WO2019163128A1 - 仮想物体表示制御装置、仮想物体表示システム、仮想物体表示制御方法、及び仮想物体表示制御プログラム - Google Patents
仮想物体表示制御装置、仮想物体表示システム、仮想物体表示制御方法、及び仮想物体表示制御プログラム Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/10—Geometric effects
- G06T15/20—Perspective computation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/004—Annotating, labelling
Definitions
- the present invention relates to a virtual object display control apparatus that performs control for displaying an image of a virtual object, a virtual object display control method, a virtual object display control program, and a virtual object display system including the virtual object display control apparatus.
- a device that displays an image of a real object and an image of a virtual object superimposed on the screen of a display device has been proposed (see, for example, Patent Documents 1 and 2).
- the image of the virtual object is, for example, an augmented reality (AR) image.
- AR augmented reality
- the position where the virtual object image is moved from the position where it should originally be displayed in consideration of occlusion in the real space that is, the virtual object image is not hidden by the real object image. Is displayed. However, in this case, the observer cannot know the position where the image of the virtual object should be originally displayed. For this reason, when the image of the virtual object is an image including the annotation of the real object, it is difficult to understand which real object the annotation relates to.
- the present invention relates to a virtual object display control device and a virtual object display system that allow an observer to recognize the position of an image of a virtual object even when the image of the virtual object is displayed at a position invisible to the observer
- An object of the present invention is to provide a virtual object display control method and a virtual object display control program.
- a virtual object display control device includes a recognition unit that receives real space information indicating real space, a viewpoint position determination unit that determines an observer's viewpoint position from the real space information, and the real space information.
- a real object determination unit that determines the position and shape of the real object from the virtual object display setting unit that sets image information of the virtual object based on the viewpoint position and the position and shape of the real object, and the viewpoint position.
- a guidance display control unit that determines the necessity of guidance display based on the position and shape of the real object and the image information of the virtual object, and sets the image information of the guidance display when the guidance display is necessary; And a drawing unit that outputs image information of the virtual object and image information of the guidance display.
- a virtual object display system includes a spatial information acquisition unit that acquires real space information indicating real space, a recognition unit that receives the real space information, and an observer's viewpoint position from the real space information.
- a virtual object based on the viewpoint position and the position and shape of the real object; a viewpoint position determination unit that determines the position and shape of the real object from the real space information;
- the necessity of guidance display is determined based on the virtual object display setting unit to be set, the viewpoint position, the position and shape of the real object, and the image information of the virtual object, and the guidance is displayed when the guidance display is necessary.
- a drawing unit that outputs image information of the virtual object and image information of the guidance display, image information of the virtual object, and image information of the guidance display Image Characterized in that it has a display device for, a.
- the observer can recognize the position of the image of the virtual object by the guidance display.
- FIG. 1 is an explanatory diagram showing a virtual object display system according to Embodiment 1.
- FIG. 3 is a flowchart showing the operation of the virtual object display control apparatus according to the first embodiment.
- 6 is a diagram illustrating a hardware configuration of a virtual object display system according to a modification of the first embodiment.
- FIG. 6 is an explanatory diagram illustrating a virtual object display system according to a modification of the first embodiment.
- FIG. It is a figure which shows the hardware constitutions of the virtual object display system which concerns on Embodiment 2 of this invention. 6 is an explanatory diagram illustrating a virtual object display system according to Embodiment 2.
- an xyz orthogonal coordinate system is shown.
- the x-axis indicates the horizontal direction in real space (that is, the horizontal horizontal direction)
- the y-axis indicates the depth direction in real space (that is, the horizontal depth direction)
- the z-axis indicates real space.
- the height direction at (that is, the vertical direction) is shown.
- FIG. 1 is a diagram illustrating a hardware configuration of a virtual object display system 1 according to the first embodiment.
- the virtual object display system 1 includes a space information acquisition unit 20 that is a space detection unit that acquires real space information indicating a real space (that is, the real world), and a display device 30 that displays an image.
- a virtual object display control device 10 that causes the display device 30 to display an image.
- the display device 30 displays an image of a real object, an image of a virtual object, and a guidance display.
- the image of the virtual object is, for example, an AR image.
- the image virtual object display control device 10 is a device that can implement the virtual object display control method according to the first embodiment.
- the spatial information acquisition unit 20 is, for example, one or more imaging units 21 that acquire real space image information A1 and one unit that acquires depth information A2 of a real object (that is, a target object) that exists in the real space.
- the depth detection unit 22 described above is included.
- the spatial information acquisition unit 20 may include one of the imaging unit 21 and the depth detection unit 22.
- the imaging unit 21 is, for example, a color camera that acquires a color image and a stereo camera that captures a real object simultaneously from a plurality of different directions.
- the depth detection unit 22 is, for example, a depth camera that has a function of detecting the depth (depth) of a real object.
- the real space information includes real space image information A1 and real object depth information A2.
- the virtual object display control device 10 includes a CPU (Central Processing Unit) 11 as an information processing unit, a GPU (Graphics Processing Unit) 12 as an image processing unit, and a memory 13 as a storage unit for storing information.
- the function of the GPU 12 may be performed by the CPU 11.
- the virtual object display control device 10 is, for example, a personal computer (PC), a smart phone, or a tablet terminal.
- the memory 13 may store the virtual object display control program according to the first embodiment.
- the CPU 11 can control the display operation of the display device 30 by executing the virtual object display control program.
- the display device 30 is a device having a display screen (that is, a display) such as a PC monitor, a smart phone, or a tablet terminal.
- FIG. 2 is a diagram schematically showing a positional relationship between the viewpoint position 91 of the observer 90 and the real object 311.
- the real object 311 can be a shield that hides the virtual object.
- the observer 90 cannot view the image of the virtual object displayed in the area (shaded area) 314 hidden from the viewpoint position 91 in the real object 311.
- the virtual object image is moved to a different position, it is impossible to know which real object the virtual object image relates to.
- the virtual object display control apparatus 10 determines the position and shape of the viewpoint position 91 and the real object 311 of the observer 90 from the real space information, and the image information of the position and shape of the viewpoint position 91 and the real object 311 and the virtual object. Whether or not guidance display is necessary is determined based on B1.
- the virtual object display control device 10 sets image information B2 for guidance display when guidance display is necessary, and outputs image information B1 for the virtual object and image information B2 for guidance display.
- the virtual object display control device 10 outputs the virtual object image information B1 when the guidance display is not necessary.
- FIG. 3 is a functional block diagram showing the virtual object display control apparatus 10 according to the first embodiment.
- the virtual object display control device 10 includes a recognition unit 110 that receives real space image information A1 and real object depth information A2 that are real space information, and a display control unit 120.
- the recognition unit 110 receives the real space image information A1, performs necessary processing, receives the space recognition unit 111 provided to the display control unit 120, and the depth information A2 of the real object, performs necessary processing, And a real object recognition unit 112 provided to the display control unit 120.
- the real object recognition unit 112 may output data obtained by replacing the real object with a model of the real object (that is, image information held in advance).
- the model of the real object is image information held in advance, and may be a typical three-dimensional shape such as image information such as a desk or chair, a cylinder, a rectangular parallelepiped, a triangular pyramid, a sphere, and the like.
- the configuration and function of the recognition unit 110 are not limited to the above examples.
- the display control unit 120 includes a viewpoint position determination unit 121 that determines the viewpoint position 91 of the observer 90 from the real space image information A1 and the depth information A2 of the real object, and the position and shape of the real object 311 from the real space information.
- a real object determination unit 122 for determining, and a virtual object display setting unit 123 that sets image information B1 of the virtual object 312 based on the viewpoint position 91 and the position and shape of the real object 311 are included.
- the display control unit 120 also includes a guidance display determination unit 124 that determines whether the guidance display 323 is necessary based on the viewpoint position 91, the position and shape of the real object 311, and the image information B 1 of the virtual object 312, and the guidance display 323. And a guidance display setting unit 125 for setting the image information B2 for guidance display.
- the guidance display determination unit 124 and the guidance display setting unit 125 constitute a guidance display control unit 126.
- the guidance display determination unit 124 determines that guidance display is necessary when the virtual object is entirely or partially hidden by the real object when viewed from the viewpoint position.
- the guidance display determination unit 124 determines that guidance display is necessary when a predetermined percentage or more (for example, 50% or more) of the virtual object is hidden by the real object when viewed from the viewpoint position. Also good.
- the display control unit 120 includes a drawing unit 127 that outputs image information B1 of the virtual object and image information B2 of the guidance display.
- the drawing unit 127 may output composite image information obtained by combining the virtual space image information B1 and the guidance display image information B2 with the real space image information A1.
- FIG. 4 is an explanatory diagram showing the virtual object display system 1.
- two imaging units 21a and 21b are shown as the imaging unit 21 of FIG.
- the imaging units 21 a and 21 b of the spatial information acquisition unit 20 provide real space image information A1 and real object depth information A2 to the virtual object display control device 10.
- FIG. 5 is a flowchart showing the operation of the virtual object display control device 10.
- the virtual object display control device 10 receives the real space information in step S1, determines the viewpoint position 91 of the observer 90 from the real space information (for example, real space image information A1) in step S2, and in step S3 the real space.
- the position and shape of the real object 311 are determined from the information (for example, depth information A2 of the real object), and the image information B1 of the virtual object 312 is set based on the viewpoint position 91 and the position and shape of the real object 311 in step S4. To do.
- the virtual object display control device 10 determines whether or not guidance display is necessary based on the viewpoint position 91, the position and shape of the real object 311 and the image information B1 of the virtual object in step S5. That is, the virtual object display control device 10 determines whether or not the image 322 of the virtual object 312 is hidden by the image 321 of the real object 311 when viewed from the viewpoint position 91.
- the virtual object display control device 10 draws the real object image 321 and the virtual object image 322 based on the real space image information in step S6.
- the virtual object display control device 10 causes the display device 30 to display the real object image 321 and the virtual object image 322.
- the virtual object display control device 10 determines the position of the guidance display 323 in step S8, sets the image information of the guidance display in step S9, and in step S10 the real space.
- a real object image 321, a virtual object image 322, and a guidance display image 323 are drawn based on the image information.
- the virtual object display control device 10 causes the display device 30 to display the real object image 321, the virtual object image 322, and the guidance display image 323.
- the guidance display 323 is an arrow indicating the direction of the virtual object, for example.
- the guidance display 323 may include, for example, a message such as “There is a virtual object here” or “There is an explanation of a real object here”.
- the virtual object image 322 is displayed at a position that cannot be seen by the observer 90.
- the observer 90 determines which of the virtual object images 322 is It is possible to correctly recognize whether the information is about a real object.
- FIG. 6 is a diagram illustrating a hardware configuration of the virtual object display system 1a according to the modification of the first embodiment.
- FIG. 6 the same reference numerals as those shown in FIG. 1 are given to the same or corresponding elements as those shown in FIG.
- FIG. 7 is an explanatory diagram showing the virtual object display system 1a of FIG.
- the same reference numerals as those shown in FIG. 4 are given to the same or corresponding elements as those shown in FIG.
- the display device 40 acquires the imaging information C1 viewed from the viewpoint position 91, the display screen 41, and the imaging information C1.
- the virtual object display system 1 shown in FIG. 1 is different from the virtual object display system 1 shown in FIG. 1 in that it includes a combining unit 43 that displays an image in which the image information B1 and the image information B2 of the guidance display are superimposed on the display screen 41.
- the virtual object display control device 10 may receive the viewpoint position 91 of the observer 90 from the display device 40.
- the imaging unit 42 of the display device 40 may be used as the imaging unit of the spatial information acquisition unit 20.
- the virtual object display system 1a shown in FIGS. 6 and 7 is the same as the virtual object display system 1 shown in FIGS.
- FIG. FIG. 8 is a diagram illustrating a hardware configuration of the virtual object display system 2 according to the second embodiment.
- the same reference numerals as those shown in FIG. 1 are given to the same or corresponding elements as those shown in FIG.
- FIG. 9 is an explanatory diagram showing the virtual object display system 2 of FIG. 9, components that are the same as or correspond to the components shown in FIG. 4 are given the same reference numerals as those shown in FIG.
- the display device 50 is a projector that projects an image in real space (that is, the real world), and the guidance display 333 is a floor, wall, It differs from the virtual object display system 1 shown in FIGS. 1 and 4 in that it is a projected image displayed on a ceiling, a real object, or the like.
- the guidance display 333 is an arc-shaped arrow indicating the movement path of the observer 90.
- the virtual object image 332 is displayed at a position that cannot be seen by the observer 90.
- the viewer 90 can recognize the position of the virtual object image 332 by the guidance display 333.
- the position of the virtual object image 332 is not moved, so that the observer 90 determines which virtual object image 332 is It is possible to correctly recognize whether the information is about a real object.
- the guidance display 333 is projected directly on the real world and the space information of the real world can be used as it is, the intention of the guidance becomes easier to understand.
- the virtual object display system 2 shown in FIGS. 8 and 9 includes the virtual object display system 1 shown in FIGS. 1 and 4 or the virtual object display system 1a shown in FIGS. The same.
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Abstract
Description
先ず、仮想物体表示システム1及び仮想物体表示制御装置10の構成を説明する。図1は、実施の形態1に係る仮想物体表示システム1のハードウェア構成を示す図である。図1に示されるように、仮想物体表示システム1は、実空間(すなわち、実世界)を示す実空間情報を取得する空間検出部である空間情報取得部20と、画像を表示する表示装置30と、表示装置30に画像を表示させる仮想物体表示制御装置10とを有する。表示装置30は、例えば、実物体の画像、仮想物体の画像、及び案内表示を表示する。仮想物体の画像は、例えば、AR画像である。画像仮想物体表示制御装置10は、実施の形態1に係る仮想物体表示制御方法を実施することができる装置である。
図8は、実施の形態2に係る仮想物体表示システム2のハードウェア構成を示す図である。図8において、図1に示される構成要素と同一又は対応する構成要素には、図1に示される符号と同じ符号が付される。図9は、図8の仮想物体表示システム2を示す説明図である。図9において、図4に示される構成要素と同一又は対応する構成要素には、図4に示される符号と同じ符号が付される。
Claims (11)
- 実空間を示す実空間情報を受け取る認識部と、
前記実空間情報から観察者の視点位置を判定する視点位置判定部と、
前記実空間情報から実物体の位置及び形状を判定する実物体判定部と、
前記視点位置と前記実物体の位置及び形状とに基づいて仮想物体の画像情報を設定する仮想物体表示設定部と、
前記視点位置と前記実物体の位置及び形状と前記仮想物体の画像情報とに基づいて案内表示の要否を判定し、前記案内表示が必要な場合に前記案内表示の画像情報を設定する案内表示制御部と、
前記仮想物体の画像情報と前記案内表示の画像情報とを出力する描画部と、
を有することを特徴とする仮想物体表示制御装置。 - 前記案内表示制御部は、前記視点位置から見たときに、前記仮想物体の全体又は一部が前記実物体によって隠れる場合に、前記案内表示が必要と判定することを特徴とする請求項1に記載の仮想物体表示制御装置。
- 前記実空間情報は、前記実空間の画像情報及び前記実物体の奥行情報を含むことを特徴とする請求項1又は2に記載の仮想物体表示制御装置。
- 前記描画部は、前記実空間の画像情報に、前記仮想物体の画像情報及び前記案内表示の画像情報を合成することで得られた合成画像情報を出力することを特徴とする請求項1に記載の仮想物体表示制御装置。
- 実空間を示す実空間情報を取得する空間情報取得部と、
前記実空間情報を受け取る認識部と、
前記実空間情報から観察者の視点位置を判定する視点位置判定部と、
前記実空間情報から実物体の位置及び形状を判定する実物体判定部と、
前記視点位置と前記実物体の位置及び形状とに基づいて仮想物体の画像情報を設定する仮想物体表示設定部と、
前記視点位置と前記実物体の位置及び形状と前記仮想物体の画像情報とに基づいて案内表示の要否を判定し、前記案内表示が必要な場合に前記案内表示の画像情報を設定する案内表示制御部と、
前記仮想物体の画像情報と前記案内表示の画像情報とを出力する描画部と、
前記仮想物体の画像情報と前記案内表示の画像情報とに基づいて画像を表示する表示装置と、
を有することを特徴とする仮想物体表示システム。 - 前記空間情報取得部は、前記実空間の画像情報を取得する撮像部及び前記実物体の奥行情報を取得する奥行検出部を有することを特徴とする請求項5に記載の仮想物体表示システム。
- 前記描画部は、前記実空間の画像情報に、前記仮想物体の画像情報及び前記案内表示の画像情報を合成することで得られた合成画像情報を出力することを特徴とする請求項5又は6に記載の仮想物体表示システム。
- 前記表示装置は、
前記視点位置から見た撮像情報を取得する他の撮像部と、
表示画面と、
前記撮像情報に、前記仮想物体の画像情報と前記案内表示の画像情報とが重畳された画像を前記表示画面に表示させる合成部と、
を有することを特徴とする請求項5又は6に記載の仮想物体表示システム。 - 前記表示装置は、前記仮想物体の画像情報と前記案内表示の画像情報とを前記実空間上に投射するプロジェクタを有することを特徴とする請求項5又は6に記載の仮想物体表示システム。
- 実空間を示す実空間情報を受け取るステップと、
前記実空間情報から観察者の視点位置を判定するステップと、
前記実空間情報から実物体の位置及び形状を判定するステップと、
前記視点位置と前記実物体の位置及び形状とに基づいて仮想物体の画像情報を設定するステップと、
前記視点位置と前記実物体の位置及び形状と前記仮想物体の画像情報とに基づいて案内表示の要否を判定し、前記案内表示が必要な場合に前記案内表示の画像情報を設定するステップと、
前記仮想物体の画像情報と前記案内表示の画像情報とを出力するステップと、
を有することを特徴とする仮想物体表示制御方法。 - 実空間を示す実空間情報を受け取る処理と、
前記実空間情報から観察者の視点位置を判定する処理と、
前記実空間情報から実物体の位置及び形状を判定する処理と、
前記視点位置と前記実物体の位置及び形状とに基づいて仮想物体の画像情報を設定する処理と、
前記視点位置と前記実物体の位置及び形状と前記仮想物体の画像情報とに基づいて案内表示の要否を判定し、前記案内表示が必要な場合に前記案内表示の画像情報を設定する処理と、
前記仮想物体の画像情報と前記案内表示の画像情報とを出力する処理と、
をコンピュータに実行させることを特徴とする仮想物体表示制御プログラム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2018/006950 WO2019163128A1 (ja) | 2018-02-26 | 2018-02-26 | 仮想物体表示制御装置、仮想物体表示システム、仮想物体表示制御方法、及び仮想物体表示制御プログラム |
US16/971,502 US20200394845A1 (en) | 2018-02-26 | 2018-02-26 | Virtual object display control device, virtual object display system, virtual object display control method, and storage medium storing virtual object display control program |
CN201880089312.0A CN111819603B (zh) | 2018-02-26 | 2018-02-26 | 虚拟物体显示控制装置、方法、记录介质及虚拟物体显示系统 |
DE112018006936.2T DE112018006936T5 (de) | 2018-02-26 | 2018-02-26 | Virtuelles-Objekt-Anzeigesteuerungseinrichtung, Virtuelles-Objekt-Anzeigesystem, Virtuelles-Objekt-Anzeigesteuerungsverfahren und Virtuelles-Objekt-Anzeigesteuerungsprogramm |
KR1020207023752A KR102279306B1 (ko) | 2018-02-26 | 2018-02-26 | 가상 물체 표시 제어 장치, 가상 물체 표시 시스템, 가상 물체 표시 제어 방법, 및 가상 물체 표시 제어 프로그램 |
JP2020501983A JP6698971B2 (ja) | 2018-02-26 | 2018-02-26 | 仮想物体表示制御装置、仮想物体表示システム、仮想物体表示制御方法、及び仮想物体表示制御プログラム |
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CN111819603B (zh) | 2024-03-08 |
DE112018006936T5 (de) | 2020-10-08 |
JPWO2019163128A1 (ja) | 2020-05-28 |
JP6698971B2 (ja) | 2020-05-27 |
KR20200104918A (ko) | 2020-09-04 |
CN111819603A (zh) | 2020-10-23 |
KR102279306B1 (ko) | 2021-07-19 |
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