JPH10291188A - Stereogrpahic image presenting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for presenting a stereographic image by taking in an ultra-wide image by a camera with a fisheye lens and processing and controlling the image digitally so as to follow up the view point of an operator without requiring an electric pan head. SOLUTION: An HMD(Head Mounted Display) 1 is mounted on the head part of an operator, and the position of the head part is calculated using those measuring instruments 3a and 3b detecting the position of the head part of the operator and measurement data. Also the deformed images photographed by a control device 4 to transmit the position as a control data and two ultra- wide cameras 2a and 2b are processed digitally. In addition, based on the control data from the control device 4, a sterographic image can be partly presented, at real time, to the operator by digital image processing devices 5a and 5b which transmit a part of the area (angular view field) of the image of which deformation has been corrected to the HMD 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for presenting a three-dimensional video image at the time of remote control.

[0002]

2. Description of the Related Art A stereoscopic image presentation monitor (HMD; head) is provided on a worker's head in order to further improve the workability of remote operation and to give the worker a sense of presence as if at the work site.・ Mounted display) to detect the position of the worker's head in a non-contact manner using a gyro or magnet so that the worker always presents a three-dimensional image in the direction of the worker, regardless of the direction in which the worker faces. Attempts have been made to apply artificial reality technology that uses a type of sensor and changes the viewpoint of a camera, which is a video capturing device, according to the amount of movement.

Here, in most cases, a device for changing the viewpoint of a camera is performed by an electric pan head device composed of a motor and gears, and is mechanically panned (up and down) and tilted ( The camera is pointed at the camera by moving it in the left / right direction and in the roll (rotation) direction.

[0004]

However, in the above-mentioned conventional example, an electric pan head is used to move the viewpoint of the camera so as to follow the viewpoint of the worker.
Since the motor-driven head itself is composed of motors and gears, its size and weight are large.Especially when used outdoors, it is necessary to take additional environmental measures, which limits the installation location. Will receive it. In addition, in order to accurately follow the movement and speed of the worker's neck, it is necessary to use a servomotor as a drive system, and the size and weight of the electric pan head are increased.

Accordingly, an object of the present invention is to capture an ultra-wide-angle image by a camera having a fish-eye lens, digitally process and control the image, and eliminate the need for an electric pan head, thereby enabling the operator to view the image. To provide a method of changing the viewpoint of a camera to present a stereoscopic video.

[0006]

In order to achieve the above object, the present invention provides a camera having two super wide-angle lenses and a digital image processing apparatus for correcting a distorted image picked up by the camera by digital arithmetic processing. A wide-angle image is photographed by a visual device consisting of a part of the wide-angle image obtained by calculation based on a signal output from a measuring device for measuring the amount of movement of a human head on a stereoscopic monitor. This is a stereoscopic video presentation method for presenting in real time.

According to the above arrangement, a wide-angle distorted image taken by a camera having an ultra-wide-angle lens (super fish-eye lens) is corrected by digital processing to be converted into a regular image, and a human head Measuring device that measures the amount of movement (for example,
Based on a signal output from a magnetic sensor or a gyro sensor, a moving direction of a person's viewpoint is calculated, and a part of the normal image is partially panned (horizontal direction), tilted (vertical direction), rolled ( (Rotation) and presenting it on a monitor in real time, it is possible to change the camera viewpoint that does not require an electric pan head.

[0008]

FIG. 1 is a block diagram showing a stereoscopic image presentation method according to an embodiment of the present invention.

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

In FIG. 1, an HMD (Head Mounted Display) 1 is a stereoscopic video presenting device mounted on a worker's head. Is built in to cover
Ultra wide-angle cameras 2a and 2b having a fish-eye lens (lens angle 125 °) are arranged in parallel at a distance between human eyes (about 65 mm), and left and right images captured by the ultra-wide angle cameras 2a and 2b are stored in the HMD 1. By displaying on the left and right monitors respectively corresponding to the above, stereoscopic viewing is possible. here,
The arrangement of the ultra wide angle cameras 2a and 2b is not limited to the parallel arrangement in which the camera interval is the distance between human eyes, and the camera interval may be about 250 mm and the camera may be inclined outward. .

Measuring instruments (magnetic sensors) 3a and 3b for measuring head position data are attached to the HMD 1, and the position of the worker's head is constantly detected. Here, a magnetic sensor was used as a measuring device for the position of the worker's head,
As long as the position of the head can be measured, a gyro sensor, a link sensor, or the like may be used.

The numerical data detected by the measuring devices 3a and 3b is calculated by a personal computer, which is the control device 4, for the amount of movement (pan, tilt, roll) of the viewpoint of the worker, and is used as control data by the digital image processing device 4. Send to

Each of the digital image processing devices 5a and 5b includes a digital arithmetic circuit that corrects, in real time, a geometric distortion generated when an image of spherical coordinates obtained through a fisheye lens is captured on a light receiving surface (plane) of a CCD. By transmitting a partial range (angle of view) of a wide-range image in which distortion has been corrected to the HMD 1 based on the control data transmitted from the control device 4, While following, a stereoscopic image can be presented to the worker.

Here, from the viewpoint of reducing eye strain on workers, during normal monitoring work, the ultra wide-angle cameras 2a, 2b
Is transmitted to two monitors built in the HMD 1 and presented as a two-dimensional image, and when performing actual work requiring perspective, the images of both the ultra-wide-angle cameras 2a and 2b are transmitted. It may be transmitted to the HMD 1 and presented to the worker as a stereoscopic video.

[0015]

As described above, according to the present invention,
A camera with a fish-eye lens captures an ultra-wide-angle image and digitally processes and controls the image.Therefore, without the need for an electric pan head, follow the viewpoint of the operator and change the viewpoint of the camera. It is possible to present a stereoscopic image, and it is possible to provide a compact stereoscopic image presenting apparatus which is not restricted by the equipment of the electric pan head.

[Brief description of the drawings]

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

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 HMD 2a, 2b Super wide angle camera 3a, 3b Measuring device (magnetic sensor) 4 Control device 5a, 5b Digital image processing device

Claims (1)

[Claims] 1. A wide-angle image is photographed by a visual device including a camera having two ultra-wide-angle lenses and a digital image processing device that corrects a distorted image captured by the camera by digital arithmetic processing. A stereoscopic video presenting method, wherein a part of the wide-angle video calculated and calculated based on a signal output from a measuring device for measuring a moving amount of the unit is presented to a stereoscopic monitor in real time.