WO2021131938A1 - プログラム、方法および情報処理装置 - Google Patents

プログラム、方法および情報処理装置 Download PDF

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Publication number
WO2021131938A1
WO2021131938A1 PCT/JP2020/046876 JP2020046876W WO2021131938A1 WO 2021131938 A1 WO2021131938 A1 WO 2021131938A1 JP 2020046876 W JP2020046876 W JP 2020046876W WO 2021131938 A1 WO2021131938 A1 WO 2021131938A1
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WIPO (PCT)
Prior art keywords
space
image
user
hmd
camera
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PCT/JP2020/046876
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English (en)
French (fr)
Japanese (ja)
Inventor
一晃 澤木
英太 菊地
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株式会社コロプラ
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Publication of WO2021131938A1 publication Critical patent/WO2021131938A1/ja

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present disclosure relates to programs, methods and information processing devices.
  • Patent Document 1 discloses an invention in which the time axis of a 360-degree moving image displayed on a head-mounted display is controlled according to the inclination of the head-mounted display.
  • Patent Document 1 there is room for improvement in improving convenience when a user views a 360-degree moving image.
  • An object of the present disclosure is to provide a program, a method, and an information processing device capable of improving convenience when a user views a 360-degree moving image.
  • the program accepts the input of an image taken by the first 360 degree camera that takes a picture of the first space into the processor, and a second step of taking a picture of the second space.
  • the step of displaying the step of detecting that the tracking object has moved to the second space, and the step of detecting that the tracking object has moved to the second space are detected.
  • the step of switching the image displayed on the head mount device to the image taken by the second 360-degree camera is executed.
  • FIG. 1 It is a figure which shows the outline of the structure of the HMD system according to a certain embodiment. It is a block diagram which shows an example of the hardware composition of the computer according to a certain embodiment. It is a figure that conceptually represents the uvw field coordinate system set in the HMD according to a certain embodiment. It is a figure that conceptually represents one aspect of expressing a virtual space according to a certain embodiment. It is a figure which showed the head of the user who wears an HMD according to a certain embodiment from the top. It is a figure which shows the YZ cross section which looked at the visual field area from the X direction in the virtual space. It is a figure which shows the XZ cross section which looked at the field of view area from the Y direction in a virtual space.
  • FIG. 5 is a sequence chart representing a portion of the processing performed in an HMD set according to an embodiment. It is a schematic diagram which shows the situation that each HMD provides a virtual space to a user in a network. It is a figure which shows the field of view image of the user 5A in FIG. 12A.
  • FIG. 5 is a flowchart showing a process related to control of a 360-degree camera, which is a part of the process executed in the HMD set according to a certain embodiment. It is a flowchart which shows an example of the automatic switching process shown in FIG.
  • FIG. 1 is a diagram showing an outline of the configuration of the HMD system 100 according to the present embodiment.
  • the HMD system 100 is provided as a home system or a business system.
  • the HMD system 100 includes a server 600, HMD sets 110A, 110B, 110C, 110D, an external device 700, and a network 2.
  • Each of the HMD sets 110A, 110B, 110C, and 110D is configured to be able to communicate with the server 600 and the external device 700 via the network 2.
  • the HMD set 110A, 110B, 110C, 110D are collectively referred to as the HMD set 110.
  • the number of HMD sets 110 constituting the HMD system 100 is not limited to four, and may be three or less or five or more.
  • the HMD set 110 includes an HMD 120, a computer 200, an HMD sensor 410, a display 430, and a controller 300.
  • the HMD 120 includes a monitor 130, a gaze sensor 140, a first camera 150, a second camera 160, a microphone 170, and a speaker 180.
  • the controller 300 may include a motion sensor 420.
  • the computer 200 can connect to the Internet or other network 2 and communicate with the server 600 or other computer connected to the network 2. Examples of other computers include computers of other HMD sets 110 and external devices 700.
  • the HMD 120 may include a sensor 190 instead of the HMD sensor 410.
  • the HMD 120 may be worn on the head of the user 5 and provide the user 5 with a virtual space during operation. More specifically, the HMD 120 displays an image for the right eye and an image for the left eye on the monitor 130, respectively. When each eye of the user 5 visually recognizes the respective image, the user 5 can recognize the image as a three-dimensional image based on the parallax of both eyes.
  • the HMD 120 may include both a so-called head-mounted display including a monitor and a head-mounted device capable of mounting a smartphone or other terminal having a monitor.
  • the monitor 130 is realized as, for example, a non-transparent display device.
  • the monitor 130 is arranged in the body of the HMD 120 so that it is located in front of both eyes of the user 5. Therefore, the user 5 can immerse himself in the virtual space when he / she visually recognizes the three-dimensional image displayed on the monitor 130.
  • the virtual space includes, for example, a background, an object that the user 5 can manipulate, and an image of a menu that the user 5 can select.
  • the monitor 130 can be realized as a liquid crystal monitor or an organic EL (Electro Luminescence) monitor included in a so-called smartphone or other information display terminal.
  • the monitor 130 can be realized as a transmissive display device.
  • the HMD 120 may be an open type such as a glasses type, instead of a closed type that covers the eyes of the user 5 as shown in FIG.
  • the transmissive monitor 130 may be temporarily configured as a non-transparent display device by adjusting its transmittance.
  • the monitor 130 may include a configuration in which a part of the image constituting the virtual space and the real space are displayed at the same time.
  • the monitor 130 may display an image of the real space taken by the camera mounted on the HMD 120, or may make the real space visible by setting a part of the transmittance to be high.
  • the monitor 130 may include a sub-monitor for displaying an image for the right eye and a sub-monitor for displaying an image for the left eye.
  • the monitor 130 may be configured to display the image for the right eye and the image for the left eye as a unit.
  • the monitor 130 includes a high speed shutter. The high-speed shutter operates so that the image for the right eye and the image for the left eye can be alternately displayed so that the image is recognized by only one of the eyes.
  • the HMD 120 includes a plurality of light sources (not shown). Each light source is realized by, for example, an LED (Light Emitting Diode) that emits infrared rays.
  • the HMD sensor 410 has a position tracking function for detecting the movement of the HMD 120. More specifically, the HMD sensor 410 reads a plurality of infrared rays emitted by the HMD 120 and detects the position and inclination of the HMD 120 in the real space.
  • the HMD sensor 410 may be implemented by a camera.
  • the HMD sensor 410 can detect the position and tilt of the HMD 120 by executing the image analysis process using the image information of the HMD 120 output from the camera.
  • the HMD 120 may include a sensor 190 as a position detector in place of the HMD sensor 410 or in addition to the HMD sensor 410.
  • the HMD 120 can use the sensor 190 to detect the position and tilt of the HMD 120 itself.
  • the sensor 190 is an angular velocity sensor, a geomagnetic sensor, or an accelerometer
  • the HMD 120 may use any of these sensors instead of the HMD sensor 410 to detect its position and tilt.
  • the angular velocity sensor detects the angular velocity around the three axes of the HMD 120 in real space over time.
  • the HMD 120 calculates the temporal change of the angle around the three axes of the HMD 120 based on each angular velocity, and further calculates the inclination of the HMD 120 based on the temporal change of the angle.
  • the gaze sensor 140 detects the directions in which the eyes of the user 5's right eye and left eye are directed. That is, the gaze sensor 140 detects the line of sight of the user 5.
  • the detection of the direction of the line of sight is realized by, for example, a known eye tracking function.
  • the gaze sensor 140 is realized by a sensor having the eye tracking function.
  • the gaze sensor 140 preferably includes a sensor for the right eye and a sensor for the left eye.
  • the gaze sensor 140 may be, for example, a sensor that irradiates the right eye and the left eye of the user 5 with infrared light and detects the angle of rotation of each eyeball by receiving the reflected light from the cornea and the iris with respect to the irradiation light. ..
  • the gaze sensor 140 can detect the line of sight of the user 5 based on each of the detected rotation angles.
  • the first camera 150 captures the lower part of the user 5's face. More specifically, the first camera 150 captures the nose, mouth, and the like of the user 5.
  • the second camera 160 captures the eyes, eyebrows, and the like of the user 5.
  • the housing on the user 5 side of the HMD 120 is defined as the inside of the HMD 120, and the housing on the side opposite to the user 5 of the HMD 120 is defined as the outside of the HMD 120.
  • the first camera 150 may be located outside the HMD 120 and the second camera 160 may be located inside the HMD 120.
  • the images generated by the first camera 150 and the second camera 160 are input to the computer 200.
  • the first camera 150 and the second camera 160 may be realized as one camera, and the face of the user 5 may be photographed by this one camera.
  • the microphone 170 converts the utterance of the user 5 into an audio signal (electric signal) and outputs it to the computer 200.
  • the speaker 180 converts the voice signal into voice and outputs it to the user 5.
  • the HMD 120 may include earphones instead of the speaker 180.
  • the controller 300 is connected to the computer 200 by wire or wirelessly.
  • the controller 300 receives an instruction input from the user 5 to the computer 200.
  • the controller 300 is configured to be grippable by the user 5.
  • the controller 300 is configured to be wearable on a part of the user 5's body or clothing.
  • the controller 300 may be configured to output at least one of vibration, sound, and light based on a signal transmitted from the computer 200.
  • the controller 300 receives from the user 5 an operation for controlling the position and movement of the object arranged in the virtual space.
  • the controller 300 includes a plurality of light sources. Each light source is realized by, for example, an LED that emits infrared rays.
  • the HMD sensor 410 has a position tracking function. In this case, the HMD sensor 410 reads a plurality of infrared rays emitted by the controller 300 and detects the position and inclination of the controller 300 in the real space.
  • the HMD sensor 410 may be implemented by a camera. In this case, the HMD sensor 410 can detect the position and tilt of the controller 300 by executing the image analysis process using the image information of the controller 300 output from the camera.
  • the motion sensor 420 is attached to the user 5's hand in a certain aspect to detect the movement of the user 5's hand.
  • the motion sensor 420 detects the rotation speed, the number of rotations, and the like of the hand.
  • the detected signal is sent to the computer 200.
  • the motion sensor 420 is provided in the controller 300, for example.
  • the motion sensor 420 is provided in, for example, a controller 300 configured to be grippable by the user 5.
  • the controller 300 is attached to something that does not easily fly by being attached to the user 5's hand, such as a glove type.
  • a sensor not attached to the user 5 may detect the movement of the user 5's hand.
  • the signal of the camera that shoots the user 5 may be input to the computer 200 as a signal representing the operation of the user 5.
  • the motion sensor 420 and the computer 200 are wirelessly connected to each other.
  • the communication mode is not particularly limited, and for example, Bluetooth (registered trademark) or other known communication method is used.
  • the display 430 displays an image similar to the image displayed on the monitor 130. As a result, users other than the user 5 wearing the HMD 120 can also view the same image as the user 5.
  • the image displayed on the display 430 does not have to be a three-dimensional image, and may be an image for the right eye or an image for the left eye. Examples of the display 430 include a liquid crystal display and an organic EL monitor.
  • the server 600 may send the program to the computer 200.
  • the server 600 may communicate with another computer 200 to provide virtual reality to the HMD 120 used by another user.
  • each computer 200 communicates a signal based on the operation of each user with another computer 200 via a server 600, and a plurality of users are used in the same virtual space. Allows users to enjoy a common game.
  • Each computer 200 may communicate a signal based on the operation of each user with another computer 200 without going through the server 600.
  • the external device 700 may be any device as long as it can communicate with the computer 200.
  • the external device 700 may be, for example, a device capable of communicating with the computer 200 via the network 2, or a device capable of directly communicating with the computer 200 by short-range wireless communication or a wired connection.
  • Examples of the external device 700 include, but are not limited to, smart devices, PCs (Personal Computers), and peripheral devices of the computer 200.
  • FIG. 2 is a block diagram showing an example of the hardware configuration of the computer 200 according to the present embodiment.
  • the computer 200 includes a processor 210, a memory 220, a storage 230, an input / output interface 240, and a communication interface 250 as main components. Each component is connected to bus 260, respectively.
  • the processor 210 executes a series of instructions included in the program stored in the memory 220 or the storage 230 based on the signal given to the computer 200 or when a predetermined condition is satisfied.
  • the processor 210 is realized as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an MPU (Micro Processor Unit), an FPGA (Field-Programmable Gate Array), or other devices.
  • the memory 220 temporarily stores programs and data.
  • the program is loaded from storage 230, for example.
  • the data includes data input to the computer 200 and data generated by the processor 210.
  • the memory 220 is realized as a RAM (Random Access Memory) or other volatile memory.
  • Storage 230 holds programs and data permanently.
  • the storage 230 is realized as, for example, a ROM (Read-Only Memory), a hard disk device, a flash memory, or other non-volatile storage device.
  • the program stored in the storage 230 includes a program for providing a virtual space in the HMD system 100, a simulation program, a game program, a user authentication program, and a program for realizing communication with another computer 200.
  • the data stored in the storage 230 includes data, objects, and the like for defining the virtual space.
  • the storage 230 may be realized as a removable storage device such as a memory card.
  • a configuration that uses programs and data stored in an external storage device may be used instead of the storage 230 built into the computer 200. According to such a configuration, for example, in a scene where a plurality of HMD systems 100 are used such as an amusement facility, programs and data can be updated collectively.
  • the input / output interface 240 communicates signals with the HMD 120, the HMD sensor 410, the motion sensor 420, and the display 430.
  • the monitor 130, the gaze sensor 140, the first camera 150, the second camera 160, the microphone 170, and the speaker 180 included in the HMD 120 can communicate with the computer 200 via the input / output interface 240 of the HMD 120.
  • the input / output interface 240 is realized by using USB (Universal Serial Bus), DVI (Digital Visual Interface), HDMI (registered trademark) (High-Definition Multimedia Interface) and other terminals.
  • the input / output interface 240 is not limited to the above.
  • the input / output interface 240 may further communicate with the controller 300.
  • the input / output interface 240 receives input of signals output from the controller 300 and the motion sensor 420.
  • the input / output interface 240 sends an instruction output from the processor 210 to the controller 300.
  • the command instructs the controller 300 to vibrate, output voice, emit light, and the like.
  • the controller 300 executes either vibration, voice output, or light emission in response to the command.
  • the communication interface 250 is connected to the network 2 and communicates with another computer (for example, the server 600) connected to the network 2.
  • the communication interface 250 is realized as, for example, a LAN (Local Area Network) or other wired communication interface, or a WiFi (Wireless Fidelity), Bluetooth (registered trademark), NFC (Near Field Communication) or other wireless communication interface. Will be done.
  • the communication interface 250 is not limited to the above.
  • the processor 210 accesses the storage 230, loads one or more programs stored in the storage 230 into the memory 220, and executes a series of instructions contained in the program.
  • the one or more programs may include an operating system of a computer 200, an application program for providing a virtual space, game software that can be executed in the virtual space, and the like.
  • the processor 210 sends a signal to the HMD 120 to provide virtual space via the input / output interface 240.
  • the HMD 120 displays an image on the monitor 130 based on the signal.
  • the computer 200 is configured to be provided outside the HMD 120, but in another aspect, the computer 200 may be built in the HMD 120.
  • a portable information communication terminal for example, a smartphone
  • a monitor 130 may function as a computer 200.
  • the computer 200 may have a configuration commonly used for a plurality of HMD 120s. According to such a configuration, for example, the same virtual space can be provided to a plurality of users, so that each user can enjoy the same application as other users in the same virtual space.
  • a real coordinate system which is a coordinate system in the real space
  • the real coordinate system has three reference directions (axises) that are parallel to the vertical direction in the real space, the horizontal direction orthogonal to the vertical direction, and the front-back direction orthogonal to both the vertical direction and the horizontal direction.
  • the horizontal direction, the vertical direction (vertical direction), and the front-back direction in the real coordinate system are defined as the x-axis, the y-axis, and the z-axis, respectively. More specifically, in the real coordinate system, the x-axis is parallel to the horizontal direction in real space.
  • the y-axis is parallel to the vertical direction in real space.
  • the z-axis is parallel to the front-back direction of the real space.
  • the HMD sensor 410 includes an infrared sensor.
  • the infrared sensor detects infrared rays emitted from each light source of the HMD 120, the presence of the HMD 120 is detected.
  • the HMD sensor 410 further detects the position and inclination (orientation) of the HMD 120 in the real space according to the movement of the user 5 wearing the HMD 120 based on the value of each point (each coordinate value in the real coordinate system). To do. More specifically, the HMD sensor 410 can detect a temporal change in the position and inclination of the HMD 120 by using each value detected over time.
  • Each inclination of the HMD 120 detected by the HMD sensor 410 corresponds to each inclination of the HMD 120 around three axes in the real coordinate system.
  • the HMD sensor 410 sets the uvw field coordinate system to the HMD 120 based on the inclination of the HMD 120 in the real coordinate system.
  • the uvw field-of-view coordinate system set in the HMD 120 corresponds to the viewpoint coordinate system when the user 5 wearing the HMD 120 sees an object in the virtual space.
  • FIG. 3 is a diagram conceptually representing the uvw field coordinate system set in the HMD 120 according to an embodiment.
  • the HMD sensor 410 detects the position and tilt of the HMD 120 in the real coordinate system when the HMD 120 is activated.
  • Processor 210 sets the uvw field coordinate system to HMD 120 based on the detected values.
  • the HMD 120 sets a three-dimensional uvw visual field coordinate system centered (origin) on the head of the user 5 wearing the HMD 120. More specifically, the HMD 120 defines the real coordinate system in the horizontal, vertical, and front-back directions (x-axis, y-axis, z-axis) by the inclination of the HMD 120 around each axis in the real coordinate system. The three directions newly obtained by tilting each around the axis are set as the pitch axis (u axis), the yaw axis (v axis), and the roll axis (w axis) of the uvw field coordinate system in the HMD 120.
  • the processor 210 sets the uvw field coordinate system parallel to the real coordinate system to the HMD 120.
  • the horizontal direction (x-axis), vertical direction (y-axis), and front-back direction (z-axis) in the real coordinate system are the pitch axis (u-axis) and yaw-axis (v-axis) of the uvw field coordinate system in the HMD 120.
  • the roll axis (w axis) are the roll axis (w axis).
  • the HMD sensor 410 can detect the tilt of the HMD 120 in the set uvw field coordinate system based on the movement of the HMD 120. In this case, the HMD sensor 410 detects the pitch angle ( ⁇ u), yaw angle ( ⁇ v), and roll angle ( ⁇ w) of the HMD 120 in the uvw visual field coordinate system as the inclination of the HMD 120, respectively.
  • the pitch angle ( ⁇ u) represents the tilt angle of the HMD 120 around the pitch axis in the uvw field coordinate system.
  • the yaw angle ( ⁇ v) represents the tilt angle of the HMD 120 around the yaw axis in the uvw visual field coordinate system.
  • the roll angle ( ⁇ w) represents the tilt angle of the HMD 120 around the roll axis in the uvw field coordinate system.
  • the HMD sensor 410 sets the uvw field coordinate system in the HMD 120 after the HMD 120 has moved to the HMD 120 based on the detected inclination of the HMD 120.
  • the relationship between the HMD 120 and the uvw field coordinate system of the HMD 120 is always constant regardless of the position and inclination of the HMD 120.
  • the position and inclination of the HMD 120 change, the position and inclination of the uvw visual field coordinate system of the HMD 120 in the real coordinate system change in conjunction with the change of the position and inclination.
  • the HMD sensor 410 determines the HMD 120 based on the infrared light intensity obtained based on the output from the infrared sensor and the relative positional relationship between the points (eg, the distance between the points).
  • the position of the above in the real space may be specified as a relative position with respect to the HMD sensor 410.
  • the processor 210 may determine the origin of the uvw visual field coordinate system of the HMD 120 in real space (real coordinate system) based on the identified relative position.
  • FIG. 4 is a diagram conceptually representing one aspect of expressing the virtual space 11 according to a certain embodiment.
  • the virtual space 11 has an all-sky spherical structure that covers the entire center 12 in the 360-degree direction.
  • the celestial sphere in the upper half of the virtual space 11 is illustrated so as not to complicate the explanation.
  • Each mesh is defined in the virtual space 11.
  • the position of each mesh is predetermined as a coordinate value in the XYZ coordinate system, which is a global coordinate system defined in the virtual space 11.
  • the computer 200 associates each partial image constituting the panoramic image 13 (still image, moving image, etc.) expandable in the virtual space 11 with each corresponding mesh in the virtual space 11.
  • the virtual space 11 defines an XYZ coordinate system with the center 12 as the origin.
  • the XYZ coordinate system is, for example, parallel to the real coordinate system.
  • the horizontal direction, vertical direction (vertical direction), and front-back direction in the XYZ coordinate system are defined as the X-axis, the Y-axis, and the Z-axis, respectively. Therefore, the X-axis (horizontal direction) of the XYZ coordinate system is parallel to the x-axis of the real coordinate system, and the Y-axis (vertical direction) of the XYZ coordinate system is parallel to the y-axis of the real coordinate system.
  • the Z-axis (front-back direction) is parallel to the z-axis of the real coordinate system.
  • the virtual camera 14 is arranged at the center 12 of the virtual space 11.
  • the processor 210 displays an image captured by the virtual camera 14 on the monitor 130 of the HMD 120.
  • the virtual camera 14 moves in the virtual space 11 in the same manner in conjunction with the movement of the HMD 120 in the real space.
  • changes in the position and inclination of the HMD 120 in the real space can be similarly reproduced in the virtual space 11.
  • the virtual camera 14 is defined with an uvw field-of-view coordinate system.
  • the uvw field-of-view coordinate system of the virtual camera 14 in the virtual space 11 is defined to be linked to the uvw field-of-view coordinate system of the HMD 120 in the real space (real coordinate system). Therefore, when the inclination of the HMD 120 changes, the inclination of the virtual camera 14 also changes accordingly.
  • the virtual camera 14 can also move in the virtual space 11 in conjunction with the movement of the user 5 wearing the HMD 120 in the real space.
  • the processor 210 of the computer 200 defines the field of view 15 in the virtual space 11 based on the position and tilt (reference line of sight 16) of the virtual camera 14.
  • the visual field area 15 corresponds to an area in the virtual space 11 that is visually recognized by the user 5 wearing the HMD 120. That is, the position of the virtual camera 14 can be said to be the viewpoint of the user 5 in the virtual space 11.
  • the line of sight of the user 5 detected by the gaze sensor 140 is a direction in the viewpoint coordinate system when the user 5 visually recognizes an object.
  • the uvw field-of-view coordinate system of the HMD 120 is equal to the viewpoint coordinate system when the user 5 visually recognizes the monitor 130.
  • the uvw field-of-view coordinate system of the virtual camera 14 is linked to the uvw field-of-view coordinate system of the HMD 120. Therefore, the HMD system 100 according to a certain aspect can consider the line of sight of the user 5 detected by the gaze sensor 140 as the line of sight of the user 5 in the uvw field of view coordinate system of the virtual camera 14.
  • FIG. 5 is a top view of the head of the user 5 who wears the HMD 120 according to an embodiment.
  • the gaze sensor 140 detects each line of sight of the user 5's right and left eyes. In a certain aspect, when the user 5 is looking near, the gaze sensor 140 detects the lines of sight R1 and L1. In another aspect, when the user 5 is looking far away, the gaze sensor 140 detects the lines of sight R2 and L2. In this case, the angle formed by the lines of sight R2 and L2 with respect to the roll axis w is smaller than the angle formed by the lines of sight R1 and L1 with respect to the roll axis w. The gaze sensor 140 transmits the detection result to the computer 200.
  • the computer 200 When the computer 200 receives the detection values of the lines of sight R1 and L1 from the gaze sensor 140 as the detection result of the line of sight, the computer 200 identifies the gaze point N1 which is the intersection of the lines of sight R1 and L1 based on the detected values. On the other hand, when the computer 200 receives the detected values of the lines of sight R2 and L2 from the gaze sensor 140, the computer 200 identifies the intersection of the lines of sight R2 and L2 as the gaze point. The computer 200 identifies the line of sight N0 of the user 5 based on the position of the specified gazing point N1.
  • the computer 200 detects, for example, the extending direction of the straight line passing through the midpoint of the straight line connecting the right eye R and the left eye L of the user 5 and the gazing point N1 as the line of sight N0.
  • the line of sight N0 is the direction in which the user 5 actually directs the line of sight with both eyes.
  • the line of sight N0 corresponds to the direction in which the user 5 actually directs the line of sight with respect to the view area 15.
  • the HMD system 100 may include a television broadcast receiving tuner. According to such a configuration, the HMD system 100 can display a television program in the virtual space 11.
  • the HMD system 100 may include a communication circuit for connecting to the Internet or a telephone function for connecting to a telephone line.
  • FIG. 6 is a diagram showing a YZ cross section of the field of view region 15 viewed from the X direction in the virtual space 11.
  • FIG. 7 is a diagram showing an XZ cross section of the field of view region 15 viewed from the Y direction in the virtual space 11.
  • the field of view region 15 in the YZ cross section includes the region 18.
  • the region 18 is defined by the position of the virtual camera 14, the reference line of sight 16, and the YZ cross section of the virtual space 11.
  • the processor 210 defines a range including the polar angle ⁇ centered on the reference line of sight 16 in the virtual space as a region 18.
  • the field of view region 15 in the XZ cross section includes the region 19.
  • the region 19 is defined by the position of the virtual camera 14, the reference line of sight 16, and the XZ cross section of the virtual space 11.
  • the processor 210 defines a range including the azimuth angle ⁇ centered on the reference line of sight 16 in the virtual space 11 as a region 19.
  • the polar angles ⁇ and ⁇ are determined according to the position of the virtual camera 14 and the inclination (orientation) of the virtual camera 14.
  • the HMD system 100 provides the user 5 with a field of view in the virtual space 11 by displaying the field of view image 17 on the monitor 130 based on the signal from the computer 200.
  • the visual field image 17 is an image corresponding to a portion of the panoramic image 13 corresponding to the visual field region 15.
  • the virtual camera 14 also moves in conjunction with the movement.
  • the position of the visual field region 15 in the virtual space 11 changes.
  • the field-of-view image 17 displayed on the monitor 130 is updated to an image of the panoramic image 13 superimposed on the field-of-view area 15 in the direction in which the user 5 faces in the virtual space 11.
  • the user 5 can visually recognize a desired direction in the virtual space 11.
  • the inclination of the virtual camera 14 corresponds to the line of sight (reference line of sight 16) of the user 5 in the virtual space 11, and the position where the virtual camera 14 is arranged corresponds to the viewpoint of the user 5 in the virtual space 11. Therefore, by changing the position or tilt of the virtual camera 14, the image displayed on the monitor 130 is updated, and the field of view of the user 5 is moved.
  • the HMD system 100 can give the user 5 a high sense of immersion in the virtual space 11.
  • the processor 210 may move the virtual camera 14 in the virtual space 11 in conjunction with the movement of the user 5 wearing the HMD 120 in the real space. In this case, the processor 210 identifies an image region (field of view region 15) projected onto the monitor 130 of the HMD 120 based on the position and tilt of the virtual camera 14 in the virtual space 11.
  • the virtual camera 14 may include two virtual cameras, a virtual camera for providing an image for the right eye and a virtual camera for providing an image for the left eye. Appropriate parallax is set for the two virtual cameras so that the user 5 can recognize the three-dimensional virtual space 11.
  • the virtual camera 14 may be realized by one virtual camera. In this case, an image for the right eye and an image for the left eye may be generated from the image obtained by one virtual camera.
  • the virtual camera 14 includes two virtual cameras, and the roll axis (w) generated by synthesizing the roll axes of the two virtual cameras is adapted to the roll axis (w) of the HMD 120. The technical idea of the present disclosure is illustrated as being configured as such.
  • FIG. 8 is a diagram showing a schematic configuration of a controller 300 according to an embodiment.
  • the controller 300 may include a right controller 300R and a left controller (not shown).
  • the right controller 300R is operated by the right hand of the user 5.
  • the left controller is operated by the left hand of the user 5.
  • the right controller 300R and the left controller are symmetrically configured as separate devices. Therefore, the user 5 can freely move the right hand holding the right controller 300R and the left hand holding the left controller.
  • the controller 300 may be an integrated controller that accepts operations of both hands.
  • the right controller 300R will be described.
  • the right controller 300R includes a grip 310, a frame 320, and a top surface 330.
  • the grip 310 is configured to be gripped by the right hand of the user 5.
  • the grip 310 may be held by the palm of the user 5's right hand and three fingers (middle finger, ring finger, little finger).
  • the grip 310 includes buttons 340, 350 and a motion sensor 420.
  • the button 340 is arranged on the side surface of the grip 310 and accepts an operation by the middle finger of the right hand.
  • the button 350 is arranged in front of the grip 310 and accepts an operation by the index finger of the right hand.
  • the buttons 340,350 are configured as trigger-type buttons.
  • the motion sensor 420 is built in the housing of the grip 310. If the movement of the user 5 can be detected from around the user 5 by a camera or other device, the grip 310 may not include the motion sensor 420.
  • the frame 320 includes a plurality of infrared LEDs 360 arranged along its circumferential direction.
  • the infrared LED 360 emits infrared rays as the program progresses while the program using the controller 300 is being executed.
  • the infrared rays emitted from the infrared LED 360 can be used to detect each position and orientation (tilt, orientation) of the right controller 300R and the left controller.
  • infrared LEDs 360 arranged in two rows are shown, but the number of arrays is not limited to that shown in FIG. An array of one column or three or more columns may be used.
  • the top surface 330 includes buttons 370, 380 and an analog stick 390.
  • the buttons 370 and 380 are configured as push-type buttons. Buttons 370 and 380 accept operations by the thumb of the user 5's right hand.
  • the analog stick 390 accepts an operation 360 degrees in any direction from the initial position (neutral position) in a certain aspect.
  • the operation includes, for example, an operation for moving an object arranged in the virtual space 11.
  • the right controller 300R and the left controller include a battery for driving the infrared LED 360 and other components. Batteries include, but are not limited to, rechargeable, button type, dry cell type and the like.
  • the right controller 300R and the left controller may be connected to, for example, the USB interface of the computer 200. In this case, the right controller 300R and the left controller do not require batteries.
  • the yaw, roll, and pitch directions are defined with respect to the right hand of the user 5.
  • the direction in which the thumb extends is the yaw direction
  • the direction in which the index finger extends is the roll direction
  • the direction perpendicular to the plane defined by the yaw direction axis and the roll direction axis is the pitch direction. Is defined as.
  • FIG. 9 is a block diagram showing an example of the hardware configuration of the server 600 according to a certain embodiment.
  • the server 600 includes a processor 610, a memory 620, a storage 630, an input / output interface 640, and a communication interface 650 as main components. Each component is connected to bus 660, respectively.
  • the processor 610 executes a series of instructions contained in the program stored in the memory 620 or the storage 630 based on the signal given to the server 600 or the condition that a predetermined condition is satisfied.
  • the processor 610 is implemented as a CPU, GPU, MPU, FPGA or other device.
  • Memory 620 temporarily stores programs and data.
  • the program is loaded from storage 630, for example.
  • the data includes data input to the server 600 and data generated by the processor 610.
  • the memory 620 is realized as a RAM or other volatile memory.
  • Storage 630 permanently holds programs and data.
  • the storage 630 is realized as, for example, a ROM, a hard disk device, a flash memory, or other non-volatile storage device.
  • the program stored in the storage 630 may include a program for providing a virtual space in the HMD system 100, a simulation program, a game program, a user authentication program, and a program for realizing communication with the computer 200.
  • the data stored in the storage 630 may include data, objects, and the like for defining the virtual space.
  • the storage 630 may be realized as a removable storage device such as a memory card.
  • a configuration using programs and data stored in an external storage device may be used instead of the storage 630 built into the server 600. According to such a configuration, for example, in a scene where a plurality of HMD systems 100 are used such as an amusement facility, it is possible to update programs and data at once.
  • the input / output interface 640 communicates a signal with the input / output device.
  • the input / output interface 640 is implemented using USB, DVI, HDMI® and other terminals.
  • the input / output interface 640 is not limited to the above.
  • the communication interface 650 is connected to the network 2 and communicates with the computer 200 connected to the network 2.
  • the communication interface 650 is implemented as, for example, a LAN or other wired communication interface, or a WiFi, Bluetooth, NFC or other wireless communication interface.
  • the communication interface 650 is not limited to the above.
  • the processor 610 accesses the storage 630, loads one or more programs stored in the storage 630 into the memory 620, and executes a series of instructions contained in the program.
  • the one or more programs may include an operating system for the server 600, an application program for providing the virtual space, game software that can be executed in the virtual space, and the like.
  • the processor 610 may send a signal to the computer 200 to provide virtual space via the input / output interface 640.
  • FIG. 10 is a block diagram showing a computer 200 according to an embodiment as a module configuration.
  • the computer 200 includes a control module 510, a rendering module 520, a memory module 530, and a communication control module 540.
  • the control module 510 and the rendering module 520 are implemented by the processor 210.
  • the plurality of processors 210 may operate as the control module 510 and the rendering module 520.
  • the memory module 530 is realized by the memory 220 or the storage 230.
  • the communication control module 540 is realized by the communication interface 250.
  • the control module 510 controls the virtual space 11 provided to the user 5.
  • the control module 510 defines the virtual space 11 in the HMD system 100 by using the virtual space data representing the virtual space 11.
  • the virtual space data is stored in, for example, the memory module 530.
  • the control module 510 may generate virtual space data or acquire virtual space data from a server 600 or the like.
  • the control module 510 arranges an object in the virtual space 11 by using the object data representing the object.
  • the object data is stored in, for example, the memory module 530.
  • the control module 510 may generate object data or acquire object data from a server 600 or the like.
  • the objects are, for example, an avatar object that is the alter ego of the user 5, a character object, an operation object such as a virtual hand operated by the controller 300, a landscape including forests, mountains, etc. arranged as the story of the game progresses, a cityscape, and animals. Etc. may be included.
  • the control module 510 arranges the avatar object of the user 5 of another computer 200 connected via the network 2 in the virtual space 11. In a certain aspect, the control module 510 arranges the avatar object of the user 5 in the virtual space 11. In a certain aspect, the control module 510 arranges an avatar object imitating the user 5 in the virtual space 11 based on the image including the user 5. In another aspect, the control module 510 arranges in the virtual space 11 an avatar object that has been selected by the user 5 from among a plurality of types of avatar objects (for example, an object imitating an animal or a deformed human object). To do.
  • a plurality of types of avatar objects for example, an object imitating an animal or a deformed human object.
  • the control module 510 identifies the tilt of the HMD 120 based on the output of the HMD sensor 410. In another aspect, the control module 510 identifies the tilt of the HMD 120 based on the output of the sensor 190, which functions as a motion sensor.
  • the control module 510 detects organs (for example, mouth, eyes, eyebrows) constituting the face of the user 5 from the images of the face of the user 5 generated by the first camera 150 and the second camera 160.
  • the control module 510 detects the movement (shape) of each detected organ.
  • the control module 510 detects the line of sight of the user 5 in the virtual space 11 based on the signal from the gaze sensor 140.
  • the control module 510 detects the viewpoint position (coordinate value in the XYZ coordinate system) at which the detected line of sight of the user 5 and the celestial sphere in the virtual space 11 intersect. More specifically, the control module 510 detects the viewpoint position based on the line of sight of the user 5 defined by the uvw coordinate system and the position and inclination of the virtual camera 14.
  • the control module 510 transmits the detected viewpoint position to the server 600.
  • the control module 510 may be configured to transmit line-of-sight information representing the line-of-sight of the user 5 to the server 600. In such a case, the viewpoint position can be calculated based on the line-of-sight information received by the server 600.
  • the control module 510 reflects the movement of the HMD 120 detected by the HMD sensor 410 on the avatar object. For example, the control module 510 detects that the HMD 120 is tilted and tilts and arranges the avatar object. The control module 510 reflects the detected movement of the facial organ on the face of the avatar object arranged in the virtual space 11. The control module 510 receives the line-of-sight information of the other user 5 from the server 600 and reflects it in the line-of-sight of the avatar object of the other user 5. In a certain aspect, the control module 510 reflects the movement of the controller 300 on the avatar object and the operation object. In this case, the controller 300 includes a motion sensor, an acceleration sensor, a plurality of light emitting elements (for example, infrared LEDs), and the like for detecting the movement of the controller 300.
  • the controller 300 includes a motion sensor, an acceleration sensor, a plurality of light emitting elements (for example, infrared LEDs), and the like for detecting the movement of the controller 300
  • the control module 510 arranges an operation object for receiving the operation of the user 5 in the virtual space 11 in the virtual space 11.
  • the user 5 operates, for example, an object arranged in the virtual space 11.
  • the operation object may include, for example, a hand object which is a virtual hand corresponding to the hand of the user 5.
  • the control module 510 moves the hand object in the virtual space 11 so as to be linked to the movement of the user 5's hand in the real space based on the output of the motion sensor 420.
  • the manipulation object can correspond to the hand portion of the avatar object.
  • the control module 510 detects the collision.
  • the control module 510 can detect, for example, the timing at which the collision area of one object and the collision area of another object touch each other, and when the detection is made, a predetermined process is performed.
  • the control module 510 can detect the timing when the object and the object are separated from the touching state, and when the detection is made, a predetermined process is performed.
  • the control module 510 can detect that the object is in contact with the object. For example, when the operation object touches another object, the control module 510 detects that the operation object touches the other object and performs a predetermined process.
  • the control module 510 controls the image display on the monitor 130 of the HMD 120.
  • the control module 510 arranges the virtual camera 14 in the virtual space 11.
  • the control module 510 controls the position of the virtual camera 14 in the virtual space 11 and the inclination (orientation) of the virtual camera 14.
  • the control module 510 defines the field of view 15 according to the inclination of the head of the user 5 wearing the HMD 120 and the position of the virtual camera 14.
  • the rendering module 520 generates a visual field image 17 to be displayed on the monitor 130 based on the determined visual field region 15.
  • the field of view image 17 generated by the rendering module 520 is output to the HMD 120 by the communication control module 540.
  • control module 510 When the control module 510 detects an utterance using the microphone 170 of the user 5 from the HMD 120, the control module 510 identifies the computer 200 to which the voice data to be transmitted corresponding to the utterance is transmitted. The voice data is transmitted to the computer 200 identified by the control module 510. When the control module 510 receives voice data from another user's computer 200 via the network 2, the control module 510 outputs the voice (utterance) corresponding to the voice data from the speaker 180.
  • the memory module 530 holds data used by the computer 200 to provide the virtual space 11 to the user 5.
  • the memory module 530 holds spatial information, object information, and user information.
  • Spatial information holds one or more templates defined to provide the virtual space 11.
  • the object information includes a plurality of panoramic images 13 constituting the virtual space 11 and object data for arranging the objects in the virtual space 11.
  • the panoramic image 13 may include a still image and a moving image.
  • the panoramic image 13 may include an image in the unreal space and an image in the real space. Examples of images in unreal space include images generated by computer graphics.
  • the user information holds a user ID that identifies the user 5.
  • the user ID may be, for example, an IP (Internet Protocol) address or a MAC (Media Access Control) address set in the computer 200 used by the user. In another aspect, the user ID may be set by the user.
  • the user information includes a program for operating the computer 200 as a control device of the HMD system 100 and the like.
  • the data and programs stored in the memory module 530 are input by the user 5 of the HMD 120.
  • the processor 210 downloads a program or data from a computer (for example, a server 600) operated by a business operator that provides the content, and stores the downloaded program or data in the memory module 530.
  • the communication control module 540 may communicate with the server 600 and other information communication devices via the network 2.
  • control module 510 and the rendering module 520 may be implemented using, for example, Unity® provided by Unity Technologies.
  • control module 510 and the rendering module 520 can also be realized as a combination of circuit elements that realize each process.
  • the processing in the computer 200 is realized by the hardware and the software executed by the processor 210.
  • Such software may be pre-stored in a hard disk or other memory module 530.
  • the software may be stored on a CD-ROM or other computer-readable non-volatile data recording medium and distributed as a program product. Alternatively, the software may be provided as a downloadable program product by an information provider connected to the Internet or other networks.
  • Such software is read from a data recording medium by an optical disk drive or other data reader, or downloaded from a server 600 or other computer via a communication control module 540, and then temporarily stored in a storage module. ..
  • the software is read from the storage module by the processor 210 and stored in RAM in the form of an executable program. Processor 210 executes the program.
  • FIG. 11 is a sequence chart showing a part of the processing performed in the HMD set 110 according to an embodiment.
  • step S1110 the processor 210 of the computer 200 specifies the virtual space data as the control module 510 and defines the virtual space 11.
  • step S1120 the processor 210 initializes the virtual camera 14. For example, the processor 210 arranges the virtual camera 14 at a predetermined center 12 in the virtual space 11 in the work area of the memory, and directs the line of sight of the virtual camera 14 in the direction in which the user 5 is facing.
  • step S1130 the processor 210 generates the field of view image data for displaying the initial field of view image as the rendering module 520.
  • the generated field of view image data is output to the HMD 120 by the communication control module 540.
  • step S1132 the monitor 130 of the HMD 120 displays the field of view image based on the field of view image data received from the computer 200.
  • the user 5 wearing the HMD 120 can recognize the virtual space 11 when he / she visually recognizes the field view image.
  • step S1134 the HMD sensor 410 detects the position and tilt of the HMD 120 based on the plurality of infrared rays emitted from the HMD 120.
  • the detection result is output to the computer 200 as motion detection data.
  • step S1140 the processor 210 identifies the visual field direction of the user 5 wearing the HMD 120 based on the position and the inclination included in the motion detection data of the HMD 120.
  • step S1150 the processor 210 executes the application program and arranges the object in the virtual space 11 based on the instruction included in the application program.
  • step S1160 the controller 300 detects the operation of the user 5 based on the signal output from the motion sensor 420, and outputs the detection data representing the detected operation to the computer 200.
  • the operation of the controller 300 by the user 5 may be detected based on an image from a camera arranged around the user 5.
  • step S1170 the processor 210 detects the operation of the controller 300 by the user 5 based on the detection data acquired from the controller 300.
  • step S1180 the processor 210 generates the field of view image data based on the operation of the controller 300 by the user 5.
  • the generated field of view image data is output to the HMD 120 by the communication control module 540.
  • step S1190 the HMD 120 updates the visual field image based on the received visual field image data, and displays the updated visual field image on the monitor 130.
  • FIGS. 12A and 12B An avatar object according to the present embodiment will be described with reference to FIGS. 12A and 12B.
  • a user 5A the user of the HMD set 110A will be referred to as a user 5A
  • the user of the HMD set 110B will be referred to as a user 5B
  • the user of the HMD set 110C will be referred to as a user 5C
  • the user of the HMD set 110D will be referred to as a user 5D.
  • A is added to the reference code of each component related to the HMD set 110A
  • B is added to the reference code of each component related to the HMD set 110B
  • C is added to the reference code of each component related to the HMD set 110C
  • a D is added to the reference code of each component with respect to 110D.
  • the HMD 120A is included in the HMD set 110A.
  • FIG. 12A is a schematic diagram showing a situation in which each HMD 120 provides the virtual space 11 to the user 5 in the network 2.
  • the computers 200A to 200D provide the virtual spaces 11A to 11D to the users 5A to 5D via the HMDs 120A to 120D, respectively.
  • the virtual space 11A and the virtual space 11B are composed of the same data.
  • the computer 200A and the computer 200B share the same virtual space.
  • the avatar object 6A of the user 5A and the avatar object 6B of the user 5B exist.
  • the avatar object 6A in the virtual space 11A and the avatar object 6B in the virtual space 11B are each equipped with the HMD 120, but this is for the sake of clarity, and in reality, these objects are equipped with the HMD 120. Not.
  • the processor 210A may place a virtual camera 14A that captures the field of view image 17A of the user 5A at the eye position of the avatar object 6A.
  • FIG. 12 (B) is a diagram showing the field of view image 17A of the user 5A in FIG. 12 (A).
  • the field of view image 17A is an image displayed on the monitor 130A of the HMD 120A.
  • the field view image 17A is an image generated by the virtual camera 14A.
  • the avatar object 6B of the user 5B is displayed in the field of view image 17A.
  • the avatar object 6A of the user 5A is also displayed in the field of view image of the user 5B.
  • the user 5A can communicate with the user 5B through the virtual space 11A by dialogue. More specifically, the voice of the user 5A acquired by the microphone 170A is transmitted to the HMD 120B of the user 5B via the server 600, and is output from the speaker 180B provided in the HMD 120B. The voice of the user 5B is transmitted to the HMD 120A of the user 5A via the server 600, and is output from the speaker 180A provided in the HMD 120A.
  • the operation of the user 5B (the operation of the HMD 120B and the operation of the controller 300B) is reflected in the avatar object 6B arranged in the virtual space 11A by the processor 210A.
  • the user 5A can recognize the operation of the user 5B through the avatar object 6B.
  • FIG. 13 is a sequence chart showing a part of the processing executed in the HMD system 100 according to the present embodiment.
  • the HMD set 110D is not shown in FIG. 13, the HMD set 110D operates in the same manner as the HMD sets 110A, 110B, and 110C.
  • A is added to the reference code of each component related to the HMD set 110A
  • B is added to the reference code of each component related to the HMD set 110B
  • C is added to the reference code of each component related to the HMD set 110C. It shall be attached and D shall be attached to the reference code of each component with respect to the HMD set 110D.
  • step S1310A the processor 210A in the HMD set 110A acquires the avatar information for determining the operation of the avatar object 6A in the virtual space 11A.
  • This avatar information includes information about the avatar such as motion information, face tracking data, and voice data.
  • the motion information includes information indicating a temporal change in the position and inclination of the HMD 120A, information indicating the hand motion of the user 5A detected by the motion sensor 420A or the like, and the like.
  • Examples of the face tracking data include data for specifying the position and size of each part of the face of the user 5A.
  • Examples of the face tracking data include data indicating the movement of each organ constituting the face of the user 5A and line-of-sight data.
  • Examples of the voice data include data indicating the voice of the user 5A acquired by the microphone 170A of the HMD 120A.
  • the avatar information may include information that identifies the avatar object 6A or the user 5A associated with the avatar object 6A, information that identifies the virtual space 11A in which the avatar object 6A exists, and the like.
  • Information that identifies the avatar object 6A and the user 5A includes a user ID.
  • Information that identifies the virtual space 11A in which the avatar object 6A exists includes a room ID.
  • the processor 210A transmits the avatar information acquired as described above to the server 600 via the network 2.
  • step S1310B the processor 210B in the HMD set 110B acquires the avatar information for determining the operation of the avatar object 6B in the virtual space 11B and transmits it to the server 600, as in the process in step S1310A.
  • step S1310C the processor 210C in the HMD set 110C acquires the avatar information for determining the operation of the avatar object 6C in the virtual space 11C and transmits it to the server 600.
  • step S1320 the server 600 temporarily stores the player information received from each of the HMD set 110A, the HMD set 110B, and the HMD set 110C.
  • the server 600 integrates the avatar information of all users (users 5A to 5C in this example) associated with the common virtual space 11 based on the user ID, room ID, and the like included in each avatar information. Then, the server 600 transmits the integrated avatar information to all the users associated with the virtual space 11 at a predetermined timing. As a result, the synchronization process is executed.
  • the HMD set 110A, the HMD set 110B, and the HMD 110C can share each other's avatar information at substantially the same timing.
  • each HMD set 110A to 110C executes the process of steps S1330A to S1330C based on the avatar information transmitted from the server 600 to each HMD set 110A to 110C.
  • the process of step S1330A corresponds to the process of step S1180 in FIG.
  • step S1330A the processor 210A in the HMD set 110A updates the information of the avatar object 6B and the avatar object 6C of the other users 5B and 5C in the virtual space 11A. Specifically, the processor 210A updates the position and orientation of the avatar object 6B in the virtual space 11 based on the motion information included in the avatar information transmitted from the HMD set 110B. For example, the processor 210A updates the information (position, orientation, etc.) of the avatar object 6B included in the object information stored in the memory module 530. Similarly, the processor 210A updates the information (position, orientation, etc.) of the avatar object 6C in the virtual space 11 based on the motion information included in the avatar information transmitted from the HMD set 110C.
  • step S1330B the processor 210B in the HMD set 110B updates the information of the avatar objects 6A, 6C of the users 5A, 5C in the virtual space 11B, as in the process in step S1330A.
  • step S1330C the processor 210C in the HMD set 110C updates the information of the avatar objects 6A, 6B of the users 5A, 5B in the virtual space 11C.
  • FIG. 14 is a block diagram showing a detailed configuration of a module of the computer 200 according to an embodiment.
  • the control module 510 includes a virtual camera control module 1421, a view area determination module 1422, a reference line-of-sight identification module 1423, a facial organ detection module 1424, a motion detection module 1425, and a virtual space definition. It includes a module 1426, a virtual object generation module 1427, an operation object control module 1428, and an avatar control module 1429.
  • the rendering module 520 includes a field image generation module 1438.
  • the memory module 530 holds spatial information 1431, object information 1432, user information 1433, and face information 1434.
  • the virtual camera control module 1421 arranges the virtual camera 14 in the virtual space 11.
  • the virtual camera control module 1421 controls the arrangement position of the virtual camera 14 in the virtual space 11 and the orientation (tilt) of the virtual camera 14.
  • the field-of-view area determination module 1422 defines the field-of-view area 15 according to the orientation of the head of the user wearing the HMD 120 and the arrangement position of the virtual camera 14.
  • the visual field image generation module 1438 generates a visual field image 17 to be displayed on the monitor 130 based on the determined visual field region 15.
  • the reference line-of-sight identification module 1423 identifies the line-of-sight of the user 5 based on the signal from the gaze sensor 140.
  • the facial organ detection module 1424 detects organs (for example, mouth, eyes, eyebrows) constituting the face of the user 5 from the images of the face of the user 5 generated by the first camera 150 and the second camera 160.
  • the motion detection module 1425 detects the motion (shape) of each organ detected by the facial organ detection module 1424.
  • the virtual space definition module 1426 defines the virtual space 11 in the HMD system 100 by generating virtual space data representing the virtual space 11.
  • the virtual object generation module 1427 generates an object to be arranged in the virtual space 11.
  • Objects can include, for example, landscapes, animals, etc., including forests, mountains, etc., which are arranged as the story of the game progresses.
  • the operation object control module 1428 arranges an operation object for receiving a user's operation in the virtual space 11 in the virtual space 11.
  • the user operates, for example, an object arranged in the virtual space 11.
  • the operating object may include, for example, a hand object corresponding to the hand of the user wearing the HMD 120.
  • the manipulation object may correspond to the hand portion of the avatar object described below.
  • the avatar control module 1429 generates data for arranging the avatar object of another computer 200 user connected via the network 2 in the virtual space 11. In a certain aspect, the avatar control module 1429 generates data for arranging the avatar object of the user 5 in the virtual space 11. In one aspect, the avatar control module 1429 creates an avatar object that mimics the user 5 based on an image that includes the user 5. In another aspect, the avatar control module 1429 creates an avatar object in the virtual space 11 that has been selected by the user 5 from among a plurality of types of avatar objects (for example, an object imitating an animal or a deformed human object). Generate data for placement.
  • a plurality of types of avatar objects for example, an object imitating an animal or a deformed human object.
  • the avatar control module 1429 reflects the movement of the HMD 120 detected by the HMD sensor 410 on the avatar object. For example, the avatar control module 1429 detects that the HMD 120 is tilted and generates data for tilting and arranging the avatar object. In one aspect, the avatar control module 1429 reflects the movement of the controller 300 on the avatar object. In this case, the controller 300 includes a motion sensor, an acceleration sensor, a plurality of light emitting elements (for example, infrared LEDs), and the like for detecting the movement of the controller 300.
  • the avatar control module 1429 reflects the movement of the facial organ detected by the motion detection module 1425 on the face of the avatar object arranged in the virtual space 11. That is, the avatar control module 1429 reflects the movement of the face of the user 5A on the avatar object.
  • the control module 510 detects the collision.
  • the control module 510 can detect, for example, the timing at which a certain object and another object touch each other, and when the detection is made, a predetermined process is performed.
  • the control module 510 can detect the timing when the object and the object are separated from the touching state, and when the detection is made, a predetermined process is performed.
  • the control module 510 can detect that the object is in contact with the object.
  • the operation object control module 1428 detects that the operation object touches the other object when the operation object touches the other object, and performs a predetermined process. ..
  • the memory module 530 holds data used by the computer 200 to provide the virtual space 11 to the user 5.
  • the memory module 530 holds spatial information 1431, object information 1432, user information 1433, and face information 1434.
  • Spatial information 1431 holds one or more templates defined to provide the virtual space 11.
  • the object information 1432 holds the content to be reproduced in the virtual space 11, the object used in the content, and the information (for example, position information) for arranging the object in the virtual space 11.
  • the content may include, for example, a game, content representing a landscape similar to that of the real world, and the like.
  • the user information 1433 holds a program for operating the computer 200 as a control device of the HMD system 100, an application program for using each content held in the object information 1432.
  • the face organ detection module 1424 holds a template stored in advance for detecting the face organ of the user 5.
  • the face information 1434 holds a mouth template 1435, an eye template 1436, and an eyebrow template 1437.
  • Each template can be an image corresponding to the organs that make up the face.
  • the mouth template 1435 can be an image of the mouth.
  • Each template may contain multiple images.
  • FIG. 15 is a diagram illustrating an outline of a configuration according to a 360-degree camera according to an embodiment.
  • the external device 700 shown in FIG. 1 includes a 360 degree camera 1539A, a 360 degree camera 1539B, and a 360 degree camera 1539C.
  • Each of the 360-degree cameras 1539A, 1539B, and 1539C is configured to be able to communicate with the server 600 and the computer 200 of the HMD set 110 via the network 2.
  • the 360-degree cameras 1539A, 1539B, and 1539C are collectively referred to as the 360-degree camera 1539.
  • the number of 360-degree cameras 1539 is not limited to three, and may be two or four or more.
  • the 360-degree camera 1539 captures an omnidirectional moving image (360-degree moving image) which is an omnidirectional image at an installation position in a real space.
  • FIG. 16 is a plan view showing an example of the floor plan of the room in which the 360-degree camera shown in FIG. 15 is installed.
  • the share house 1641 shown in FIG. 16 is a house in which a plurality of people live together in a real space. The person who lives together may be only a man, only a woman, or a mixture of men and women. The communal life in the share house 1641 may be a drama with a script or a free life without a script.
  • the user 5 wears the HMD 120 on the head and watches the state of the share house 1641 taken by the 360-degree camera 1539 as described in detail later.
  • the share house 1641 has room 1642, room 1643, room 1644, room 1645 and corridor 1646.
  • a door 1647 is provided between the room 1642 and the room 1643, and a person living together can open the door 1647 to move back and forth between the room 1642 and the room 1643.
  • a door 1648 is provided between the room 1642 and the corridor 1646, and a person living together can open the door 1648 to move back and forth between the room 1642 and the corridor 1646.
  • a door 1649 is provided between the room 1643 and the corridor 1646, and a person living together can open the door 1649 to move back and forth between the room 1643 and the corridor 1646.
  • a door 1651 is provided between the room 1644 and the corridor 1646, and a person living together can open the door 1651 to move back and forth between the room 1644 and the corridor 1646.
  • a door 1652 is provided between the room 1645 and the corridor 1646, and a person living together can open the door 1652 to move back and forth between the room 1645 and the corridor 1646.
  • the 360-degree camera 1539 may be a camera capable of photographing the whole celestial sphere using two ultra-wide-angle lenses, or a camera capable of photographing a hemisphere using one ultra-wide-angle lens.
  • the 360-degree camera 1539 captures 360-degree moving images in all directions at the installed position.
  • the 360-degree camera 1539 is, for example, provided with one camera on each surface of the regular hexahedron to shoot in all directions, and synthesizes moving images taken by a total of six cameras provided on each surface to produce a 360-degree moving image. You may try to get it.
  • the 360-degree camera 1539 may be a camera that captures a three-dimensional 360-degree moving image capable of stereoscopic viewing by parallax.
  • a 360-degree camera 1539A is installed in the room 1642, and the inside of the room 1642 is photographed by the 360-degree camera 1539A.
  • a 360-degree camera 1539B is installed in the room 1643, and the inside of the room 1643 is photographed by the 360-degree camera 1539B.
  • a 360-degree camera 1539C is installed in the room 1644, and the inside of the room 1644 is photographed by the 360-degree camera 1539C.
  • the 360-degree moving image taken by the 360-degree camera 1539 is transmitted to the computer 200 via the network 2.
  • On the HMD 120 a moving image shot by any of the 360-degree cameras 1539A, 1539B, and 1539C is selected and displayed.
  • the display object is arranged in the virtual space 11, and the 360-degree moving image taken by the 360-degree camera 1539 is displayed on the display object, so that the rendering module 520 generates the view image data as described above. Then, a 360-degree moving image is displayed on the monitor 130 of the HMD 120.
  • the 360-degree moving image taken by the 360-degree camera 1539 may be displayed on the monitor 130 by superimposing it on the visual field image data of the visual field coordinate system in step S1180 of FIG. Further, in a certain embodiment, the 360-degree moving image taken by the 360-degree camera 1539 may be displayed on the monitor 130 by using it as the field-of-view image data output in step S1180 of FIG.
  • the virtual camera 14 moves in the virtual space 11 in conjunction with the movement of the HMD 120 in the real space.
  • changes in the position and tilt of the HMD 120 in the real space are reproduced in the virtual space 11 as changes in the movement of the virtual camera 14.
  • the 360-degree moving image displayed on the display object of the virtual space 11 is used as an image constituting the panoramic image 13, and the area of the 360-degree moving image taken by the virtual camera 14 moves in conjunction with the movement of the HMD 120 in the real space. To do.
  • the target moving object is set as the tracking target, and the 360-degree camera 1539 to be viewed by the user 5 is automatically switched to improve the convenience when the user 5 is viewing the 360-degree moving image.
  • FIG. 17 is a flowchart showing a process related to display control of a 360-degree moving image taken by a 360-degree camera, which is a part of the process executed in the HMD set according to a certain embodiment.
  • step S1753 the initial setting is performed.
  • the computer 200 of the HMD set 110 selects one of the 360-degree cameras 1539, and displays the 360-degree moving image captured by the selected 360-degree camera 1539 on the display object of the virtual space 11.
  • step S1753 which 360-degree camera 1539 is used to set the 360-degree moving image to be displayed first after the start of processing is set. In this setting, it operates so as to display a 360-degree moving image by the 360-degree camera 1539 registered as the camera to be initially displayed.
  • the camera to be initially displayed may be registered in the computer 200 in advance, or may be registered by the user 5.
  • the registration by the user 5 can be registered by operating the controller 300 while referring to the display on the monitor 130.
  • the camera to be initially displayed may be registered at any time.
  • the automatic switching mode can be set.
  • the automatic switching mode is a mode in which the camera that displays the 360-degree moving image among the 360-degree cameras 1539 is automatically switched according to the movement of the room of the tracking object. Whether or not to set the automatic switching mode can be registered by the user 5 operating the controller 300 while referring to the display on the monitor 130.
  • the tracking target can be set.
  • the person When displaying a 360-degree video of a person, the person may be tracked, or a 360-degree video of an animal such as a pet animal such as a dog or cat is displayed. In some cases, animals may be tracked.
  • the setting of the tracking object when the person is the tracking object, for example, it may be set to track a specific person, it may be set to track a man, or it may be set to track a woman. May be set to track.
  • the setting of the tracking object when the animal is the tracking object, for example, it may be set to track a specific animal, or it may be set to track a certain kind of animal. Good. In some embodiments, it is not necessary to set the tracking object in the initial setting of step S1753.
  • step S1754 following step S1753, it is determined whether or not the automatic switching mode is set. If the automatic switching mode is not set (step S1754: No), the process proceeds to step S1755.
  • step S1755 the user 5 operates the controller 300 while referring to the display of the monitor 130 without automatically switching the camera that displays the 360-degree moving image of the 360-degree camera 1539, and 360-degree of the 360-degree camera 1539. Switch the camera that displays the video.
  • the user 5 operates the controller 300 to input a room to be viewed among the room 1642, the room 1643, and the room 1644 shown in FIG.
  • the computer 200 receives the input of the user 5, selects the camera installed in the input room from the 360-degree cameras 1539, and virtualizes the 360-degree moving image taken by the selected 360-degree camera 1539. It is displayed on the display object in the space 11.
  • step S1754 If the automatic switching mode is set in step S1754 (step S1754: Yes), the process proceeds to step S1756 to execute the automatic switching process. Even when the automatic switching mode is set in step S1754, the user 5 operates the controller 300 to switch the camera that displays the 360-degree moving image among the 360-degree cameras 1539, as in step S1755. You may be able to do it.
  • the automatic switching process in step S1756 will be described below with reference to FIG.
  • FIG. 18 is a flowchart showing an example of the automatic switching process shown in step S1756 of FIG.
  • a tracking object identification process is performed.
  • the tracking object is set in the initial setting of step S1753 of FIG. 17, the tracking object identification process of step S1857 specifies the tracking object set in step S1753 as the tracking object.
  • Identification of a tracked object is to acquire identification information that can distinguish the tracked object from other moving objects.
  • the identification information for example, the face of a person who is a tracking object can be recognized from an image taken by a 360-degree camera 1539, and the result of this face recognition can be used as the identification information.
  • the tracking object set in step S1753 may also be identified as another moving object by face recognition and set as the tracking object.
  • the color of the clothing of the tracked object can be used as identification information that can distinguish the tracked object from other moving objects.
  • the color of the pixel at a position 30 pixels below the face of the tracking object can be detected as the color of the clothes of the tracking object.
  • the result of face recognition of the tracked object and the color of the clothes can be used as identification information that can distinguish the tracked object from other moving objects.
  • twins can be identified by having the twins wear clothes of different colors in advance when it is difficult to identify the twins only by their faces, such as when the tracking object is twins.
  • the information stored in the IC card carried by the tracking object can be used as the identification information that can distinguish the tracking object from other moving objects.
  • a card reader that can read the information stored in the IC card is installed at the entrance (near the door) of each room, and when the tracking object enters or exits the room, the IC card is held over the card reader to track the object.
  • the location of an object can be identified.
  • the moving image is displayed on the display object of the virtual space 11.
  • a person who is a moving object living together in a share house 1641 may be able to earn financial income by exposing the communal living.
  • the amount of income may be increased or decreased depending on the number of objects to be tracked.
  • people living together in the share house 1641 will actively change the color of their clothes so that they can be distinguished from others, or forget to hold the IC card when entering or leaving the room. This makes it possible to improve the identification accuracy of the tracking object and improve the switching accuracy in the automatic switching mode described later.
  • the HMD set 110 can detect the line of sight of the user 5 by the gaze sensor 140. Therefore, in a certain embodiment, when the line of sight of the user 5 is directed to the same moving object for a predetermined time (for example, 1 minute) or more, the moving object is specified as a tracking object. Further, in a certain embodiment, when a moving object leaves the room and the line of sight of the user 5 is directed to the moving object, the moving object is specified as a tracking target.
  • the detection that a moving object has left the room is detected by, for example, in the 360-degree video currently displayed, at the door for each room (door 1647 or 1648 for room 1642, door 1649 for room 1643, room 1644). If there is, it can be detected by the disappearance of the moving object in the vicinity of the door 1651).
  • the detection that the moving object has come out of the room is due to the fact that the moving object disappears from the visual image 17 when the moving object is located other than the end portion of the visual image 17. Can be detected.
  • step S1858 tracking object tracking processing is performed.
  • the tracking object identified in step S1857 is tracked. That is, it tracks where in the 360-degree moving object currently displayed, which is the moving object of the identification information acquired in step S1857, is located.
  • step S1859 following step S1858, whether or not the tracking object being tracked in step S1858 has left the room in which the camera currently displaying the 360-degree video of the 360-degree camera 1539 is installed. Is determined.
  • the detection that the tracked object has left the room is similar to the above.
  • the tracked object may come out of the room.
  • the tracked object is The tracked object may not be out of the room, such as hidden behind a chest of drawers. If the tracked object has not left the room (step S1859: No), the process returns to step S1858 to continue the process.
  • step S1859 When the tracking object leaves the room in step S1859 (step S1859: Yes), the process proceeds to step S1861 to perform the camera switching process. When the camera switching process in step S1861 is completed, the process returns to step S1858 to continue the process.
  • the camera switching process in step S1861 will be described below.
  • the camera switching process in step S1861 causes the display on the display object of the virtual space 11 to be displayed from the 360-degree moving image that has been displayed until now when the tracking object leaves the current room. Switch to a black-faced blackout image. After that, when the tracking object appeared in any of the 360-degree videos taken by all 360-degree cameras 1539, the tracking object appeared from the blackout image on the display object of the virtual space 11. Switch to 360 degree video. As shown in FIG. 16, for example, room 1642 and room 1644 are not connected by a single door but pass through a corridor 1646. In such a case, when the tracking object is in the corridor 1646, by displaying the blackout image, the user 5 can clearly recognize the switching of the displayed room, and the user 5 can be the tracking target. It becomes easier to recognize the behavior of things.
  • the camera switching process in step S1861 shows that the tracked object appears in any of the 360 degree videos taken by all 360 degree cameras 1539 after the tracked object has left the current room.
  • the display on the display object of the virtual space 11 is switched from the 360-degree video displayed up to now to the 360-degree video in which the tracking object appears.
  • room 1642 and room 1643 are connected by one door 1647. In such a case, by not sandwiching the blackout image, it is possible to meet the request of the user 5 who does not want to overlook the behavior of the tracking object as much as possible.
  • room 1642 and room 1644 are not connected by a single door but pass through a corridor 1646.
  • the user 5 can continue to display the 360-degree video that has been displayed until now, so that the user 5 can use the other tracked object after it leaves the room. You can enjoy the afterglow of the attitude of moving objects.
  • the tracking object tracking process in step S1858 of FIG. 18 is not performed.
  • the tracked object is not continuously tracked in the room, but only the entry and exit of the tracked object into the room is monitored.
  • the tracking object carries the IC card, and the IC card is held over the card reader installed at the entrance (near the door) of each room to monitor the entry and exit of the tracking object into the room. Can be done.
  • a fixed camera having a resolution higher than that of the 360-degree camera 1539 is installed at the entrance (near the door) of each room, and the fixed camera has a higher resolution.
  • the accuracy of face recognition can be further improved by recognizing the face of a person who is a tracking object based on an image taken by a camera.
  • machine learning such as recursive type can be performed to accumulate data and improve the accuracy of face recognition.
  • the tracking object may be a CG such as an avatar object arranged in the virtual space 11.
  • the virtual space (VR space) in which the user is immersed by the HMD has been illustrated and described, but a transparent HMD may be adopted as the HMD.
  • AR Augmented Reality
  • AR mixed reality
  • MR mixed Reality
  • a virtual experience in space may be provided to the user.
  • an action on the target object in the virtual space may be generated based on the movement of the user's hand.
  • the processor may specify the coordinate information of the position of the user's hand in the real space, and may define the position of the target object in the virtual space in relation to the coordinate information in the real space.
  • the processor can grasp the positional relationship between the user's hand in the real space and the target object in the virtual space, and can execute the process corresponding to the collision control and the like described above between the user's hand and the target object. .. As a result, it becomes possible to give an action to the target object based on the movement of the user's hand.
  • the processor receives an input of an image taken by a first 360 degree camera that captures a first space, and a second 360 degree camera that captures a second space.
  • the head mount device When the step of detecting that the tracking object has moved to the second space and the step of detecting that the tracking object has moved to the second space are detected, the head mount device.
  • the step of switching the image to be displayed on the image to the image taken by the second 360-degree camera is executed.
  • the detecting step detects that the object has left the first space and the object has entered the second space.
  • the switching step is the timing at which it is detected that the object has entered the second space after detecting that the object has left the first space by the detecting step.
  • the image to be displayed on the head mount device is switched from the image taken by the first 360-degree camera to the image taken by the second 360-degree camera.
  • the detecting step detects that the object has left the first space and the object has entered the second space.
  • the first 360-degree camera captures an image to be displayed on the head mount device at the timing when it is detected that the object has left the first space by the detection step.
  • the captured image is switched to a blackout image, and the image to be displayed on the head mount device at the timing when it is detected that the object has entered the second space by the detection step is displayed from the blackout image at the second 360 degrees. Switch to the image taken by the camera.
  • Structure 4 According to an embodiment, in the program according to any one of configurations 1 to 3, the tracking object is a person, and the detection step is an image of the first space and the first.
  • the tracking object is specified by using the image obtained by capturing the space of 2.
  • the detecting step recognizes the face of the person who is the tracking object and identifies the tracking object by the recognized face.
  • the detecting step performs machine learning in recognizing the face of a person who is the tracking object.
  • the detecting step further recognizes the color of the clothes of the person who is the tracking object, and the tracking is performed by the recognized face and the color of the clothes. Identify the object.
  • the detecting step recognizes the color of the clothing of the person who is the tracking object and identifies the tracking object by the recognized clothing color. .. (Structure 9)
  • the detection step is an image of the first space taken by the first 360 degree camera and the second.
  • the tracking object is identified by using an image of the second space taken by a 360-degree camera.
  • the detection step is an image of the first space captured by the first fixed camera and a second fixed camera.
  • the tracking object is identified by using the image obtained by taking the second space.
  • the tracking object is a person, and in the step of detecting the object is the first sensor. The second sensor detects that the object has entered the second space.
  • any of the plurality of moving objects is the tracked object prior to the step of displaying to the processor. Further execute the step of pre-registering the CPU.
  • the processor is informed of which of the plurality of moving objects is the tracked object based on the user's attention. Perform the registration step further.
  • the registration step is based on the user's attention at the timing when each of the plurality of moving objects exits the first space. Register which of these is the tracking object.
  • the registration step disappears from a state other than the edge of the user's field of view at the timing of exiting the first space among the plurality of moving objects. The moving object is registered as the tracking object.
  • the registration step selects a moving object that exists in the center of the user's field of view at the timing of exiting the first space among the plurality of moving objects. Register as a tracked object.
  • the registration step is a person who is a moving object existing in the center of the user's field of view at the timing of exiting the first space among the plurality of moving objects. Is identified by face recognition.
  • the registration step is a person who is a moving object existing in the center of the user's field of view at the timing of exiting the first space among the plurality of moving objects. Is identified by face recognition, and the feature points of the identified person are tracked.
  • a program executed on a computer to provide a virtual space by a head mount device the program provides the computer with a three-dimensional virtual space including a virtual viewpoint and a display object.
  • the step of defining, the step of accepting the input of the image taken by the first 360-degree camera, the step of accepting the input of the image taken by the second 360-degree camera, and the step of accepting the input of the input image are displayed on the display object.
  • the step of displaying the view image on the head mount device and the step of displaying the display object on the display object are the input images.
  • a method executed by a processor in which a step of accepting input of an image taken by a first 360-degree camera for taking a picture of a first space and a second step of taking a picture of a second space.
  • the step of detecting that the tracking object has moved to the second space and the step of detecting that the tracking object has moved to the second space. It includes a step of switching an image displayed on the head mount device to an image taken by the second 360-degree camera.
  • the information processing apparatus includes a processor and a memory for storing a program, and the program is an image taken by a first 360-degree camera that captures a first space on the processor.
  • the step of switching the image displayed on the head mount device to the image taken by the second 360-degree camera is executed.
  • a step of accepting an input of an image taken by a first 360 degree camera a step of accepting an input of an image taken by a second 360 degree camera, and a tracking object in a program.
  • the step of displaying the image taken by the first 360 degree camera among the input images on the head mount device and the tracking object are said to be said.
  • the image disappears from the image taken by the first 360-degree camera and appears in the image taken by the second 360-degree camera the image to be displayed on the head mount device is the second of the input images.
  • the step of switching to the image taken by the 360-degree camera and the step of switching to the image are executed.
  • the first 360 degree camera is a camera that captures a first space
  • the second 360 degree camera is a camera that captures a second space.
  • the first space and the second space are different spaces.
  • the step of accepting the input of the image taken by the first 360 degree camera and the step of accepting the input of the image taken by the second 360 degree camera are input to the processor.
  • the step of identifying the tracking object shown in the image, the step of selecting the image showing the tracking object from the input images, and the step of selecting the image selected in the selection step to the head mount device. Perform the steps to be displayed and.
  • Rendering Module 530 ... Memory Module, 540 ... Communication Control Module, 600 ... Server , 610 ... Processor, 620 ... Memory, 630 ... Storage, 640 ... Input / output interface, 650 ... Communication interface, 1421 ... Virtual camera control module, 1422 ... View area determination module, 1423 ... Reference line-of-sight identification module, 1424 ... Motion detection module , 1424 ... Face organ detection module, 1425 ... Motion detection module, 1426 ... Virtual space definition module, 1427 ... Virtual object generation module, 1428 ... Operation object control module, 1429 ... Avatar control module, 1431 ... Spatial information, 1432 ... Object information , 1433 ... User information, 1434 ... Face information, 1435 ... Mouth template, 1438 ... Visibility image generation module.

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