JP2002159019A - Display control device, imaging position estimating device, display system, image pickup system, image positioning method, imaging position estimating method, and recording medium recorded with process program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display control device and the like capable of appropriately superposing a real video with a CG image for more natural stereoscopic view. SOLUTION: An image positioning method is provided where, when a real video acquired by an imaging means for imaging an object is composited with a virtual image generated by modeling for displaying on a display part, the virtual image is positioned by referencing a marker imaged into the real video. Here, to composite, for displaying, the virtual image with each of the two real videos acquired by two imaging means which image the same object, only the marker imaged into both real videos is used to position the virtual image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION VR (Virtual Rea)
The present invention relates to a display control device and the like used for a game, various image displays, and the like using the MR (Mixed Reality) and MR (Mixed Reality) techniques.

[0002]

2. Description of the Related Art In recent years, an HMD (Head Mount) having two LCDs corresponding to an operator's right eye and left eye has been developed.
Display) and a small video camera, combining live-action video and CG (Computer Graphi).
cs) MR technology for synthesizing an image and displaying it on an HMD has attracted attention. By using this MR technology, it is possible to make it appear as if a virtual object by CG appears in the real world.

In order to realize this MR technique, it is necessary to match the superimposition of the actual image and the CG image. Therefore, conventionally, when a CG image is overwritten on a video image of the same scene (that is, a real image) captured from two video cameras for the left eye and the right eye attached to the HMD, the left eye and the right eye are overwritten. Markers (marks) taken on the live-action video independently for each live-action video for the eye
By finely adjusting the display position of the CG image based on the above, the position of the actual captured video and the CG image are aligned.

[0004] This alignment method will be specifically described with reference to the right eye side as an example. As shown in FIG. 11, 2 of real shot images (500 in FIG. 11) captured from a video camera is used.
After performing the binarization process, the markers 450 to 453 are obtained from the actual image.
(510). On the other hand, conversion processing is performed on the three-dimensional coordinates (known) of the marker using the modeling conversion matrix and the projective conversion matrix, and an expected position at which the marker is displayed on the screen is obtained (610).

[0005] Then, markers 450 to 4 on the actual photographed image are displayed.
The position 53 is compared with the predicted marker display position, and the marker display predicted position is corrected based on the difference (62).
0). As a result, the display positions of the CG images 454 and 455 can be finely adjusted (630).

[0006]

However, in the above-described conventional alignment method, alignment may be performed in accordance with different markers in the left-eye and right-eye real shot images. The amount of correction and the direction of the alignment are different in the video. That is, the relative positional relationship between the left and right images changes, and as a result, an unnatural three-dimensional image may be generated.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to provide a display control device and the like which can accurately superimpose a real image and a CG image and can realize more natural stereoscopic vision. I do.

[0008]

According to the first aspect of the present invention, there is provided an image input means for inputting a first image and a second image which are different from each other. Means for synthesizing the obtained first image and the second image, wherein the second image is added to the first image.
When synthesizing the images, the image synthesizing means for positioning the second image based on the predetermined marker detected from the first image, and the synthesized image output from the image synthesizing means are displayed. The image combining means, when combining the second image with a plurality of first images obtained by photographing the same subject from different positions,
A display control device configured to perform positioning of the second image based on a marker commonly detected in the plurality of first images.

According to a second aspect of the present invention, in the first aspect, the first image is a real image, and the second image is a virtual image such as CG.

According to a third aspect of the present invention, in the second aspect, the first image is a left and right image forming a stereo image.

According to a fourth aspect of the present invention, in the second aspect, the marker is provided in advance to a photographing target of the real image, and a position of the marker is invariable with respect to the photographing target. I do.

According to the invention described in claim 5, an image input step of inputting a first image and a second image different from each other, and the first image and the second image input in the image input step. Performing a process of synthesizing the first image and the second image based on a predetermined marker detected from the first image. An image synthesizing step configured to position an image, and a display step of displaying a synthesized image generated by the image synthesizing step, wherein the image synthesizing step includes a plurality of second images obtained by photographing the same subject from different positions. A table configured to perform positioning of the second image based on a marker commonly detected in the plurality of first images when the second image is combined with the first image. The control method is characterized.

According to a sixth aspect of the present invention, in the fifth aspect, the first image is a real image, and the second image is a virtual image such as CG.

According to a seventh aspect of the present invention, in the sixth aspect, the first image is a right and left image forming a stereo image.

According to an eighth aspect of the present invention, in the sixth aspect, the marker is provided in advance to a photographing target of the actual photographed image, and the position of the marker is invariable with respect to the photographing target. I do.

According to a ninth aspect of the present invention, there is provided a display control device for combining a photographed image obtained by a photographing means for photographing a subject with a virtually created temporary image and displaying the synthesized image on a display unit. , At the time of the composite display of the display means,
A display control device having a positioning means for positioning the temporary image with reference to a marker photographed in the real video image, wherein the display means displays two images obtained by two photographing means for photographing the same subject. When combining and displaying the virtual image with each of the real video images, the positioning means performs positioning of the virtual image using only markers captured in both of the two real video images. .

According to a tenth aspect of the present invention, in the display control device according to the ninth aspect, the two photographing means are a left-eye camera and a right-eye camera.

In a display control device according to an eleventh aspect of the present invention, in the display control device according to the tenth aspect, the display unit includes a left-eye display unit and a right-eye display unit, and The display unit displays a left-eye real image captured by the left-eye camera among the two real images, and the right-eye display unit displays a right-eye image captured by the right-eye camera. Is displayed.

According to a twelfth aspect of the present invention, there is provided a photographing position estimating apparatus for detecting a marker from a photographed image obtained by a photographing means for photographing a subject, and determining a photographing position of the subject by referring to the marker. In the photographing position estimating device provided with estimating means for estimating, the detecting means is configured to detect a marker from each of two real shot images obtained by two photographing means for imaging the same subject, and The means selects only the markers shot in both of the two real shot images from the markers detected by the detection means, and estimates the shooting position of the subject by referring to the selected markers. Features.

According to a thirteenth aspect of the present invention, in the photographing position estimating apparatus according to the twelfth aspect, the two photographing means are a left-eye camera and a right-eye camera. I do.

According to a fourteenth aspect of the present invention, there is provided a display system including the display control device according to the ninth to eleventh aspects.

According to a fifteenth aspect of the present invention, there is provided a photographing system including the photographing position estimating device according to the twelfth or thirteenth aspect.

In the image positioning method according to the present invention, when a real photographed image obtained by a photographing means for photographing a subject is combined with a tentatively created temporary image and displayed on a display unit, In the image positioning method for positioning the temporary image with reference to a marker captured in the real image, the virtual image is combined with each of two real images obtained by two photographing units that photograph the same subject. When displaying, the temporary image is positioned using only markers captured in both of the two real shot images.

According to a seventeenth aspect of the present invention, in the image positioning method of the sixteenth aspect, the two photographing means are a left-eye camera and a right-eye camera.

In the image positioning method according to an eighteenth aspect of the present invention, in the image positioning method according to the seventeenth aspect, the display section comprises a left-eye display section and a right-eye display section, The display unit displays a left-eye real image captured by the left-eye camera among the two real images, and the right-eye display unit displays a right-eye image captured by the right-eye camera. Is displayed.

According to a nineteenth aspect of the present invention, there is provided a method for estimating a photographing position, comprising the steps of: detecting a marker from a photographed image obtained by photographing means for photographing a subject; In the photographing position estimating method of performing an estimating step of estimating, the detecting step detects a marker from each of two actual photographed images obtained by two photographing means for photographing the same subject, and the estimating step includes: It is characterized in that, of the markers detected in the detection step, only the markers shot in both of the two real shot images are selected, and the shooting position of the subject is estimated by referring to the selected markers.

According to a twentieth aspect of the present invention, the two photographing means are a left-eye camera and a right-eye camera. I do.

In the recording medium storing the processing program according to the twenty-first aspect of the present invention, a real photographed image obtained by a photographing means for photographing a subject is combined with a phantom image created artificially and displayed on a display unit. A recording medium storing a processing program for executing an image positioning method of positioning the temporary image with reference to a marker photographed in the actual photographed video, wherein the processing program is the same object In a case where the virtual image is synthesized with each of the two real images obtained by the two photographing means for photographing the virtual image and displayed, only the markers photographed in both of the two real images are used to display the virtual image. It is characterized by having contents for performing positioning.

In the recording medium storing the processing program according to the present invention, a marker is detected from a photographed image obtained by a photographing means for photographing a subject with a marker, and the marker is referred to with reference to the marker. What is claimed is: 1. A recording medium storing a processing program for executing a photographing position estimating method for estimating a photographing position of a subject, wherein the processing program includes two real shot images obtained by two photographing means for photographing the same subject. A first step of detecting a marker from each of the first and second steps; a second step of selecting only markers captured in both of the two real shot images from among the markers detected in the first step; And a third step of estimating a photographing position of the subject with reference to the marker selected in the step. To.

[0030]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic external view of a display system according to an embodiment of the present invention.

The system shown in FIG. 1 is an example of a game system using the MR technique. The HMD 100 is mounted on a player's head, and detects the position and orientation of the player's head in a three-dimensional space. Dimension sensor body 2
00, a three-dimensional sensor fixed station 210 capable of detecting a position in cooperation with the three-dimensional sensor 200, a computer 300 for performing various processes such as a position calculation of a player, CG image generation and synthesis, and a game field 400. It is configured.

The HMD 100 is a video see-through HMD that combines a real image captured by a video camera attached to the main body of the HMD with a CG image or the like and displays the synthesized image.
As shown in FIGS. 2A and 2B, a stereo image (3D
3D position, which is connected to the left and right cameras 110 and 111 for capturing left and right images constituting the image, respectively, and transmits the detected position and orientation to the three-dimensional position sensor 200. Sensor mobile station 120,
And LCDs 130 and 131 for the left and right eyes.

Here, the position and orientation of the player's head can be detected by, for example, generating a magnetic field in space from the three-dimensional position sensor fixed station 210 and using the three-dimensional position sensor mobile station 120 constituted by a magnetic sensor. Is detected, transmitted to the three-dimensional position sensor 200, the position and orientation of the user are calculated, and supplied to the computer 300.

The player wears the HMD 100 and plays a game. At this time, as shown in FIG.
The LCDs 130 and 131 in the camera 0, 11
A composite image 700 in which the real image 500 captured in Step 1 and the CG image 600 are composited is displayed.

In this embodiment, the video see-through H
Although the MD is used, this does not limit the present invention, and the present invention can be applied to an HMD of a combination of an optical see-through HMD and a video camera.

As shown in FIG. 4, for example, four blocks 410, 411, 41
3, 414 are placed, and markers 450, 451, 452, 453 are respectively attached to the side surfaces of these blocks. The position of the game field 400 is determined by blocks 410 to 414 and markers 450 to 453.
Accurately measured, including the position.

FIG. 5 is a block diagram showing a functional configuration of the display control system of the present embodiment.

An image displayed on the HMD 100 is created by the computer 300. The computer 300 includes a CPU 30
1, memory 302, PCI bridge 303, serial I
/ O310, video capture cards 320,321,
And video boards 330 and 331.

The image signals (for example, NT) output from the left and right video cameras 110 and 111 of the HMD 100
SC system video signals) are supplied to video capture cards 320 and 321 in the computer 300, respectively.
The image signal is taken in, and the PCI, PCI bridge 303
Is supplied to the memory 302 through the
1 to perform various image processing.

A CG image is generated in the CPU 301 based on image information stored in the memory 302 in advance or supplied by a known means from the outside.
HMD is synthesized with the actual images from the video capture cards 320 and 321 and
100 to the left and right LCD display units (for example, V
GA images).

When synthesizing the real images from the left and right cameras 110 and 111 and the CG image, information on the position and orientation of the player's head is supplied from the three-dimensional position sensor 200, and , The actual image from the camera,
Registration with the CG image is performed. That is, CG images corresponding to the position and the line of sight of the player are synthesized.

The three-dimensional position sensor 200 detects the magnetism generated by the three-dimensional position sensor fixed station 210 by the three-dimensional sensor mobile station 120 having a built-in HMD, and based on the detection result, detects the three-dimensional position sensor fixed station. 210 and HMD
The relative position of the built-in three-dimensional position sensor 120 is measured, and the position information includes x (vertical direction), y (horizontal direction), z
The degree of freedom can be measured for six positions (in the depth direction), roll, pitch, and yaw.

The three-dimensional position sensor 200 communicates with the computer 300 through a serial interface, and the position of the three-dimensional position sensor fixed station 210 is accurately measured in advance. By knowing the relative position with respect to the position sensor fixed station 210, the HM
It is possible to know the absolute position of D100 (with the origin at the center of the game field 400). FIG. 6 is a flowchart illustrating an HMD display thread of the computer 300 according to the present embodiment.

Since the processing for the left and right eyes is basically the same, the processing for the right eye will be described here. The following control method can be realized by storing and operating the program according to the flowchart of FIG. 6 in a storage device such as the memory 302 in the computer 300.

The photographed video from the video camera 110 is taken into the computer 300 through the video capture card 320 (step S100). The captured real video is written into a video buffer on the memory 302 (step S101). The video buffer is a work area for storing a video being created. By writing the captured real image, the real image can be used as a background image of the CG image.

Then, 3 through the serial I / O 310
The position information of the HMD 100 is obtained from the dimensional position sensor 200 (Step S102). The position of the HMD 100 is stored after being converted into world coordinates. The world coordinates are a coordinate system having the center of the game field 400 as the origin. The conversion into the world coordinates is performed by previously measuring the position of the game field 400 and the three-dimensional position sensor fixed station 21.
This can be easily performed by using the zero position.

Subsequently, a matrix for projective transformation used for drawing the CG image and a matrix for modeling transformation are created (step S103). A modeling transformation matrix is created using the world coordinates of the HMD 100. Also, a projection transformation matrix is created from parameters measured in advance such as the focal length of the camera (projection matrix is created only once at the beginning, and will be reused thereafter).

Then, the markers 450, 451, and 45 on the game field 400, which are displayed on the video camera 110,
The position of the CG image and the actual image are aligned using 2,453 (step S104). To correct the position, a transformation matrix for correcting the direction of the camera is created, and this is multiplied by the modeling matrix. Details of the positioning will be described later.

Using the completed transformation matrix, the CG image data is drawn in the video buffer (step S10).
5). By overwriting the video buffer, a CG image is drawn on the actually shot video. The CG image data is moved by another thread as needed. In the present embodiment, the CG images of the fish and the rocket are moved. However, the method of moving the CG images is not related to the present invention, and thus the description is omitted.

When the drawing is completed, the video buffer is transferred to the frame buffer on the video board 330, and the HMD 1
The image is drawn on the LCD 130 in the 00 (step S1).
06).

Next, the display position correction processing of the CG image (the method of aligning the real image and the CG image image) executed in step S103 will be described with reference to the image diagram of FIG.
This will be described in detail with reference to the flowcharts of FIGS.

The correction of the display position of the CG image is performed by changing the marker 450,
This is performed based on the difference between the positions of 451, 452, and 453 and the position where the marker can be seen when the camera is placed (the coordinates are known) at the position obtained from the three-dimensional position sensor 120 built in the HMD. The actual correction is performed by shifting the direction of the camera. Hereinafter, a specific description will be given.

First, the processing of steps S200 to S205 shown in FIG. 8 is performed for the left and right cameras.

In this embodiment, the left and right cameras 11
It is characterized in that position correction is performed using only the markers appearing in both 0 and 111.

First, the three-dimensional position sensor 12 with a built-in HMD
Based on the position information from 0, a modeling transformation matrix is created from the positions of the cameras 110 and 111, and a projection transformation matrix is created from the previously measured angle-of-view information of the cameras 110 and 111 (step S200).

Next, the coordinates of the markers 450 to 453 (the coordinates are known because they are fixed on the game field 400) are transformed using the created modeling transformation matrix and projection transformation matrix, and the markers are displayed on the screen. An expected position is determined (step S201, see 610 in FIG. 11).

Next, the left and right photographed images (501, 5 in FIG. 7)
02) to search for a marker. In the present embodiment, for example, an orange marker (the marker may be of any color as long as it can be distinguished from other images) is used. Identification of the marker is performed by extracting an orange portion having a certain area or more from the captured live-action video. Then, the captured real image is binarized by discriminating between an orange portion and a non-orange portion (step S202, 5 in FIG. 7).
11, 512). The orange portion is identified by converting each pixel of the video into a luminance signal Y and color difference signals Cb and Cr,
It is determined to be orange when the values of b and Cr are within a certain range (the values are changed depending on the characteristics of the camera, the accuracy in image processing, and the like, and are appropriately set by the system).

The video is labeled in order to divide the binarized video into blocks (step S203).
Since the labeling algorithm is generally known,
Here, the description is omitted.

After the labeling is completed, the center of gravity of a block having a certain area or more (10 dots or more in this embodiment) is obtained (step S204). The center of gravity of the block can be obtained by calculating the average value of the coordinates of the pixels constituting the block. The center of gravity (center coordinates) of this block is the position on the screen of the marker detected from the actually shot video.

A block located closest to the expected position of the marker is searched for, and its correspondence is recorded (step S205). However, if the closest block is separated by a distance equal to or more than a certain value, it is recorded that no block corresponding to the marker exists.

The above processing is performed by the left and right cameras 110 and 111.
, And the obtained left and right cameras 110 and 11
Using the correspondence relationship between the marker drawing predicted position for No. 1 and the marker (block) detection position from the actual image,
The processing shown in FIG. 9 is performed for each of the left and right cameras 110 and 111.

First, markers 450 and 452 corresponding to both the left and right cameras 110 and 111 are selected (step S300, 513 and 514 in FIG. 7).

Subsequently, the displacement between the predicted position and the labeled block is determined for the selected marker (step S301, 621 and 622 in FIG. 7). That is, for the selected marker, the average vector when the coordinates of all the selected marker display predicted positions are regarded as a vector, and the average when the coordinates of all the marker positions detected from the selected real video image are regarded as a vector. Calculate with vector.

The direction in which the camera is rotated for correction is determined from the average vector of the expected marker display position and the average vector of the marker position detected from the actual image. FIG. 10 shows how to determine the rotation direction and angle for correcting the camera position.

In FIG. 10, when the average vector of the marker display predicted position is (mx, my) and the average vector of the marker position detected from the actually shot image is (lx, ly), the focal length of the camera (more precisely, Distance [mm] is 1
The angle す formed by M = (mx, my, d) and L = (lx, ly, d) is obtained, where d is a value obtained by dividing the pixel size [mm / pixel]. This Θ is the angle by which the camera position is rotated. Θ can be obtained by solving the inner product | M | · | L | · cosΘ = M · L of M and L. The rotation axis can be obtained by calculating a vector parallel to the rotation axis by the cross product of M and L.

A rotation matrix for camera position correction is created based on the rotation direction and angle obtained by the above method, and is used as a camera position correction matrix. (In this embodiment, instead of rotating the camera itself, Rotate the whole).

Then, the correction matrix of the camera position is multiplied by the modeling transformation matrix (step S303).

According to the above processing, when correcting the CG image drawing position when the real image and the CG image are superimposed, only the markers photographed by both the left and right cameras 110 and 111 are used for the correction. By adjusting the correction direction of the image drawing position, more natural stereoscopic vision can be realized.

That is, as described above, in the conventional system, one of the factors that makes the alignment of the left and right CG images unnatural is that the markers used for alignment between the left eye and the right eye are different. Since the correction is performed using different markers, the correction amount and the direction are different between the left and right eyes, causing a feeling of strangeness. In consideration of this point, in the present embodiment, the markers captured in only one of the left and right real shot images are not used for the display position correction, and only the markers shot in both the left and right real shot images are aligned. To realize more natural stereoscopic vision.

The present invention is not limited to the apparatus of the above-described embodiment, and may be applied to a system including a plurality of devices or an apparatus including a single device. A storage medium storing program codes of software for realizing the functions of the above-described embodiments is supplied to a system or an apparatus, and a computer (or CPU or MPU) of the system or apparatus reads out and executes the program code stored in the storage medium. It goes without saying that it will be completed by doing so.

In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiment, and the storage medium storing the program code constitutes the present invention. As a storage medium for supplying the program code, for example, a floppy (registered trademark) disk, a hard disk, an optical disk,
A magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a nonvolatile memory card, and a ROM can be used. When the computer executes the readout program code, not only the functions of the above-described embodiments are realized, but also the OS or the like running on the computer performs the actual processing based on the instruction of the program code. It goes without saying that a case where some or all of the operations are performed and the functions of the above-described embodiments are realized by the processing is also included.

Further, after the program code read from the storage medium is written into a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer, the program code is read based on the next program code. Needless to say, the extended function may be performed by a CPU or the like provided in an expansion board or an expansion unit to perform a part or all of the actual processing, and the processing may realize the functions of the above-described embodiments. No.

[0074]

As described in detail above, according to the present invention,
When combining the virtual image with each of the two real video images obtained by the two photographing means for capturing the same subject and displaying the synthesized image, only the markers captured in both of the two real video images are used. Since the positioning is performed, the relative positional relationship between the left and right real shot images can be maintained without being changed even after the positioning in the two real shot images, for example, for the left eye and the right eye, so that a more natural stereoscopic view can be achieved. Can be realized.

[Brief description of the drawings]

FIG. 1 is a schematic external view of a display control system according to an embodiment of the present invention.

FIG. 2 is a detailed view of the HMD shown in FIG.

FIG. 3 is an image diagram showing generation of a composite image.

FIG. 4 is an enlarged view of the game field shown in FIG. 1;

FIG. 5 is a block diagram illustrating a functional configuration of a display control system according to the embodiment.

FIG. 6 is a flowchart illustrating an HMD display thread of the computer 300 according to the embodiment.

FIG. 7 is an image diagram showing a display position correction process of a CG image according to the embodiment.

FIG. 8 is a flowchart illustrating a CG image display position correction process according to the embodiment.

FIG. 9 is a flowchart continued from FIG. 8;

FIG. 10 is a diagram for explaining how to obtain a rotation direction and an angle for correcting a camera position.

FIG. 11 is an image diagram showing a conventional display position correction process of a CG image.

[Explanation of symbols]

 100 HMD 110, 111 Video camera 130, 131 LCD 120 HMD built-in position sensor 130, 131 Liquid crystal display 200 3D position sensor main body 210 3D position sensor fixed station 300 Computer 301 CPU 302 Memory 303 PCI bridge 310 Serial I / O 320, 321 Video Capture Board 330, 331 Video Board

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) H04N 13/04 H04N 13/04 17/04 17/04 A F term (reference) 2C001 BA05 BC00 BC08 CB01 CC00 CC03 CC09 5C023 AA11 CA03 5C054 EA01 EA05 EH01 FA02 FA05 FC12 FE12 HA15 5C061 AA01 AB04 AB10 AB12 AB14 AB18 AB20 BB15

Claims (22)

[Claims] 1. An image input means for inputting a first image and a second image which are different from each other, and means for synthesizing the input first image and the second image, wherein An image synthesizing unit configured to position the second image based on a predetermined marker detected from the first image when synthesizing the second image with the first image; Display means for displaying the output combined image, wherein the image combining means combines the plurality of first images obtained by photographing the same subject from different positions with the plurality of first images. A display control device configured to perform positioning of the second image based on a marker commonly detected in the first image. 2. The display control device according to claim 1, wherein the first image is a real image, and the second image is a virtual image such as CG. 3. The method according to claim 2, wherein the first image is
A display control device comprising left and right images forming a stereo image. 4. The display control device according to claim 2, wherein the marker is provided in advance to a shooting target of the real image, and a position of the marker does not change with respect to the shooting target. 5. An image inputting step of inputting a first image and a second image which are different from each other, and a process of synthesizing the first image and the second image input in the image inputting step. Performing, when compositing the second image with the first image, an image compositing device that positions the second image based on a predetermined marker detected from the first image. And a display step of displaying a combined image generated by the image combining step. The image combining step includes the step of performing the second image processing on a plurality of first images obtained by photographing the same subject from different positions. When combining images, a display control method characterized in that positioning of the second image is performed based on a marker commonly detected in the plurality of first images. 6. The display control method according to claim 5, wherein the first image is a real image, and the second image is a virtual image such as CG. 7. The method according to claim 6, wherein the first image is
A display control method, characterized by right and left images forming a stereo image. 8. The display control method according to claim 6, wherein the marker is provided in advance to a shooting target of the real image, and the position of the marker is invariable with respect to the shooting target. 9. A display means for combining a photographed image obtained by a photographing means for photographing a subject and a phantom image created by modeling, and displaying the combined image on a display unit. A display control device having positioning means for positioning the temporary image with reference to a marker photographed in the real image, wherein the display means displays two images obtained by two photographing means for photographing the same subject. When combining and displaying the virtual image with each of the real video images, the positioning means performs positioning of the virtual image using only markers captured in both of the two real video images. Display control device. 10. The display control device according to claim 9, wherein the two photographing units are a left-eye camera and a right-eye camera. 11. The display section includes a left-eye display section and a right-eye display section, and the left-eye display section includes a left-eye image captured by the left-eye camera among the two real shot images. The display control device according to claim 10, wherein a real shot image for an eye is displayed, and the display unit for the right eye displays a real shot image for a right eye captured by the right eye camera. 12. A photographing position estimating apparatus comprising: detecting means for detecting a marker from a photographed image obtained by photographing means for photographing a subject; and estimating means for estimating a photographing position of the subject by referring to the marker. In the above, the detecting means is configured to detect a marker from each of two real shot images obtained by two photographing means for photographing the same subject, and the estimating means is configured to detect a marker detected by the detecting means. A photographing position estimating apparatus characterized in that only the markers photographed in both of the two real shot images are selected, and the photographing position of the subject is estimated with reference to the selected markers. 13. The photographing position estimating apparatus according to claim 12, wherein said two photographing means are a left-eye camera and a right-eye camera. 14. A display system comprising the display control device according to claim 9. Description: 15. A photographing system comprising the photographing position estimating device according to claim 12. 16. A combination of a real image obtained by a photographing means for photographing an object and a virtual image created by modeling, and displaying the synthesized image on a display unit, by referring to a marker photographed on the real image. In the image positioning method for positioning the temporary image, the two real images are combined with each of the two real images obtained by the two photographing means for photographing the same subject. An image positioning method, wherein the imaginary image is positioned using only markers captured on both of the videos. 17. The image positioning method according to claim 16, wherein said two photographing means are a left-eye camera and a right-eye camera. 18. The display unit includes a left-eye display unit and a right-eye display unit, and the left-eye display unit includes a left-eye image captured by the left-eye camera out of the two real shot images. 18. The image positioning method according to claim 17, wherein a real shot video for the eye is displayed, and the display unit for the right eye displays a real shot video for the right eye shot by the right eye camera. 19. A photographing position estimating method for executing a detecting step of detecting a marker from a real image obtained by a photographing means for photographing a subject and an estimating step of estimating a photographing position of the subject by referring to the marker. In the detection step, a marker is detected from each of two real shot images obtained by two photographing means for photographing the same subject, and the estimation step is a step in which the marker is selected from among the markers detected in the detection step. A photographing position estimating method comprising: selecting only markers photographed in both of the two real shot images; and estimating a photographing position of the subject by referring to the selected markers. 20. The method according to claim 19, wherein said two photographing means are a left-eye camera and a right-eye camera. 21. When combining a real video image obtained by a shooting means for shooting a subject with a phantom image created artificially and displaying the synthesized image on a display unit, a marker shot on the real video image is referred to. A recording medium recording a processing program for executing an image positioning method for positioning the temporary image, wherein the processing program comprises: two real shot images obtained by two photographing means for photographing the same subject Recording a processing program characterized in that when the virtual image is combined with the virtual image and displayed, the virtual image is positioned using only markers captured in both of the two real shot images. Recording medium. 22. A photographing position estimating method for detecting a marker from a photographed image obtained by photographing means for photographing a marker-attached subject, and estimating a photographing position of the subject by referring to the marker. A recording medium storing the processing program according to the first aspect of the present invention, wherein the processing program detects a marker from each of two actual shot images obtained by two shooting means for shooting the same subject.
And a second step of selecting only the markers captured in both of the two live-action images, of the markers detected in the first step, and selecting the markers selected in the second step. And a third step of estimating the photographing position of the subject with reference to the processing medium.