JPH0730927A - Stereoscopic vision video display method - Google Patents

Abstract

PURPOSE:To easily focus an eye to a position where two video images are observed overlappingly even when a person or an object a mark is not displayed on left and right video images by displaying the mark representing a same portion of a video image of an object area corresponding to a visual field of the left eye and the right eye onto left and right display means. CONSTITUTION:A laser beam LB from a laser light source 15 of a state monitor system 1 is emitted to an emission point 307 of a wall face area part 305 corresponding to the left and right eye visual field and each of wall face areas 301, 303 is picked up by using left and right eye television cameras 11, 13. Then the video signal of each of the wall face areas 301, 303 is sent to a monitor location 5. Moreover, the signal is inputted to left and right eye use monitor television receivers 17, 19 and the video image in the areas 301, 303 is displayed on the television receivers 17, 19. In this case, a laser emission point 307 is displayed in the video image for the areas 301, 303 of the television receivers 17, 19. A video image of a wall face 3 is formed to be stereoscopic by matching the focus of the left right eyes so that the display (mark) of the light emission point 307 is observed overlappingly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of displaying stereoscopically visible images on two display means such as a monitor television and a screen, and more specifically, a stereoscopic image display for facilitating stereoscopic viewing of those two images. It is about the method.

[0002]

2. Description of the Related Art A single subject is photographed by two photographing means such as a television camera or a projector, and two images photographed by these photographing means are displayed on two display means such as a monitor television or a screen. The principle that the subject becomes three-dimensional when the left and right eyes are focused so that two images appear to overlap with each other is widely known.

This principle is also applied to, for example, a monitoring device for confirming the operating condition of a robot operating by autonomous operation or remote control at a remote place. In such a type of monitoring device, two television cameras are installed in the robot or a portion in the vicinity thereof so that the directional directions are parallel to each other and are spaced apart from each other in the direction intersecting the directional directions. The operation areas are respectively photographed, and two monitor televisions are installed at the remote place, and the video images photographed by the both television cameras are displayed on the monitor televisions.

Therefore, the remote monitoring staff can stereoscopically see the state of the operation area by focusing the left and right eyes so that the images displayed on both monitor televisions can be seen to overlap. When stereoscopically viewing images displayed on both monitor TVs, conventionally, the same person or object is searched for as a mark from the images displayed on both monitor TVs, and the left and right eyes are seen so that the person or object can be seen to overlap. It was usual to focus on.

[0005]

However, for example, the area photographed by both the television cameras is a wall surface or a flat surface with almost no unevenness, and a person or an object to be a mark in the images displayed on the both televisions is not detected. If there is no such thing, or if there is a person or object that serves as a landmark and it is difficult to distinguish it because there is no difference in color or shade from the background, the left and right sides of the images on both monitor TVs will appear to overlap. There was a problem that it became difficult to focus the eyes of. The present invention has been made in view of the above circumstances, and an object of the present invention is that when two images are stereoscopically viewed by the left and right eyes, a person or an object as a mark is not shown in the two images. Another object of the present invention is to provide a stereoscopic image display method capable of easily focusing the left and right eyes at a position where the two images are seen to overlap each other.

[0006]

In order to achieve the above object, the present invention displays the image of a subject region corresponding to the visual field of the left eye on the display means for the left eye visually recognized by the left eye of the viewer, Stereoscopic viewing is possible by superimposing the image of the subject region corresponding to the visual field of the right eye and the image of the subject region corresponding to the visual field of the left eye on the display unit for the right eye visually recognized by the viewer's right eye. When displaying an image, a mark indicating the same portion of the image of the subject region corresponding to the visual field of the left eye and the image of the subject region corresponding to the visual field of the right eye is provided with the left-eye and right-eye display means. The feature is that they are displayed at the same time.

Further, according to the present invention, the images of the subject regions corresponding to the visual fields of the left eye and the right eye are arranged such that their directivity directions are parallel to each other and are spaced apart in a direction intersecting the directivity directions. And right-eye image capturing means respectively, and light sources oriented parallel to the directing direction are arranged at positions equidistant from the left-eye and right-eye image capturing means. The object surface in the image-capable region of the left-eye and right-eye image capturing means is irradiated, and the light irradiation points in the object surface captured by the left-eye and right-eye image capturing means, respectively, are used as the marks for the left eye and Each of them is displayed on the display means for the right eye.

According to the present invention, the images of the subject regions corresponding to the visual fields of the left eye and the right eye are arranged such that their directivities are parallel to each other and are spaced apart in a direction intersecting the directivity directions. And the right-eye photographing means, respectively, the distance between the left-eye and right-eye photographing means, the distance from the left-eye and right-eye photographing means to the object area in the pointing direction, and the left-eye and right-eye The display positions of the marks on the display screens of the left-eye and right-eye display units are respectively determined based on the photographing angle of view of the photographing unit, and the images of the marks generated by the image generation unit are used for the left-eye images and the images for the left-eye images. The images photographed by the right-eye photographing means are respectively combined and displayed at the display positions in the display screens of the left-eye and right-eye display means.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an example of a remote condition monitoring system to which the method of the present invention is applied. In the state monitoring system of the present embodiment, which is indicated by the overall reference numeral 1 in FIG. The left-eye TV camera 11 (corresponding to the left-eye photographing means), the right-eye TV camera 13 (corresponding to the right-eye photographing means), and the laser light source 15, which are arranged so as to face the wall surface 3. Left-eye monitor TV 17 and right-eye monitor TV 1 arranged at the monitoring point 5.
9 (corresponding to the display means for the left eye and the display means for the right eye, respectively).

The left-eye and right-eye television cameras 11,
Reference numeral 13 denotes a wall surface region 301 corresponding to the visual fields of the left and right eyes when a human (not shown) looks at the wall surface 3 with the left and right eyes.
303 (corresponding to the subject area), and the left-eye and right-eye television cameras 11 and 13 are the photographing lens system 1
101 and 1301 respectively, and both photographing lens systems 11
The angles of view of 01 and 1301 are set to the same angle θ.
Also, the left-eye and right-eye television cameras 11, 13
Is the optical axis S1, of the taking lens system 1101, 1301.
S3 is oriented parallel to each other and is arranged at intervals in a direction orthogonal to the optical axes S1 and S3.

The laser light source 15 irradiates a laser beam LB to a portion within the wall surface area portion 305 photographed by both the left-eye and right-eye television cameras 11 and 13, and the laser light source 15 is Optical axis S of the laser beam LB
5 is the optical axis S1 of the taking lens system 1101, 1301
The left-eye and right-eye television cameras 11 in the direction parallel to S3 and in the direction orthogonal to the optical axes S1 and S3.
It is arranged at an intermediate position of 13. The left-eye and right-eye monitor televisions 17 and 19 include the wall surface regions 30 captured by the left-eye and right-eye television cameras 11 and 13, respectively.
1, 303 images are displayed respectively, and they are arranged in front of the left and right eyes of a monitoring staff (not shown) in the monitoring location 5.

Next, the case of using the state monitoring system 1 of the present embodiment having the above configuration will be described. First, the laser light source 15 outputs laser light LB to irradiate the irradiation point 307 in the wall surface area portion 305, and in this state, the wall surface areas 301 and 3 including the irradiation point 307.
03 is photographed by the left-eye and right-eye television cameras 11 and 13, respectively. Next, the wall surface regions 30 photographed by the left-eye and right-eye television cameras 11 and 13
1, 303 video signals are transmitted to the monitoring point 5 by wire or wirelessly, and the signals are input to the left-eye and right-eye monitor televisions 17 and 19 and photographed by the left-eye television camera 11. The image of the wall surface area 301 is displayed on the left-eye monitor television 17, and the image of the wall surface area 303 captured by the right-eye television camera 13 is displayed on the right-eye monitor television 19.

In this case, the wall surface regions 301, 3 displayed on the left-eye and right-eye monitor televisions 17, 19 are displayed.
As shown in FIG. 1, the irradiation point 307 irradiated with the laser beam LB is displayed brighter than the surrounding area of the wall surface 3 in each of the images of 03, and the monitoring personnel are for the left eye and By focusing the left and right eyes so that the display (corresponding to a mark) of the irradiation point 307 displayed on the right-eye monitor televisions 17 and 19 can be seen, the image of the wall surface 3 can be stereoscopically viewed. .

As described above, according to the present embodiment, in the left-eye and right-eye television cameras 11 and 13 which are parallel to each other and oriented in the same direction, the wall surface regions 301, Each of the images 303 is photographed, and each photographed image is captured by the left-eye and right-eye monitor televisions 17 of the monitoring point 5,
In displaying each on 19, the left and right television cameras 11, 1 from the laser light source 15 disposed in the middle of the left and right eye television cameras 11, 13.
Irradiation point 30 of wall surface area portion 305 photographed in both 3
7 is irradiated with the laser beam LB so that the irradiation point 307 is displayed on each of the left-eye and right-eye monitor televisions 17 and 19.

Therefore, the monitoring personnel at the monitoring point 5 are
When focusing the left and right eyes so that the image of the wall surface area portion 305 displayed on the left-eye monitor television 17 and the image of the wall surface area portion 305 displayed on the right-eye monitor television 19 appear to overlap with each other. In addition, the irradiation points 307 displayed on the left-eye and right-eye monitor televisions 17 and 19 can be used as marks, and the wall surface regions photographed by both the left-eye and right-eye television cameras 11 and 13 can be used. The left and right eyes can be easily focused even if there is nothing in the portion 305 that serves as a mark.

Further, according to this embodiment, only the laser light source 15 is used as a mark for focusing the left and right eyes when stereoscopically viewing the displays on the left-eye and right-eye monitor televisions 17, 19. With such a simple configuration, it can be displayed on the left-eye and right-eye monitor televisions 17 and 19, respectively. Furthermore, according to this embodiment, since it is not necessary to directly mark the wall surface 3, it is advantageous in preventing the wall surface 3 from being scratched or soiled.

In the present embodiment, the case where the objects to be photographed by the left-eye and right-eye TV cameras 11 and 13 are directly marked has been described, but for example, the left-eye and right-eye TV cameras 11 and 13 are mutually marked. The distance and the taking lens system 1101 in the optical axis S1 and S3 directions.
Depending on the distance from 1301 to the wall surface 3, a marking image for the left eye and a marking image for the right eye are respectively generated, and the generated images are respectively used for the left-eye and right-eye television cameras 11, 1.
The images of the wall surface 3 region captured in 3 may be combined and displayed on the left-eye and right-eye monitor televisions 17 and 19, respectively.

In the state monitoring system 1A in this case, the laser light source 15 is omitted as shown in FIG. 2, and instead, the video signal is transmitted from the left-eye television camera 11 to the left-eye monitor television 17. A video synthesizing device 14 is provided on the road and in the transmission path of the video signal from the right-eye TV camera 13 to the right-eye monitor TV 19.
a and 14b are provided. Each of the image synthesizers 14a,
As shown in FIG. 2, marking image generators 16a and 16b for generating a combined image of the focusing marks 1701 and 1901 displayed on the left-eye and right-eye monitor televisions 17 and 19 are connected to 14b, respectively. The marking image generators 16a and 16b have personal computers 1
8 are connected respectively. In addition, these video synthesizers 14
a, 14b, marking image generation devices 16a, 16b,
Both the personal computer 18 and the personal computer 18 are arranged at the remote location 5.

In the personal computer 18, the mutual distance H between the left-eye and right-eye television cameras 11 and 13 and the taking lens systems 1101 and 1 in the directions of the optical axes S1 and S3.
The distance L from 301 to the wall surface 3 and the angle of view θ of the taking lens systems 1101 and 1301 are input, and based on this, the display position of the mark 1701 in the display screen of the left-eye monitor television 17 and , The mark 19 in the display screen of the right-eye monitor TV 19.
The display position of 01 is determined.

The left-eye and right-eye monitor televisions 17,
When the display positions of the marks 1701 and 1901 are determined at 19, the personal computer 18 controls the marking image generation devices 16a and 16b to display the marks shown in FIG.
A composite image 170 in which the marks 1701 and 1901 are arranged at locations corresponding to the display positions of the left-eye and right-eye monitor televisions 17 and 19 as shown in (b).
3,1903 are generated.

The composite images 1703 and 1903 are composited in the image compositing devices 14a and 14b, respectively, on the images of the wall surface regions 301 and 303 photographed by the left-eye and right-eye television cameras 11 and 13, respectively. On the left-eye and right-eye monitor televisions 17 and 19, as shown in FIG. 2, the images of the marks 1701 and 1901 are displayed at the display positions together with the images of the wall surface regions 301 and 303.

Therefore, also in the state monitoring system 1A of the present embodiment having the configuration of FIG.
Using the marks 1701 and 1901 displayed on the left-eye and right-eye monitor televisions 17 and 19 as marks, images of the wall surface region portion 305 displayed on the left-eye monitor television 17 and the right-eye monitor television 19 are displayed. The left and right eyes can be easily focused so that the image of the wall surface region portion 305 displayed in FIG. In addition, according to the condition monitoring system 1A of the present embodiment, as in the condition monitoring system 1 of the previous embodiment, the wall surface 3
Since it is not necessary to directly mark the wall surface, it is advantageous in preventing the wall surface 3 from being scratched or soiled.

Further, according to the structure of this embodiment, as compared with the structure in which the wall surface 3 is irradiated with light for marking as shown in the previous embodiment, the wall surface 3 portion irradiated with the light and the portion thereof are irradiated. Even when it is difficult to make a difference in brightness and darkness from the surrounding wall surface 3 part, the marks 1701 and 1901 can be clearly distinguished from the wall surface 3 by appropriately selecting the display color of the marks 1701 and 1901. be able to. The marks 1701, 1 are added to the images of the wall surface areas 301, 303 taken by the left-eye and right-eye television cameras 11, 13.
The configuration for synthesizing each 901 is not limited to that shown in this embodiment, and for example, the synthesizing image 1703 is based on the mutual interval H, the distance L, and the angle of view θ.
Two panels on which an image similar to that of 1903 is formed are created, and these panels are respectively photographed by a television camera, and the photographed images are taken as the left-eye and right-eye television cameras 11,
It may be combined with the images of the wall surface regions 301 and 303 photographed in 13.

In the present embodiment, the video synthesizing device 1 is also used.
4a, 14b, marking image generation devices 16a, 16
b and the personal computer 18 are arranged at the remote place 5, but these are arranged at places on the wall surface 3 side such as places near the left-eye and right-eye television cameras 11 and 13. Good.

In each of the above-described embodiments, the case where the image taken by the TV camera is displayed on the monitor TV has been described. However, the method of the present invention is also applied to the case where the image reproduced by the video reproducing apparatus is displayed on the monitor TV. The method of the present invention can be applied, and the method of the present invention can also be applied to the case where the photographing means and the display means are constituted by a projector and a screen. Further, in each of the above-described embodiments, the system for confirming the unevenness of the wall surface 3 on which the refractory material has been sprayed by the spraying robot has been described at a remote location. It is needless to say that the present invention can be widely applied to the case where the image from the cockpit is displayed in a stereoscopic manner, the moving image for 3-D is displayed, and the case where the images are displayed by two display means and the images are stereoscopically viewed. .

[0026]

As described above, according to the present invention, the image of the subject area corresponding to the visual field of the left eye is displayed on the display means for the left eye visually recognized by the left eye of the viewer, and the right eye of the viewer is displayed. The display means for the right eye visually recognized by the image of the subject area corresponding to the visual field of the right eye, and
When displaying a stereoscopic image by superimposing it on the image of the subject region corresponding to the visual field of the left eye, the image of the subject region corresponding to the visual field of the left eye and the image of the subject region corresponding to the visual field of the right eye are displayed. Since the marks indicating the same parts as the images are simultaneously displayed on the left-eye and right-eye display means respectively, when two images are stereoscopically viewed by the left and right eyes, the two images are displayed in the two images. Even if the person or object to be the mark is not shown, the left and right eyes can be easily focused on the position where the two images are seen to overlap.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an example of a remote condition monitoring system to which the method of the present invention is applied.

FIG. 2 is a schematic configuration diagram showing another example of a remote condition monitoring system to which the method of the present invention is applied.

3 (a) and 3 (b) are explanatory views showing a compositing image generated by the marking image generation device of FIG.

[Explanation of symbols]

 11 Left-eye TV camera (left-eye shooting means) 13 Right-eye TV camera (right-eye shooting means) 14a, 14b Video synthesizer 15 Laser light sources 16a, 16b Marking video generator 17 Left-eye monitor TV (left-eye display means) 1701 , 1901 mark 18 personal computer 19 monitor TV for right eye (display means for right eye) 301 wall surface area (subject area corresponding to visual field of left eye) 303 wall surface area (subject area corresponding to visual field of right eye) 307 irradiation point (mark) H left eye Distance between the left and right eye TV cameras L Distance between the TV camera and the wall surface LB Laser light S1 Shooting lens system optical axis of the left eye TV camera S3 Shooting lens system optical axis of the right eye TV camera S5 Laser light optical axis θ Angle of view

Claims (3)

[Claims] 1. A display device for the left eye visually recognized by the left eye of the viewer displays an image of a subject region corresponding to the visual field of the left eye, and a display device for the right eye visually recognized by the right eye of the viewer,
When displaying an image of the subject region corresponding to the field of view of the right eye and a stereoscopic image by superimposing the image of the subject region corresponding to the field of view of the left eye, a subject corresponding to the field of view of the left eye A mark indicating the same portion of the image of the region and the image of the subject region corresponding to the field of view of the right eye is simultaneously displayed on the left-eye display unit and the right-eye display unit, respectively. Stereoscopic image display method. 2. The left eye and the right eye in which respective images of the subject region corresponding to the visual fields of the left eye and the right eye are parallel to each other and are arranged at intervals in a direction intersecting the directivity direction. A light source, which is imaged by the image capturing means and is oriented parallel to the directing direction, is arranged at positions equidistant from the left eye and right eye image capturing means, and the light from the light source is directed to the left eye and the right eye. For illuminating the object surface within the image-capable area of the image capturing means for the left eye and right eye, and the irradiation points of the light in the object surface captured by the image capturing means for the left eye and the display means for the right eye as the marks. The stereoscopic video image display method according to claim 1, wherein the stereoscopic video image display method is adapted to display each of them. 3. The left eye and the right eye in which the respective images of the subject area corresponding to the visual fields of the left eye and the right eye are parallel to each other and are arranged at intervals in a direction intersecting the directivity direction. Shooting by the shooting means respectively, the distance between the shooting means for the left eye and the right eye, the distance from the shooting means for the left eye and the right eye to the subject region in the pointing direction, and the shooting for the shooting means for the left eye and the right eye The display positions of the marks on the display screens of the left-eye and right-eye display units are respectively determined based on the angle of view, and the images of the marks generated by the image generation unit are captured by the left-eye and right-eye imaging units. 3. The stereoscopic video image display method according to claim 1, wherein the stereoscopic video image is displayed at the display positions on the display screens of the left-eye display means and the right-eye display means, respectively. Law.