JPH1186034A - Human navigati0n device with scenery label and system therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To show geographic information on a computer and respective parts in a scenery image of an actual scene to a user while making them correspond to each other. SOLUTION: The scenery image is obtained by an image acquisition part 1, the position at the time of the image acquisition is obtained by a position information acquisition part 2, and the camera angle, focal length, and scenery image size are obtained by a camera attribute information acquisition part 3. A map information management part 5 finds a visual field space in a map information space from the position of the acquisition, the camera angle, and image size to acquire a structure present in the visual field space. A label information generating means 6A generates the name or attribute information of the structure and generates label information including its imparting position and a label information output means 7A superimposes the name or attribute information of the map information on an image corresponding to the position on the position in the label information and projects and displays the superimposed image on a head-mount display device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention superimposes and displays, on an image display device, geographical information about each partial area in an image taken by a user using a landscape image input device such as a camera. The present invention relates to a device that teaches a user by voice guidance or the like.

[0002]

2. Description of the Related Art Conventionally, there have been various navigation systems as systems for instructing users on geographical information about the area where the users are located.

FIG. 15 is a block diagram of a navigation device disclosed in Japanese Patent Application Laid-Open No. 8-273000. This device receives a vehicle position data and a movement data, receives a road map data, updates a vehicle position with reference to a position updating unit 71, and displays display road data and display background data based on map data and the like. Display data generator 7 to be generated
2, a three-dimensional moving image data creating unit 73 for creating three-dimensional moving image data based on these display data, and a storage unit 74.
When a travel route including a waypoint is set in advance, the device has a function of setting a route while viewing a real moving image display screen along a road that actually exists instead of a map screen.

According to this device, when a user travels along an actual route, the user can view a moving image display (for example, FIG. 16) along the route.

[0005]

However, in the case of using the same device, the human finally associates the real scene with the geographical information in the computer world with the naked eye, so that the person in the real scene can be used. You have to recognize what is. In other words, humans rely on the naked eye to work the human brain unconsciously, based on the symbols in the map displayed as a moving image, to determine what the actual buildings, roads, and mountains are in front of the user. It must be understood by performing the work of association. At street corners, etc., comparing the map on the computer with the actual scenery, grasping the direction and finding landmarks, gazing at the direction, understanding the characteristics of the building in that direction, and then looking at the map again Understand what the building is.

[0006] For this reason, there is a problem that the trouble of comparing the map on the computer with the actual scenery many times and associating with the human cannot be omitted. Especially in the dark or at night, it is difficult to see the actual scenery and to take measures.

SUMMARY OF THE INVENTION An object of the present invention is to provide a human navigation device with a landscape label that teaches a user by associating geographic information on a computer with each part in an image of a real landscape (hereinafter, referred to as a landscape image). Is to provide a system.

[0008]

According to the present invention, there is provided a camera in which map data on a computer is created in advance as three-dimensional data, and an image (hereinafter referred to as a landscape image to distinguish it from a CG image) is input. Acquires the position, camera angle, focal length, and image size at the time of shooting, and obtains computer graphics (hereinafter, referred to as "the following") in the three-dimensional map space on the computer when viewing from the position, camera angle, and focal length at the time of actual scenery shooting. This is to realize association by acquiring geographical information in an image and superimposing and displaying the geographical information on a landscape image which is a real scene. The geographic information is the name of a structure or the like or its attribute information in an image, and the attribute information means information on all attributes (for example, contour, color, etc.) of the structure. In this specification, the term "structure" refers to a map DB including not only man-made structures but also natural terrain such as mountains, rivers, and the sea.
Will be used in the meaning of all data having some geographical structure. When acquiring geographic information, a landscape image is obtained based on a camera position, a camera angle, a focal length, and an image size, and a structure of a plurality of images is obtained. The position of the landscape image where the structure is to be taken (hereinafter referred to as the assigned position) is obtained, and the name or attribute information of the structure is superimposed and displayed.

Further, in order to further improve the accuracy of associating the structure in the landscape image with the structure in the CG image,
The previously acquired structure is associated with each partial region of the landscape image by pattern matching. A CG image is created on the basis of the acquired structure, a partial region in the CG image is associated with the partial region of the landscape image by pattern matching, and the structure as a source of the associated partial region Ask for.

Here, an example of a method for creating a CG image will be described. By accessing the three-dimensional map DB based on the camera position, camera angle, focal length, and image size obtained earlier,
Obtain the visual field space in the three-dimensional map space. A structure in the visual field space is obtained, and three-dimensional data of each structure is three-dimensionally projected and converted onto the projection plane using the camera screen as a projection plane. Further, of the line data constituting the projected figure of each structure, line data hidden by other structures and invisible is erased using a normal vector method or the like. The CG image is divided into regions based on the line data remaining after the elimination of the hidden lines. 3D map DB
Is used, the name of the structure that is the basis of the area can be associated with each area.

Then, the structure name of the partial area of the CG image associated with each partial area of the landscape image is extracted by pattern matching. The position coordinates of the actual scenery image on which the extracted structure name is to be superimposed are obtained by three-dimensionally projecting the position coordinates of the structure in the three-dimensional map space onto the projection plane. Label information is created from the position coordinates of the actual scenery image on which the extracted structure name is to be superimposed. Based on the label information, the structure name is superimposed on a landscape image which is a real scene, and projected and displayed on a head mounted display device.

[0012] A human navigation device with a landscape label according to the present invention comprises: an image acquisition unit for acquiring an image; a position information acquisition unit for acquiring a camera position at the time of image acquisition; a camera angle and a focal length when the image is acquired; A camera attribute information acquisition unit for acquiring an image size, and map information,
Map information management means for obtaining a visual space in the map information space based on the acquired camera position, camera angle, focal length, and image size, and acquiring a structure existing in the visual space;
Label information creating means for creating label information including the name of the structure or its attribute information and the assigned position, and the name of the map information or its attribute information at the position in the image corresponding to the information of the assigned position in the acquired label information And label information output means for projecting and displaying the superimposed image on the head-mounted display device, and control means for controlling each of the above means.

According to another aspect of the present invention, there is provided a human navigation device with a landscape label, comprising: an image acquiring unit for acquiring an image; a position information acquiring unit for acquiring a camera position at the time of acquiring the image;
A camera attribute information acquisition unit that acquires a camera angle, a focal length, and an image size at the time of image acquisition, an image processing unit that divides the acquired image into a plurality of partial regions, and manages map information;
Map information management means for obtaining a view space in a map information space based on the acquired camera position, camera angle, focal length, and image size, and acquiring a structure existing in the view space; and the portion of the image Label information creating means for associating the acquired structure with an area, and creating label information including the name of the structure or the attribute information and the assigned position of the structure, and the structure of the structure in the label information A label information output unit that superimposes the name or its attribute information at a position corresponding to the assignment position in the image, and projects and displays the superimposed image on a head-mounted display device, and a control unit that controls each of the units.

According to an embodiment of the present invention, the label information creating means creates a CG image based on the acquired structure, and performs pattern matching on the partial region of the image to obtain a portion in the CG image. The structure of the partial area associated with the area is obtained, and label information including the name or attribute information of the structure and the assigned position is created.

According to an embodiment of the present invention, the label information creating means performs a three-dimensional projection conversion of the acquired structure on a camera screen, erases a structure that cannot be seen from the viewpoint, creates a CG image, and creates a CG image. The CG image is divided into partial regions by the contour line of the middle partial region, and the partial region of the image is
The partial area of the G image is associated with the partial area of the image by pattern matching, the partial area of the image is associated, the structure on which the partial area of the CG image is based is obtained, and the name or attribute information of the structure and the assigned position are determined. Create label information to include.

A landscape-labeled human navigation system according to the present invention comprises a landscape-labeled human navigation terminal and a landscape labeling center. Position information acquisition means for acquiring, camera attribute information acquisition means for acquiring the camera angle and focal length and image size at the time of image acquisition, image processing means for dividing the acquired image into a plurality of partial areas,
Communication control means for transmitting information regarding the area division of the image, the camera position, the camera angle, the focal length, and the image size to the landscape labeling center via a communication network, and receiving label information from the landscape labeling center. Label information output means for superimposing the name or attribute information of the structure in the label information at the position corresponding to the image corresponding to the application position, and projecting and displaying the superimposed image on the head mounted display device; Having a terminal control means for controlling the means, the landscape labeling center, information on the area division of the image from the human navigation terminal with the landscape label via the communication network, the camera position, the camera angle, the focal length and Receiving the image size and sending the label to the landscape-labeled human navigation terminal. A communication control means for transmitting information, a structure that manages map information, obtains a view space in a map information space based on a received camera position, camera angle, focal length, and image size, and exists in the view space. Map information management means for acquiring an object, associating the acquired structure with the partial area of the image, and creating the label information including the name or attribute information of the associated structure and the assigned position And a center control unit for controlling each of the above units.

[0017]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a human navigation apparatus with a landscape label according to a first embodiment of the present invention.

The landscape-labeled human navigation device according to the present embodiment acquires an image, for example, an image acquisition unit 1 which is a digital camera, and acquires a camera position when acquiring an image, for example, a position which is a GPS receiver. An information acquisition unit 2, a camera attribute information acquisition unit 3, which is a three-dimensional electronic compass attached to a digital camera, for example, which acquires a camera angle, a focal length, and an image size when acquiring an image, and manages map information. For example, map information is obtained in the map information space based on the acquired camera position, camera angle, focal length, and image size, and a structure existing in the view space is obtained. A management unit 5, a label information creation unit 6A for creating label information including the name, outline and position of the structure; A label information output unit 7A that superimposes the name or outline of the map information at a position in the image corresponding to the position information, and projects and displays the superimposed image on a head-mounted display device; and a control unit that controls each unit 1 to 7A. 8A.

FIG. 2 is a block diagram of a human navigation device with a landscape label according to a second embodiment of the present invention, and FIG. 4 is a flowchart of the processing of the human navigation device with a landscape label of FIG.

The landscape labeling apparatus of the present embodiment acquires a landscape image, for example, an image acquisition unit 1 which is a digital camera, and acquires a camera position at the time of acquiring an image.
For example, a position information acquisition unit 2 that is a GPS receiver, and a camera angle, a focal length, and an image size that are also acquired when acquiring an image.
Camera attribute information acquisition unit 3 which is a three-dimensional electronic compass, and image processing unit 4 which divides the acquired image into a plurality of partial areas
Map information management that manages map information, obtains a visual space in the map information space based on the acquired camera position, camera angle, focal length, and image size, and acquires structures existing in the visual space. An information creating unit 6B that associates the acquired structure with the partial region of the image by pattern matching and creates label information including the name or attribute information of the associated structure and the assigned position; A label information output unit 7B that superimposes the name or attribute information of the structure in the created label information at a position corresponding to the application position in the image, and a label information output that projects and displays the superimposed image on a head-mounted display device It comprises a unit 7B and a control unit 8B for controlling the above-mentioned units 1 to 7B.

FIGS. 3A and 3B are schematic diagrams of a head mounted display device. In FIG. 3A, those in FIG. 3B are partially omitted.

The head mounted display device shown in FIG. 3 includes eye movement measuring devices 12R and 12L for measuring the movements of the right eye 11R and the left eye 11L, and flat display devices 13R and 13R.
L, lenses 14R, 14L, and eye movement measuring device 12
3 of the point of gazing point P of the person from the movement of both eyes obtained from R and 12L
And a gazing point calculating device 15 for calculating a dimensional position.

Here, the eye movement measuring devices 12R, 12L
And the gazing point calculation device 15 are disclosed in, for example,
The one disclosed in Japanese Unexamined Patent Publication (KOKAI) No. 6-284 can be used.

Next, the operation of this embodiment will be described in detail.

When the landscape-labeled human navigation device is started, the control unit 8B first sends the position information acquisition unit 2, the camera attribute information acquisition unit 3, and the image acquisition unit 1 to acquire information on the landscape image. Send a processing start command. The position information acquisition unit 2 receives a command from the control unit 8B, collects position information with a GPS receiver or the like every second, and transfers the collected information to the control unit 8B (step 21). Here, the time interval is not limited to the unit of seconds, but may be any value. The camera attribute information acquiring unit 3 receives a command from the control unit 8B to acquire a camera angle of a landscape image recording device such as a camera at the time of image capturing as a set of a horizontal angle and an elevation angle (step 22), and at the same time, a landscape having a zoom function. If it is an image device, the focal length is obtained (Step 2)
3). The image acquiring unit 1 acquires a landscape image every second in response to a command from the control unit 8B, and passes it to the control unit 8B (Step 2).
4). Since the image size is fixed for each landscape image device, the control unit 8B holds the image size information. The control unit 8B holds the collected information as a landscape image file.

FIG. 5 shows the file format of the data structure of the landscape image file. The landscape image file has header information and image data. The header information includes position information, camera angle information, focal length, time information, image size, type, and size of an image file. As location information,
East longitude, north latitude, and elevation data (for example, 137 degrees east 5 degrees
5 minutes 10 seconds, latitude 34 degrees 34 minutes 30 seconds north, altitude 101m3
3 cm). The camera angle includes horizontal angle data and elevation angle data (for example, horizontal angle 254 degrees clockwise, elevation angle 15 degrees, etc.). The focal length data is the focal length (for example, 28 mm) of the camera lens at the time of capturing an image. The time information includes the time at the time of shooting (for example, 15:06:17, January 31, 1997, Japan time). As the image size of the image file, the vertical and horizontal pixel sizes (for example, 64
0 × 480). File type (TIF
E format, 8-bit color, etc.). It also has the number of bytes of the file (307.2 KB, etc.). The image data itself has, for example, a binary format.

After storing the landscape image file, the control unit 8B instructs the image processing unit 4 to extract the outline from the landscape image and divide the landscape image into a plurality of regions.
The image processing unit 4 performs a differentiation process on the basis of the density difference in the landscape image to extract a contour line (step 2).
5) The region is divided by performing labeling with the outline as a boundary (step 26). Note that the technical term of labeling used here is a technical term used in image area division. As a procedure, first, the image is converted into a monochrome grayscale image. Since the contour is a portion where the brightness changes suddenly, the contour is extracted by performing a differentiation process to find a portion where the differential value is larger than a threshold value. At this time, the line width of the outline is one pixel, and the outlines are connected. For this purpose, a thinning process is performed to obtain a connected line having a line width of one pixel. Here, it is sufficient to use a conventional method for the differentiation processing and the thinning processing.

The obtained outline is regarded as the outline of the region, and an operation of numbering the region constituted by the outline is performed.
The largest number among the numbers is the number of areas, and the number of pixels in the area indicates the area of the area. FIG. 10 shows an example in which a landscape image is divided into a plurality of partial regions. Note that a measure of similarity (closeness) between regions may be introduced, and a clustering process may be performed to combine a plurality of regions having similar properties into one region. Any existing clustering method may be used.

When the control unit 8B completes the process of dividing the landscape image into regions, the control unit 8B sends the map information management unit 5 a processing request for passing the header information of the landscape image file and calculating the view space. An example of the map information management unit 5 is a map database program. The map information management unit 5 manages three-dimensional map data. Although two-dimensional map data may be used, in this case, since there is no height information, the accuracy of the position at which the labeling is applied to the actual scenery is inferior. When the two-dimensional map data is used as the basis, the processing is performed by supplementing the height information. For example, in the case of two-dimensional data of a house, if there is floor information indicating the number of floors of the house, the number of floors is multiplied by a certain number to estimate the height of the house, and the two-dimensional data is obtained. 3D data is created based on the height information. Even when there is no floor information, the height information can be estimated by assigning a certain number of heights according to the area of the house figure, and similarly, three-dimensional data is created based on the estimated height information. . Thus 3
Create dimensional data and proceed.

FIG. 6 shows an example of three-dimensional map data. FIG.
(1) shows a map information space expressed in two dimensions, and FIG.
(2) shows a map information space expressed in three dimensions. This 3
The map information management unit 5 accesses the map DB in response to a command from the control unit 8B for the three-dimensional map information space, and calculates a visual field space based on the header information of the landscape image file (steps 27 and 28). FIG. 7 shows a calculation example of the visual field space. First, it is assumed that the XY axes extend in the horizontal direction and the Z axis extends in the vertical direction. The position of the viewpoint E is set in the three-dimensional map information space from the position information in the header information of the landscape image file. For example, 137 ° 55'19 ”E, 34 ° 3N
If the time is 4 minutes and 30 seconds and the altitude is 101 m33 cm, the corresponding coordinates in the corresponding map mesh number are set.
Similarly, the camera angle direction is set based on the horizontal angle and the elevation angle in the camera angle information in the header information. The focal point F is set at a point advanced from the viewpoint E by the focal length on a straight line representing the camera angle direction.
The line-of-sight W direction vector is a unit vector having a length of 1 from the viewpoint E on the straight line. In the image size of the landscape image file, the width x on the X-axis of the camera screen is set from the horizontal size, and the width y on the Y-axis is set from the vertical size. The horizontal x vertical y plane is set so as to be perpendicular to the camera angle direction with respect to the line of sight vector and to include the focal point F. Viewpoint E
A straight line connecting the four corner points of the camera screen is obtained from the coordinates of, and a three-dimensional space formed by four half straight lines extending from the viewpoint E is defined as a visual field space. FIG. 8 shows an example of a visual field space in a three-dimensional map space. The three-dimensional map space is viewed from the XZ plane. 8 is a cross-sectional view of the space belonging to the viewing space on the XZ plane. In the example of FIG.
Buildings and mountains in the viewing space are included.

Further, the map information management unit 5 obtains a structure existing in the visual field space. For each structure, it is calculated whether or not each vertex constituting the solid representing the structure exists in the internal region of the viewing space. Usually, a two-dimensional map space is divided by a two-dimensional mesh of a fixed size. As a method of cutting a mesh in the three-dimensional map space, a mesh is cut at regular intervals in the height direction in addition to the two-dimensional mesh in the vertical and horizontal directions. The space is divided by a rectangular parallelepiped unit space. First, the presence or absence of an overlapping portion between the rectangular parallelepiped unit space and the visual field space is checked, and the number of the three-dimensional unit map space having the overlapping portion is obtained. The number of the three-dimensional unit map space here is the same as a so-called mesh number. For structures in the overlapping 3D unit map space,
Investigate whether there is any overlap with the visual field space. A straight line connecting the coordinates of the vertices constituting the structure and the coordinates of the viewpoint is obtained, and if the straight line has an intersection with the camera screen of FIG. 9, it is within the visual field space. If at least one vertex of the plurality of vertices constituting the structure satisfies this condition, the structure has an overlapping portion with the viewing space.

When a structure is included in the view space or a part of the structure, a process for three-dimensionally projecting each structure onto the projection surface using the camera screen as a projection surface is started (step 29). ). Here, as shown in FIG. 8, after the point P is re-expressed in the coordinate system based on the viewpoint E based on the following equation (1), the point P is projected on the camera screen to obtain the intersection Q. .

[0034]

(Equation 1) Here, point P = (x, y, z): coordinates of the vertices constituting the structure point E = (ex, ey, ez): coordinates of the viewpoint vector L = (lx, ly, lz): gaze direction vector (Unit vector) Point P ′ = (x ′, y ′, z ′): coordinates in a coordinate system based on the viewpoint E of the point P r = (lx ² + ly ² ) ^1/2 intersection Q = (X, Y): The projection point t of the point P on the camera screen is the focal length. In the three-dimensional projection conversion, first, for each structure, the surface on which the vertex extends is obtained. For example, in the case of a structure represented by a rectangular parallelepiped, six surfaces are obtained. When each plane is projected onto the camera screen, the distance between the viewpoint and the corresponding point on the plane is calculated for each pixel on the camera screen included in the projection area, and stored as a depth value (Z value) in the memory. Store. For each surface of each structure, the depth value (Z
Value) and store it in memory. Note that z ′ in (Equation 1) represents a depth value (Z value) from the viewpoint.

Among the structures three-dimensionally transformed on the camera screen, there are structures visible from the viewpoint and structures not visible. Among them, it is necessary to find only the structure that can be seen from the viewpoint, and to find the surface on the opposite side from the viewpoint or the surface that is blocked by other structures. Therefore, hidden surface processing is performed (step 3
0). There are various methods for processing the hidden surface.
Use the buffer method. Other scan line methods and ray tracing methods may be used.

A pixel on the camera screen is arbitrarily determined, and a plane having the smallest depth value for the pixel is obtained. As described above, when processing is sequentially performed on each surface of each structure, the surface closest to the viewpoint is left for each pixel on the camera screen. The plane closest to the viewpoint is determined for each pixel on the camera screen, and pixels on the camera screen that share the plane closest to the viewpoint generally form an area.
There can be a plurality of regions consisting of pixels with the common surface being the closest surface. The region obtained in this way is a region obtained by performing a three-dimensional projection conversion of the partial region of the structure seen from the viewpoint. Surfaces on the other side of the view and those obstructed by other structures have been erased.

The area thus formed forms a CG image area (step 31).

With respect to the coordinates of the vertices of the two-dimensional figure constituting the CG image area, three-dimensional coordinates before projection transformation are obtained, and the correspondence between the two is stored in the memory as link information. It is used to determine which structure the two-dimensional area is a projection of based on the link information.

Based on the line data remaining after erasing hidden lines,
The CG image is divided into regions. Since the three-dimensional map DB is used, the name of the structure serving as the basis of each area can be associated with each area. The divided areas of the CG image are numbered sequentially. FIG. 11 shows an example in which a CG image is divided into a plurality of partial areas.

When the CG image region division processing is completed, the control unit 8B instructs the label information creation unit 6B to associate the CG image division region with the landscape image division region. The label information creation unit 6B associates the divided area of the CG image with the divided area of the landscape image by template matching (step 32, see FIG. 12).

Among the divided regions of the landscape image, the regions are sequentially associated with the divided regions of the CG image in ascending order of the number (for example, No. 1). For matching, any of the conventional matching methods may be used, but here, a simple template matching method is used. In other words, the two areas to be compared are superimposed, and the ratio of the overlapping portions is
When the ratio is equal to or higher than a certain ratio determined as a threshold value, the regions are associated as regions relating to the same structure. For example, the coordinate value of each pixel in the first divided region R1 of the landscape image is set to (A, B). The value of the pixel at coordinates (A, B) is 1 because it is inside the area. In the first divided area S1 of the CG image, if the coordinates (A, B) are within the area S1, the pixel value is 1 and overlaps, but if the coordinates (A, B) are outside of S1, the pixel value is 0 and does not overlap. Thus, as an overlap coefficient K (A, B) at the coordinates (A, B),
It is determined by 1 when they overlap and 0 when they do not overlap. Coordinates (A,
B) is moved within the region R1, and the overlap coefficient K (A, B)
Ask for. Then, the coordinates (A,
With respect to the number N1 of B), the number N2 of coordinates at which the overlap coefficient K (A, B) was 1 is obtained, and when N1 / N2 is equal to or larger than a threshold value, the divided region R1 of the landscape image It is determined that the divided area S1 of the CG image corresponds. This association is performed from the first to the last divided area of the landscape image.
In addition, as the matching method, an evaluation function that has the same value even if there is a slight displacement in the XY directions may be used.

After associating the partial area of the CG image with the partial area of the landscape image, the label information creating unit 6B extracts the structure of the associated partial area (step 3).
3) Further, processing to obtain information to be superimposed for each partial region of the landscape image and create label information together with the position to be superimposed (step 34) is entered. First, a partial area of the CG image corresponding to the partial area of the landscape image is extracted. The partial region of the extracted CG image is originally obtained by three-dimensionally projecting and converting a certain surface of the three-dimensional structure in the three-dimensional map space onto the camera screen. So 3
The surface of the three-dimensional structure that is the basis of the three-dimensional projection transformation is determined using the depth value (Z value) of the partial region of the CG image as a key. The link information created at the time of the three-dimensional projection conversion may be used as a key. Based on the surface of the original structure, the three-dimensional map DB is accessed to acquire the name or attribute information of the structure. Here, the attribute information means information accompanying the structure, and may be any information as long as the information is related to the structure. Then, the position coordinates where the name or attribute information is to be superimposed are determined for the partial area of the landscape image. How to decide may be decided any way. For example,
The center of gravity of the figure extending the partial area may be used. Label information is created from the name or attribute information of the structure and the assigned position coordinates. Table 1 shows an example of label information.

[0043]

[Table 1] After completing the creation of the label information, the label information creating unit 6B passes the label information to the control unit 8B.

Upon receiving the label information, the control unit 8B
It instructs the label information output unit 7B to project the label information on the head mounted display device. The label information output unit 7B superimposes the name or attribute information of the structure in the label information at a position in the landscape image (step 3).
5) Projecting and displaying the superimposed landscape image on the head mounted display device (step 36). FIG. 13 shows an example of a landscape image on which label information is superimposed.

When the label information output section 7B outputs the label information, it notifies the control section 8B of the completion of the output. Control unit 8B
Upon receiving the output completion notification, if the landscape labeling process is to be performed continuously, the series of processing procedures described above are executed again.

FIG. 14 is a block diagram of a landscape-labeled human navigation system in which the landscape-labeled human navigation device of FIG. 2 is applied to a communication system.

The landscape-labeled human navigation system includes a landscape-labeled human navigation terminal 40, a landscape labeling center 50, and a communication network 60.

The landscape-labeled human navigation terminal 40 includes an image acquisition unit 41 for acquiring an image, a position information acquisition unit 42 for acquiring a position at the time of image acquisition, and a camera angle, a focal length, and an image size at the time of image acquisition. A camera attribute information acquisition unit 43 to be acquired; an image processing unit 44 to divide the acquired image into a plurality of partial regions; And a communication control unit 45 that transmits the label information from the landscape labeling center 50 to the landscape labeling center 50 via the interface, and superimposes the name or attribute information of the structure in the label information at a corresponding position in the image, and A label information output unit 47 for projecting and displaying the obtained image on a head-mounted display device, and a terminal control unit 46 for controlling the above units. It is.

The landscape labeling center 50 has a communication network 60.
Navigation terminal 4 with landscape label through
From 0, the communication control unit 53 that receives the information regarding the area division of the image, the camera position, the camera angle, the focal length, and the image size, and transmits the label information to the landscape-labeled human navigation terminal 40, and manages the map information; A map information management unit 51 for obtaining a view space in the map information space based on the received camera position, camera angle, focal length, and image size, and acquiring a structure existing in the view space; A label information creation unit 52 for associating the obtained structure with an area by pattern matching, and creating label information including the name or attribute information of the structure and the assigned position of the structure, and controlling the above units It comprises a center control unit 54.

The operation of this system is the same as the operation of the apparatus shown in FIG.

[0051]

As described above, according to the present invention, a user can be displayed on a head-mounted display device by associating geographical information on a computer with each part in a landscape image of a real scene. , It is not necessary for a human to compare the map on the computer with the actual scenery and associate it with the human.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a landscape-labeled human navigation device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a landscape-labeled human navigation device according to a second embodiment of the present invention.

FIG. 3 is a schematic diagram of a head-up display device using a head-mounted display device disclosed in Japanese Patent Application Laid-Open No. 8-83397.

FIG. 4 is a flowchart of a process of a human navigation device with a landscape label according to a second embodiment.

FIG. 5 is a diagram showing a data structure of a landscape image file.

FIG. 6 is a diagram showing an example of a two-dimensional map (FIG. (1)) and its three-dimensional map (FIG. (2)).

FIG. 7 is a diagram illustrating a calculation method of a visual field space.

FIG. 8 is a diagram illustrating an example of a visual field space in a three-dimensional map space.

FIG. 9 is a diagram showing an example of a projection view.

FIG. 10 is a diagram showing an example of area division of a landscape image.

FIG. 11 is a diagram showing an example of area division of a CG image.

FIG. 12 is an explanatory diagram of pattern matching between a partial region of a landscape image and a partial region of a CG image.

FIG. 13 is a diagram illustrating an example of superimposition of label information on a landscape image.

FIG. 14 is a configuration diagram of a landscape-labeled human navigation system according to an embodiment of the present invention.

FIG. 15 is a configuration diagram of a navigation device disclosed in JP-A-8-273000.

FIG. 16 is a diagram illustrating a display example of a moving image.

[Explanation of symbols]

 Reference Signs List 1 image acquisition unit 2 position information acquisition unit 3 camera attribute information acquisition unit 4 image processing unit 5 map information management unit 6A, 6B label information creation unit 7A, 7B label information output unit 8A, 8B control unit 11R right eye 11L left eye 12R , 12L eye movement measuring device 13R, 13L flat display device 14R, 14L lens 15 fixation point calculating device 21-36 step 40 human navigation terminal with landscape label 41 image acquisition unit 42 position information acquisition unit 43 camera attribute information acquisition unit 44 image processing Unit 45 communication control unit 46 terminal control unit 47 label information output unit 50 landscape labeling center 51 map information management unit 52 label information creation unit 53 communication control unit 54 center control unit 60 communication network

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI H04N 7/18 G06F 15/62 380 (72) Inventor Masaji Takano Nippon Telegraph and Telephone No. 19-2, Nishishinjuku, Shinjuku-ku, Tokyo Inside (72) Inventor Takeshi Ikeda Nippon Telegraph and Telephone Corporation

Claims (7)

[Claims] An image acquisition unit for acquiring an image; a position information acquisition unit for acquiring a camera position at the time of image acquisition; and a camera attribute information acquisition for acquiring a camera angle, a focal length, and an image size when the image is acquired. Means, managing map information, obtaining a view space in a map information space based on the obtained camera position, camera angle, focal length, and image size, and obtaining map information that acquires structures existing in the view space. Management means; label information creating means for creating label information including the name of the structure or its attribute information and the assigned position; and the name of the map information at the position in the image corresponding to the assigned position information in the acquired label information Or a label information output unit that superimposes the attribute information and projects and displays the superimposed image on a head-mounted display device, and a control unit that controls the above units. A human navigation device with a view label. 2. An image acquisition unit for acquiring an image, a position information acquisition unit for acquiring a camera position at the time of image acquisition, a camera attribute information acquisition unit for acquiring a camera angle, a focal length, and an image size at the time of image acquisition. , Image processing means for dividing the acquired image into a plurality of partial areas, managing map information, and calculating a visual field space in the map information space based on the acquired camera position, camera angle, focal length, and image size, Map information management means for acquiring a structure existing in the visual space, and associating the acquired structure with the partial region of the image, and the name of the associated structure or its attribute information and Label information creating means for creating label information including an application position, and superimposing and superimposing the name of the structure in the label information or its attribute information at a position corresponding to the application position in the image. Label information output means for projecting and displaying an image obtained on a head mounted display device, and a landscape navigation human navigation device having control means for controlling each of the means. 3. The label information creating means creates a CG image, which is a computer graphics image, based on the acquired structure, and a part in the CG image is subjected to pattern matching with respect to the partial area of the image. 3. The apparatus according to claim 2, wherein the apparatus is associated with the area, a structure of the associated partial area is obtained, and label information including the name or attribute information of the structure and the assigned position is created. 4. The label information creating means performs a three-dimensional projection conversion of the acquired structure onto a camera screen, creates a CG image by erasing a structure that cannot be seen from a viewpoint, and creates a contour of a partial area in the CG image. Dividing the CG image into partial areas by lines,
The partial area of the image and the partial area of the CG image are associated with each other by pattern matching, and the structure that is the basis of the partial area of the CG image is determined for the partial area of the image. 3. The apparatus according to claim 2, wherein label information including name or attribute information and an assigned position is created. 5. A human navigation terminal with a landscape label and a landscape labeling center, wherein the human navigation terminal with a landscape label includes: an image acquisition unit that acquires an image; and a position information acquisition unit that acquires a camera position at the time of acquiring the image. Camera attribute information acquiring means for acquiring a camera angle, a focal length, and an image size at the time of image acquisition; image processing means for dividing the acquired image into a plurality of partial areas; information on area division of the image and the camera position And communication control means for transmitting the camera angle, the focal length, and the image size to the landscape labeling center via a communication network, and receiving label information from the landscape labeling center, and a structure in the label information. The name or its attribute information is superimposed on the position corresponding to the assigned position in the image, and the superimposed image is Label information output means for projecting and displaying on a head mounted display device, and terminal control means for controlling the respective means, wherein the landscape labeling center receives the image from the landscape navigation human navigation terminal via the communication network. Communication control means for receiving information on the area division, the camera position, the camera angle, the focal length, and the image size, and transmitting the label information to the landscape-labeled human navigation terminal, and managing map information. Obtaining a view space in the map information space based on the received camera position, camera angle, focal length, and image size, and a map information management means for acquiring a structure existing in the view space; and The acquired structure is associated with the partial area, and the name or attribute information of the associated structure and Human navigation system with landscape label having a label information preparation means for preparing the label information, the central control means for controlling said each means, including applying position. 6. The label information creating means creates a CG image, which is a computer graphics image, based on the acquired structure, and a part in the CG image by pattern matching with respect to the partial area of the image. The system according to claim 5, wherein a structure of the partial area associated with the area is determined, and label information including the name or attribute information of the structure and the assigned position is created. 7. The label information creating means performs a three-dimensional projection conversion of the acquired structure on a camera screen, creates a CG image by erasing a structure that cannot be seen from a viewpoint, and creates a contour of a partial region in the CG image. Dividing the CG image into partial areas by lines,
The partial area of the image and the partial area of the CG image are associated with each other by pattern matching, and the structure that is the basis of the partial area of the CG image is determined for the partial area of the image. The system according to claim 5, wherein label information including name or attribute information and an assigned position is created.