JP7246352B2 - 拡張現実および仮想現実のためのシステムおよび方法 - Google Patents
拡張現実および仮想現実のためのシステムおよび方法 Download PDFInfo
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Description
本願は、米国特許法§119のもと、米国仮特許出願第61/552,941号(2011年10月28日出願)に基づく優先権を主張する。これによって、上述の出願は、その全体が本願に参照によって援用される。
本発明は、概して、1人以上のユーザのための双方向仮想現実環境または拡張現実環境を促進するように構成されたシステムおよび方法に関する。
仮想現実環境および拡張現実環境は、環境を表すデータを部分的に使用して、コンピュータによって生成される。このデータは、例えば、ユーザが感知して相互作用し得る種々のオブジェクトを表してもよい。これらのオブジェクトの例は、ユーザが見るためにレンダリングおよび表示されるオブジェクト、ユーザが聞くために再生されるオーディオ、およびユーザが感じる触知(または、触覚)フィードバックを含む。ユーザは、種々の視覚手段、聴覚手段、および触覚手段を通して、仮想現実環境および拡張現実環境を感知し、それらと相互作用してもよい。
本発明は、例えば、以下を提供する。
(項目1)
2人またはそれより多いユーザが仮想世界データを含む仮想世界内において相互作用することを可能にするためのシステムであって、前記システムは、
1つまたは複数のコンピューティングデバイスを備えるコンピュータネットワークであって、前記1つまたは複数のコンピューティングデバイスは、メモリと、処理回路と、前記メモリに少なくとも部分的に記憶され、前記仮想世界データの少なくとも一部分を処理するように前記処理回路によって実行可能であるソフトウェアとを備える、コンピュータネットワーク
を備え、前記仮想世界データの少なくとも第1の部分は、第1のユーザにローカルである第1のユーザ仮想世界が起源であり、前記コンピュータネットワークは、第2のユーザに提示するために前記第1の部分をユーザデバイスに伝送するように動作可能であり、それによって、前記第2のユーザは、前記第2のユーザの位置から第1の部分を体験することもあり、前記第1のユーザ仮想世界の側面が前記第2のユーザに効果的に渡される、システム。
(項目2)
前記第1のユーザおよび第2のユーザは、異なる物理的位置にいる、項目1に記載のシステム。
(項目3)
前記第1のユーザおよび第2のユーザは、実質的に同一の物理的位置にいる、項目1に記載のシステム。
(項目4)
前記仮想世界の少なくとも一部分は、前記仮想世界データの変化に応答して、変化する、項目1に記載のシステム。
(項目5)
前記仮想世界の少なくとも一部分は、前記ユーザデバイスによって感知された物理的オブジェクトに応答して、変化する、項目1に記載のシステム。
(項目6)
前記仮想世界データにおける変化は、前記物理的オブジェクトとの所定の関係を有する仮想オブジェクトを表す、項目5に記載のシステム。
(項目7)
前記仮想世界データにおける変化は、前記所定の関係に従って、前記第2のユーザに提示するために第2のユーザデバイスに提示される、項目6に記載のシステム。
(項目8)
前記仮想世界は、前記コンピュータサーバまたはユーザデバイスのうちの少なくとも1つによってレンダリングされるように動作可能である、項目1に記載のシステム。
(項目9)
前記仮想世界は、2次元形式で提示される、項目1に記載のシステム。
(項目10)
前記仮想世界は、3次元形式で提示される、項目1に記載のシステム。
(項目11)
前記ユーザデバイスは、拡張現実モードにおいて、ユーザと前記仮想世界との間の相互作用を可能にするためのインターフェースを提供するように動作可能である、項目1に記載のシステム。
(項目12)
前記ユーザデバイスは、仮想現実モードにおいて、ユーザと前記仮想世界との間の相互作用を可能にするためのインターフェースを提供するように動作可能である、項目1に記載のシステム。
(項目13)
前記ユーザデバイスは、拡張現実モードと仮想現実モードとの組み合わせにおいて、ユーザと前記仮想世界との間の相互作用を可能にするためのインターフェースを提供するように動作可能である、項目11に記載のシステム。
(項目14)
前記仮想世界データは、データネットワーク上で伝送される、項目1に記載のシステム。
(項目15)
前記コンピュータネットワークは、ユーザデバイスから前記仮想世界データの少なくとも一部分を受信するように動作可能である、項目1に記載のシステム。
(項目16)
前記ユーザデバイスに伝送される前記仮想世界データの少なくとも一部分は、前記仮想世界の少なくとも一部分を生成するための命令を備える、項目1に記載のシステム。
(項目17)
前記仮想世界データの少なくとも一部分は、処理または配信のうちの少なくとも1つのためにゲートウェイに伝送される、項目1に記載のシステム。
(項目18)
前記1つまたは複数のコンピュータサーバのうちの少なくとも1つは、前記ゲートウェイによって配信される仮想世界データを処理するように動作可能である、項目17に記載のシステム。
図1を参照すると、システム100は、以下で説明されるプロセスを実装するための代表的なハードウェアである。この代表的なシステムは、1つ以上の高帯域幅インターフェース115を通して接続される1つ以上のコンピュータサーバ110から構成されるコンピューティングネットワーク105を備える。コンピューティングネットワーク内のサーバは、同一の場所に位置する必要はない。1つ以上のサーバ110はそれぞれ、プログラム命令を実行するための1つ以上のプロセッサを備える。サーバはまた、プログラム命令と、プログラム命令の指示の下でサーバによって実行されているプロセスによって使用および/または生成されるデータとを記憶するためのメモリも含む。
目的:環境がマッピングされていない場合、またはMLCに接続されていない場合に姿勢(同用のもの)を確立する。
・画像から点を抽出し、フレームからフレームへ追跡し、S姿勢を使用して基準を三角測量する。
・基準がないため、S姿勢を使用する。
・持続性に基づいて、不良な基準を除外する。
・これは最も基本的なモードである。これは常に低精度の姿勢に作用する。わずかな時間およびいくらかの相対運動により、これはO姿勢および/またはマッピングのための最少基準組を確立する。
・姿勢が確実となるとすぐに、このモードから抜け出す。
目的:高精度の姿勢を確立し、環境をマッピングし、(画像を有する)マップをMLCに提供する。
・成熟世界基準からO姿勢を計算する。O姿勢解決のチェックとして、および計算を加速するためにS姿勢を使用する(O姿勢は非線形勾配検索である)。・成熟基準は、MLCに由来するか、またはローカルに決定されるものであってもよい。・画像から点を抽出し、フレームからフレームへ追跡し、O姿勢を使用して基準を三角測量する。
・持続性に基づいて、不良な基準を除外する。
・MLCに基準および姿勢タグ付け画像を提供する。
・最後の3つのステップはリアルタイムで起こる必要がない。
目的:最小処理能力を使用して、すでにマッピングされた環境内で高精度の姿勢を確立する。
・nにおける姿勢を推定するために、過去のS姿勢およびO姿勢(n-1、n-2、n-3等)を使用する。
・基準をnで捕捉される画像に投影するためにnにおける姿勢を使用し、次いで、投影から画像マスクを作成する。
・マスクされた領域から点を抽出する(画像のマスクされたサブセットのみから点を検索/抽出することによって、処理負荷が大いに低減させられる)。
・抽出された点および成熟世界基準からO姿勢を計算する。
・n+1における姿勢を推定するために、nにおけるS姿勢およびO姿勢を使用する。
・オプション:姿勢タグ付け画像/ビデオをMLCクラウドに提供する。
目的:超解像度画像および基準を作成する。
・超解像度画像を作成するように姿勢タグ付け画像を合成する。
・基準位置推定を増進するために超解像度画像を使用する。
・超解像度基準および画像からO姿勢推定を反復する。
・オプション:上記のステップを(リアルタイムで)ウェアラブルデバイスまたは(より良好な世界のために)MLC上でループする。
・構造化環境から主要点を捉え、次いで、MLレンダリングを用いて間の空間を充填する。
・潜在的な会場:ステージ、出力空間、広い屋内空間(スタジアム)。
・現実世界における3Dオブジェクトを認識し、次いで、それらを拡張する。
・ここでの「認識」は、画像を結び付ける十分に高い精度で3Dブロブを識別することを意味する。
・2種類の認識がある。1)オブジェクトの種類(例えば、「顔」)を分類すること、2)オブジェクトの特定のインスタンス(例えば、Joe、個人)を分類すること。
・壁、天井、床、顔、道路、空、超高層ビル、ランチハウス、テーブル、椅子、車、道路標識、看板、ドア、窓、本棚等の種々のものについて、認識装置ソフトウェアオブジェクトを構築する。
・いくつかの認識装置は、I型であり、例えば、「私のビデオをその壁に置いてください」、「あれは犬です」等の一般機能性を有する。
・他の認識装置は、II型であり、例えば、「私のTVは天井から3.2フィート離れたリビングルームの壁にある」、「あれはFidoです」等、特定機能性を有する(これは一般認識装置のより有能なバージョンである)。
・ソフトウェアオブジェクトとして認識装置を構築することにより、機能性の定量解放、および体験のよりきめ細かい制御を可能にする。
・ユーザ身体に固定された仮想オブジェクトをレンダリングする。
・デジタルツールベルト等のいくつかのものがユーザの身体の周囲を浮遊するはずである。
・これは、頭部だけでなく、身体がどこにあるかを把握することを必要とする。ユーザの頭部位置(頭部は通常、地面と平行に前方を向く)の長期平均をとることによって、合理的に正確なしたい位置を取得してもよい。
・簡単な例は、頭部の周囲を浮遊するオブジェクトである。
・II型認識オブジェクトについては、破断図を示す。
・II型認識オブジェクトを3Dモデルのオンラインデータベースにリンクする。
・車および公共設備等の一般的に利用可能な3Dモデルを有するオブジェクトから開始するはずである。
・遠隔の人々のアバターを開放空間の中へ描く。
○「解放空間レンダリング」(上記)のサブセット。
○ユーザがローカル環境の大まかな幾何学形状を作成し、幾何学形状およびテクスチャマップの両方を他者に反復して送信する。
○ユーザは、他者が自分の環境に入るための許可を与えなければならない。
○微妙な声のキュー、手の追跡、および頭部運動が遠隔アバターに送信される。アバターは、これらのファジー入力から動画化される。
○上記が帯域幅を最小限化する。
・壁に別の部屋への「入口」を作製する
○他の方法と同様に、幾何学形状およびテクスチャマップを渡す。
○ローカルの部屋の中でアバターを示す代わりに、認識されたオブジェクト(例えば、壁)を他者の環境への入口として指定する。このようにして、複数の人々が各自の部屋の中に座り、壁を「通して」他者の環境を見ることができる。
・一群のカメラ(人々)が異なる視点から光景を視認するときに、領域の高密度デジタルモデルが作成される。この豊富なデジタルモデルは、少なくとも1つのカメラが見ることができる、任意の有利な点からレンダリング可能である。
・例。結婚式での人々。光景が全ての出席者によって合同でモデル化される。認識装置が移動オブジェクトとは別に静止オブジェクトを区別し、テクスチャマップ作製する(例えば、壁は安定したテクスチャマップを有し、人々はより高い周波数の移動テクスチャマップを有する)。
・豊富なデジタルモデルがリアルタイムで更新されると、光景は任意の視点からレンダリング可能である。後方の出席者は、より良い視界のために前列まで空中を飛ぶことができる。
・出席者は、自分の移動するアバターを示すか、または自分の視点を隠すことができる。・敷地外の出席者は、自分のアバターを用いて、または主催者が許可すれば不可視的に、「席」を見つけることができる。
・極めて高い帯域幅を必要とする可能性が高い。概念上、高周波数データが、高速ローカル無線上で群集にストリーム配信される。低周波数データはMLCに由来する。
・全ての出席者が高精度位置情報を有するため、ローカルネットワーキングのための最適なルーティング経路を作製することは自明である。
・単純な無音メッセージングが望ましくあり得る。
・この用途および他の用途のために、指コーディングキーボードを有することが望ましくあり得る。
・触知グラブ解決策が増進した性能を提供してもよい。
・ビジョンシステムが暗くなると、現実世界に重なり合わない視界を示す。
・位置合わせシステムが、依然として頭部位置を追跡するために必要である。
・「カウチモード」は、ユーザが飛ぶことを可能にする。
・ユーザが現実世界と衝突しないように、「歩行モード」が現実世界でのオブジェクトを仮想のものとして再レンダリングする。
・身体部分をレンダリングすることは、虚構を信じることに不可欠である。これは、視野内の身体部分を追跡してレンダリングするための方法を有することを示唆する。
・非透視バイザは、直接オーバーレイで可能ではない多くの画像品質向上利点を有するVRの形態である。
・おそらく、後方を見る能力さえもある、広い視野。
・種々の形態の「超視界」:望遠鏡、透視、赤外線、神の視点等。
Claims (20)
- ウェアラブル表示システムであって、
画像の複数のフレームを含む画像情報を捕捉するように位置決めされた画像捕捉デバイスと、
画像から点を抽出し、フレームからフレームへ前記画像を追跡することによって、前記画像情報に基づいて、3D点群を生成する3D点群生成器と、
投影された光を前記ウェアラブル表示システムのユーザの眼の方に向けるように構成された表示レンズであって、前記表示レンズは、外部環境からの外部光が前記ユーザの前記眼の方へ前記表示レンズを透過させられることを選択的に可能にするようにさらに構成されている、表示レンズと、
前記3D点群に基づいて、前記投影された光を通じて前記ユーザに提示される仮想オブジェクトを表すレンダリング情報を生成するように構成されたレンダリングエンジンと、
前記表示レンズおよび前記レンダリングエンジンに通信可能に結合されたプロセッサであって、前記プロセッサは、命令を実行し、前記命令は、
複数の利用可能な機能モードから、前記ウェアラブル表示システムを動作させる機能モードを決定することと、
前記機能モードを決定したことに応答して、(i)前記決定された機能モードに従って、前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することと、(ii)前記決定された機能モードに従って、前記投影された光を通じて提示される少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を選択的に生成するように前記レンダリングエンジンに命令することと
を含む動作を前記プロセッサに行わせる、プロセッサと
を備えるウェアラブル表示システム。 - 前記機能モードは、自動的に決定される、請求項1に記載のウェアラブル表示システム。
- 前記機能モードを決定することは、前記ウェアラブル表示システムと関連付けられたインターフェースを通じて前記ユーザによってなされた、前記機能モードの選択を受信することを含む、請求項1に記載のウェアラブル表示システム。
- 前記複数の利用可能な機能モードは、拡張モードを含み、
前記機能モードとして前記拡張モードを決定したことに応答して、前記外部環境の視界を提供するように実質的に透明であるように前記表示レンズに命令し、前記外部環境の前記視界と共に提示される前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項1に記載のウェアラブル表示システム。 - 前記少なくとも1つの仮想オブジェクトは、前記外部環境内に存在する少なくとも1つの物理的オブジェクトと関連付けられた位置に提示される、請求項4に記載のウェアラブル表示システム。
- 前記複数の利用可能な機能モードは、仮想モードを含み、
前記機能モードとして前記仮想モードを決定したことに応答して、前記外部環境の視界を遮断するように前記表示レンズに命令し、前記外部環境の前記視界なしに提示される前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項1に記載のウェアラブル表示システム。 - 前記複数の利用可能な機能モードは、混合モードを含み、
前記機能モードとして前記混合モードを決定したことに応答して、前記外部環境内に存在する少なくとも1つの物理的オブジェクトの仮想レンダリングとして前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項1に記載のウェアラブル表示システム。 - 前記外部環境内に存在する前記少なくとも1つの物理的オブジェクトを表すセンサデータを生成する少なくとも1つのセンサをさらに備え、前記レンダリング情報は、前記センサデータに少なくとも部分的に基づいて生成される、請求項7に記載のウェアラブル表示システム。
- 前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することは、その不透明度を変更するように前記表示レンズに命令することを含む、請求項1に記載のウェアラブル表示システム。
- 前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することは、前記表示レンズから前記外部光を少なくとも部分的に遮断するカバーを操作するように前記表示レンズに命令することを含む、請求項1に記載のウェアラブル表示システム。
- ウェアラブル表示システムの動作を制御するための方法であって、
画像から点を抽出し、フレームからフレームへ前記画像を追跡することによって、画像捕捉デバイスによって画像情報を捕捉することと、
画像から点を抽出し、フレームからフレームへ前記画像を追跡することによって、3D点群生成器によって、前記画像情報に基づいて、3D点群を生成することと、
複数の利用可能な機能モードから、前記ウェアラブル表示システムを動作させる機能モードを決定することであって、前記ウェアラブル表示システムは、投影された光を前記ウェアラブル表示システムのユーザの眼の方に向けるように構成された表示レンズを含み、前記表示レンズは、外部環境からの外部光が前記ユーザの前記眼の方へ前記表示レンズを透過させられることを選択的に可能にするようにさらに構成され、前記ウェアラブル表示システムは、前記3D点群に基づいて、記投影された光を通じて前記ユーザに提示される仮想オブジェクトを表すレンダリング情報を生成するように構成されたレンダリングエンジンをさらに含む、ことと、
前記機能モードを決定したことに応答して、(i)前記決定された機能モードに従って、前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することと、(ii)前記決定された機能モードに従って、前記投影された光を通じて提示される少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を選択的に生成するように前記レンダリングエンジンに命令することと
を含む方法。 - 前記機能モードは、自動的に決定される、請求項11に記載の方法。
- 前記機能モードを決定することは、前記ウェアラブル表示システムと関連付けられたインターフェースを通じて前記ユーザによってなされた、前記機能モードの選択を受信することを含む、請求項11に記載の方法。
- 前記複数の利用可能な機能モードは、拡張モードを含み、
前記機能モードとして前記拡張モードを決定したことに応答して、前記外部環境の視界を提供するように実質的に透明であるように前記表示レンズに命令し、前記外部環境の前記視界と共に提示される前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項11に記載の方法。 - 前記少なくとも1つの仮想オブジェクトは、前記外部環境内に存在する少なくとも1つの物理的オブジェクトと関連付けられた位置に提示される、請求項14に記載の方法。
- 前記複数の利用可能な機能モードは、仮想モードを含み、
前記機能モードとして前記仮想モードを決定したことに応答して、前記外部環境の視界を遮断するように前記表示レンズに命令し、前記外部環境の前記視界なしに提示される前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項11に記載の方法。 - 前記複数の利用可能な機能モードは、混合モードを含み、
前記機能モードとして前記混合モードを決定したことに応答して、前記外部環境内に存在する少なくとも1つの物理的オブジェクトの仮想レンダリングとして前記少なくとも1つの仮想オブジェクトを表す前記レンダリング情報を生成するように前記レンダリングエンジンに命令する、
請求項11に記載の方法。 - 前記ウェアラブル表示システムは、前記外部環境内に存在する前記少なくとも1つの物理的オブジェクトを表すセンサデータを生成する少なくとも1つのセンサをさらに備え、
前記レンダリング情報は、前記センサデータに少なくとも部分的に基づいて生成される、請求項17に記載の方法。 - 前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することは、その不透明度を変更するように前記表示レンズに命令することを含む、請求項11に記載の方法。
- 前記外部光の少なくとも一部に前記表示レンズを選択的に透過させるように前記表示レンズに命令することは、前記表示レンズから前記外部光を少なくとも部分的に遮断するカバーを操作するように前記表示レンズに命令することを含む、請求項11に記載の方法。
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