinity of the second speaker and outputting second distance data. A second distance measuring unit; a first photographing unit that photographs a target object outside the vicinity of the first speaker from the first reference point and outputs first image data; A second photographing means for photographing a target object outside the vicinity of the second speaker from a reference point and outputting second image data; and for the target object outside the vicinity of the first speaker, 1
A first parameter calculating means for calculating and outputting a first planar approximation parameter of the shape of the target object from the distance data of the target object;
A second parameter calculating means for calculating and outputting a second plane approximation parameter of the shape of the target object from the distance data of: and position data of the target object approximated by the first plane approximation parameter. First video generation means for generating a video signal from the first image data and displaying the video signal in a three-dimensional manner on the first display device; and And a second video generating means for generating a video signal from the position data and the second image data and displaying the video signal in a three-dimensional manner on the second display device. 5. The video display device according to claim 4, wherein the first and second variable calculation means determine an area of the target object for a target object outside the vicinity of the first and second speakers. A video display device wherein each of the first and second planar approximation parameters is calculated while extracting.