WO2022009329A1 - Alignment apparatus and alignment method - Google Patents

Abstract

The present invention comprises: a plane setting unit (41) that sets a plane (11a) present in a virtual space (10a) simulating a real space including a virtual object, and a plane (11b) corresponding to the plane (11a) and present in a virtual space (10b) simulating a real space; a plane extraction unit (42) that extracts, on the basis of the setting results from the plane setting unit (41), a plane (12a) intersecting the plane (11a) and present in the virtual space (10a), and a plane (12b) corresponding to the plane (12a) and present in the virtual space (10b); and a conversion unit (43) that aligns, on the basis of the setting results from the plane setting unit (41) and the extraction results from the plane extraction unit (42), the position and direction in the virtual space (10a) with the position and direction in the virtual space (10b).

Description

Alignment device and alignment method

The present disclosure relates to an alignment device and an alignment method for aligning the positions and directions of two virtual spaces.

Conventionally, an MR (Mixed Reality) device that makes a user recognize a virtual object as if it exists in the real space by displaying the virtual object on a display is known (see, for example, Patent Document 1). In this MR device, when the virtual object is displayed as if it exists at a specific position and direction in the real space, the user can see the virtual object through the virtual space that imitates the real space having the virtual object and the display. It is necessary to match the position and direction with the virtual space that imitates the real space. The positions and directions of these two virtual spaces are matched by a movement operation and a rotation operation by the user.

Special Table 2019-532382 Gazette

As described above, in the conventional MR device, it is necessary for the user to perform a movement operation or a rotation operation when matching the positions and directions of the two virtual spaces.

The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide an alignment device that does not require an operation by a user when matching two virtual spaces.

The alignment device according to the present disclosure is a first plane existing in a first virtual space imitating a real space having a virtual object, and the first one existing in a second virtual space imitating a real space. A plane setting unit that sets a second plane corresponding to a plane, a third plane that intersects the first plane existing in the first virtual space based on the setting result by the plane setting unit, and a second plane. Position and direction in the first virtual space based on the plane extraction unit that extracts the fourth plane corresponding to the third plane existing in the virtual space, the setting result by the plane setting unit, and the extraction result by the plane extraction unit. Is provided with a conversion unit that matches the position and direction in the second virtual space.

According to the present disclosure, since it is configured as described above, no operation by the user is required when matching the two virtual spaces.

It is a figure which shows the configuration example of the MR device which concerns on Embodiment 1. FIG. It is a figure which shows the structural example of the arithmetic processing part which concerns on Embodiment 1. FIG. It is a flowchart which shows the operation example of the arithmetic processing part which concerns on Embodiment 1. It is a figure which shows the operation example of the plane setting part in Embodiment 1. It is a figure which shows the operation example of the plane extraction part in Embodiment 1. It is a figure which shows the operation example of the plane extraction part in Embodiment 1. It is a figure which shows the operation example of the plane extraction part in Embodiment 1. It is a figure which shows the operation example of the plane extraction part in Embodiment 1. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. It is a figure which shows the operation example of the conversion part in Embodiment 1. FIG. 16A and 16B are diagrams showing a hardware configuration example of the arithmetic processing unit according to the first embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example of an MR device (virtual object display device) according to the first embodiment.
By displaying the virtual object on the display 1, the MR device makes the user recognize that the virtual object exists in the real space. MR devices include, for example, head-mounted display wearable computers such as HoloLens®, Hollens2 or Magic Leap®. As shown in FIG. 1, the MR device includes a display 1, a storage unit 2, a sensor unit 3, an arithmetic processing unit (alignment device) 4, and a display control unit 5.

Display 1 is a transparent display device. Examples of the display 1 include a head-mounted display, goggles, and the like.

The storage unit 2 stores data indicating various information handled by the MR device. For example, the storage unit 2 stores shape data indicating the virtual space (first virtual space) 10a. The virtual space 10a is a virtual space having a virtual object displayed on the display 1, and is a virtual space created in advance by imitating a real space.

The sensor unit 3 recognizes the shape of the real space that the user sees through the display 1, and creates a virtual space (second virtual space) 10b based on the shape. The virtual space 10b is a virtual space created by the MR device to determine its own position in the virtual space, and is a virtual space imitating a real space. The position and direction of the virtual space 10b match (including the meaning of substantially matching) with respect to the real space that the user sees through the display 1.

The arithmetic processing unit 4 aligns the position and direction of the virtual space 10a stored in the storage unit 2 with the position and direction of the virtual space 10b created by the sensor unit 3. The details of the arithmetic processing unit 4 will be described later.

The display control unit 5 displays the virtual object indicated by the data stored in the storage unit 2 on the display 1 based on the processing result by the arithmetic processing unit 4.

Note that FIG. 1 shows a case where the arithmetic processing unit 4 is provided inside the MR device. However, the present invention is not limited to this, and the arithmetic processing unit 4 may be provided outside the MR device.

Next, a configuration example of the arithmetic processing unit 4 will be described with reference to FIG.
As shown in FIG. 2, the arithmetic processing unit 4 includes a plane setting unit 41, a plane extraction unit 42, and a conversion unit 43.

The plane setting unit 41 sets a plane (first plane) 11a existing in the virtual space 10a and a plane (second plane) 11b existing in the virtual space 10b. That is, the plane setting unit 41 generates the equation of the plane 11a and the equation of the plane 11b. The plane 11a is a horizontal plane such as a floor surface or a ceiling surface. The plane 11b is a plane corresponding to the plane 11a.

The plane extraction unit 42 extracts the plane (third plane) 12a existing in the virtual space 10a and the plane (fourth plane) 12b existing in the virtual space 10b based on the setting result by the plane setting unit 41. do. That is, the plane extraction unit 42 generates the equation of the plane 12a and the equation of the plane 12b. The plane 12a is a plane that intersects the plane 11a. The plane 12b is a plane corresponding to the plane 12a and intersects the plane 11b.

The plane extraction unit 42 extracts the plane 12b according to the following procedure.
First, the plane extraction unit 42 extracts a plane that intersects the plane 11a, and divides the plane into groups according to the normal direction. Whether or not the plane intersects the plane 11a can be determined from the slope of the normal obtained from the equation of the plane. Then, the plane extraction unit 42 creates the first distribution information for each group. The first distribution information is information indicating the position of the plane in the normal direction (depth direction). At this time, the plane extraction unit 42 obtains the intersection line between the plane 11a and the plane, and creates the first distribution information from the position of the intersection line.
Similarly, the plane extraction unit 42 extracts a plane that intersects the plane 11b, and divides the plane into groups according to the normal direction. Whether or not the plane intersects the plane 11b can be determined from the slope of the normal obtained from the equation of the plane. Then, the plane extraction unit 42 creates the second distribution information for each group. The second distribution information is information indicating the position of the plane in the normal direction (depth direction). At this time, the plane extraction unit 42 obtains the intersection line between the plane 11b and the plane, and creates the second distribution information from the position of the intersection line.
Then, the plane extraction unit 42 extracts a group having a matching positional relationship from the first distribution information and the second distribution information. Then, when the plane 12a is included in the extracted group in the virtual space 10a, the plane extraction unit 42 uses the plane included in the extracted group in the virtual space 10b and having the same positional relationship as the plane 12a. It is a plane 12b.

The conversion unit 43 adjusts the position and direction in the virtual space 10a to the position and direction in the virtual space 10b based on the setting result by the plane setting unit 41 and the extraction result by the plane extraction unit 42. As shown in FIG. 2, the conversion unit 43 includes a direction change unit (first direction change unit) 44, a position change unit 45, and a direction change unit (second direction change unit) 46.

The direction changing unit 44 tilts the direction (first direction) 13a in the virtual space 10a so as to match the direction (second direction) 13b in the virtual space 10b. Direction 13b corresponds to direction 13a.

At this time, first, the direction changing unit 44 obtains the intersection line (first intersection line) 14a and the intersection line (second intersection line) 15a existing in the virtual space 10a. The intersection line 14a is a line segment where one plane 11a and one plane 12a intersect. The intersection line 15a is a line segment where the plane 11a and one plane 12a that is not parallel to the plane 12a intersect. Then, the direction changing unit 44 obtains a vector in the same direction as the direction 13a from the outer product of the vectors in the same direction as the crossing line 14a and the crossing line 15a.
Similarly, the direction changing unit 44 obtains the intersection line (third intersection line) 14b and the intersection line (fourth intersection line) 15b existing in the virtual space 10b. The intersection line 14b is a line segment where one plane 11b and one plane 12b intersect. The intersection line 15b is a line segment where the plane 11b and one plane 12b that is not parallel to the plane 12b intersect. Then, the direction changing unit 44 obtains a vector in the same direction as the direction 13b from the outer product of the vectors in the same direction as the crossing line 14b and the crossing line 15b.
After that, the direction changing unit 44 tilts the direction 13a in the virtual space 10a so as to match the direction 13a in the virtual space 10b. At this time, the direction changing unit 44 also tilts the intersection line 14a and the intersection line 15a existing in the virtual space 10a.

The position conversion unit 45 moves the point (first point) 16a existing in the virtual space 10a so as to match the point (second point) 16b existing in the virtual space 10b. Point 16a is a unique point. The point 16b is a point corresponding to the point 16a and is a unique point.

At this time, first, the position conversion unit 45 obtains the intersection coordinates of the intersection lines 14a and the intersection lines 15a existing on the same plane as the points 16a among the combinations of the intersection lines 14a and the intersection lines 15a.
Similarly, among the combinations of the intersection line 14b and the intersection line 15b, the position conversion unit 45 sets the intersection coordinates of the intersection line 14a and the intersection line 15b corresponding to the intersection line 14a and the intersection line 15a on the same plane as the point 16b. Ask as.
After that, the position conversion unit 45 moves the point 16a existing in the virtual space 10a so as to match the point 16b existing in the virtual space 10b.

The direction changing unit 46 tilts the direction (third direction) 17a in the virtual space 10a so as to match the direction (fourth direction) 17b in the virtual space 10b. The direction 17a is a direction perpendicular to the direction 13a. The direction 17b is a direction corresponding to the direction 17a and is a direction perpendicular to the direction 13b.

At this time, the direction changing unit 46 obtains a vector in the same direction as the direction 17a by the outer product of the vector in the same direction as the intersection line 14a or the intersection line 15a and the vector in the same direction as the direction 13a.
Similarly, the direction changing unit 46 obtains a vector in the same direction as the direction 17b by the outer product of the vector in the same direction as the crossing line 14b or the crossing line 15b and the vector in the same direction as the direction 13b.
After that, the direction changing unit 46 tilts the direction 17a in the virtual space 10a so as to match the direction 17b in the virtual space 10b. That is, the direction changing unit 46 rotates the virtual space 10a around the direction 13a.

Here, the case where the arithmetic processing unit 4 is applied to the MR device is shown. However, the present invention is not limited to this, and the arithmetic processing unit 4 may be applied to an AR (Augmented Reality) device.

Next, an operation example of the arithmetic processing unit 4 in the first embodiment shown in FIG. 2 will be described with reference to FIG.
Here, in the display of the virtual object by the MR device, it is necessary to determine where in the real space seen through the display 1 the virtual object is virtually present. Currently, the MR device constructs a virtual space based on the shape of the real space recognized by its own sensor unit, and displays the virtual object to be displayed at an indefinite position in the virtual space or by specifying the position by user operation. decide.

Here, when the virtual object is displayed as if it exists in a specific position and direction in the real space, the MR device estimates its own position at a specific coordinate value and direction in the virtual space in which the virtual object exists. Therefore, it is necessary to match specific coordinate values and directions in the virtual space created based on the characteristics of the real space.

To give a specific example, when visualizing the flow of airflow in the real space by MR, the positions and directions of the first virtual space and the second virtual space must be matched. The first virtual space is created by the shape (shape used for airflow analysis) of architectural CAD (Computer-Aided Design) data such as BIM (Building Information Modeling) data of the real space (space shape of an existing building). It is a virtual space that has been created. The second virtual space is a virtual space created by the MR device based on the real space.

After the MR device starts displaying, it is possible to adjust the position and direction of the first virtual space to the second virtual space by a movement operation and a rotation operation by the user. However, this method is complicated and is not what the user expects. Therefore, it is required that the two virtual spaces are matched without performing a movement operation and a rotation operation by the user.

However, the first virtual space in which the virtual object prepared in advance exists and the second virtual space created by the MR device to estimate its own position are independent virtual spaces. Further, the position and direction of the second virtual space created by the MR device vary depending on the conditions at the time of creation (position and direction at which spatial recognition is started, etc.). Therefore, the information for matching the first virtual space and the second virtual space cannot be determined in advance.

If the position and orientation in the real space at the moment when the MR device is activated and the recognition of the real space is started can be strictly specified by a fixed tripod or the like, the position and direction of the virtual space created by the MR device are assumed in advance. It is possible to do. However, this method is not a realistic operation method.

On the other hand, Patent Document 1 presents a method of rearranging a virtual object in a virtual space. However, this method is virtual by the user so that the virtual object is automatically rotated and placed along any plane (eg, on a wall or desk) in the virtual space created by the MR device based on the real space. It creates a loose constraint on the movement of a virtual object, with the aim of reducing fatigue when moving the object in space.

Therefore, in this method, the matching of the two virtual spaces as described above cannot be executed without the movement operation and the rotation operation by some interaction of the user.

In order to solve this problem, it is necessary to derive strict constraints that can always uniquely determine the position and direction of two virtual spaces with matching shapes.

Therefore, the arithmetic processing unit 4 according to the first embodiment first aligns the direction 13a of the virtual space 10a with the direction 13b of the virtual space 10b. Then, the arithmetic processing unit 4 makes the virtual space 10a and the unique points 16a and 16b existing in the virtual space 10b match. As a result, the arithmetic processing unit 4 makes the two virtual spaces match, except for the rotation error around the axis passing through the unique points 16a and 16b. Finally, the arithmetic processing unit 4 aligns the direction 17a of the virtual space 10a with the direction 17b of the virtual space 10b. As a result, the arithmetic processing unit 4 makes the virtual space 10a coincide with the virtual space 10b in both position and direction (inclination).

As a result, the arithmetic processing unit 4 matches the position and direction of the virtual space 10a to which the virtual object prepared in advance for display belongs with the position and direction of the virtual space 10b created by the sensor unit 3 based on the shape of the real space. Can be made to. Therefore, the virtual object display device can display the virtual object to be displayed as if it exists at an arbitrary position and orientation in the real space seen through the display 1 without the user moving or rotating the virtual object.

In the following, it is assumed that the plane 11a and the plane 11b are horizontal planes, and the planes 12a and 12b are vertical planes. Further, it is assumed that the directions 13a and 13b are vertical directions, and the directions 17a and 17b are horizontal directions.

In the operation example of the arithmetic processing unit 4, as shown in FIG. 3, first, the plane setting unit 41 sets a horizontal plane existing in the virtual space 10a and a horizontal plane existing in the virtual space 10b (step ST301). .. In the following, as shown in FIG. 4, the horizontal plane existing in the virtual space 10a is referred to as A-HPlane (n), and the horizontal plane existing in the virtual space 10b is referred to as B-HPplane (n). In FIG. 4, A-HPlane (1) and B-HPlane (1) are illustrated.

As the horizontal plane, it is usually assumed that a floor surface or a ceiling surface in the virtual space is selected. Further, the floor surface and the ceiling surface can be easily selected depending on the direction of the normal line and whether the plane belongs to the upper end or the lower end of the set of planes in the virtual space.
Further, as the horizontal plane, a plane other than the floor surface and the ceiling surface may be selected, such as the upper surface of a desk. In this case, the plane can be easily selected from the information in the height direction in the virtual space.

Next, the plane extraction unit 42 extracts the vertical plane existing in the virtual space 10a and the vertical plane existing in the virtual space 10b based on the setting result by the plane setting unit 41 (step ST302). In the following, as shown in FIG. 5, the vertical plane existing in the virtual space 10a is referred to as A-Plane (n), and the vertical plane existing in the virtual space 10b is referred to as B-Plane (n). In FIG. 5, A-Plane (1), A-Plane (2), B-Plane (1), and B-Plane (2) are illustrated.

Here, the plane extraction unit 42 needs to extract an equivalent combination of planes from the virtual space 10a and the virtual space 10b. The problem here is that the virtual space 10b is created after the sensor unit 3 recognizes the shape of the real space, so that the plane 12b corresponding to the plane 12a existing in the virtual space 10a cannot be selected in advance. .. Further, in the three-dimensional space for display calculation defined by the MR device for drawing the virtual space, the position and direction in which the virtual space 10b is created are determined when the sensor unit 3 starts recognizing the shape of the real space. It is relatively determined by the positional relationship between the sensor unit 3 and the real space. Therefore, there is also a problem that the plane 12b existing in the virtual space 10b cannot be selected based on the position of the plane 12a existing in the virtual space 10a.
Therefore, the plane extraction unit 42 performs the following processing in order to extract the plane 12b corresponding to the plane 12a of the virtual space 10a from the virtual space 10b under the above-mentioned problem.

First, as shown in FIG. 6, the plane extraction unit 42 extracts a plane intersecting with A-HPlane (n), and divides the plane into groups according to the normal direction. Whether or not the plane intersects with A-HPlane (n) can be determined from the slope of the normal obtained from the equation of the plane. In FIG. 6, A-Plane (2) to A-Plane (6) are shown as planes of the same group. The portion from which A-Plane (5) and A-Plane (6) are extracted is one surface of a pillar or the like in a room, and is not shown in FIG. 4 or the like. Then, as shown in FIG. 7, the plane extraction unit 42 creates the first distribution information for each group. At this time, the plane extraction unit 42 obtains the intersection line between the A-HPlane (n) and the plane, and creates the first distribution information from the position of the intersection line. In FIG. 7, AP (1) to AP (4) are shown as positions indicated by the first distribution information of the group shown in FIG.
Similarly, the plane extraction unit 42 extracts a plane intersecting with the B-HPlane (n) and divides the plane into groups according to the normal direction. Whether or not the plane intersects with B-Plane (n) can be determined from the slope of the normal obtained from the equation of the plane. In FIG. 8, B-Plane (2) to B-Plane (6) are shown as planes of the same group. The portion from which B-Plane (5) and B-Plane (6) are extracted is one surface of a pillar or the like in a room, which is not shown in FIG. 4 or the like. Then, the plane extraction unit 42 creates the second distribution information for each group. At this time, the plane extraction unit 42 obtains the intersection line between the A-HPlane (n) and the plane, and creates the second distribution information from the position of the intersection line. In FIG. 8, BP (1) to BP (4) are shown as positions indicated by the second distribution information of the group shown in FIG.
Then, as shown in FIG. 8, the plane extraction unit 42 extracts a group having a matching positional relationship from the first distribution information and the second distribution information. Then, when the A-Plane (n) is included in the extracted group in the virtual space 10a, the plane extraction unit 42 together with the A-Plane (n) included in the extracted group in the virtual space 10b. A plane having the same positional relationship is referred to as B-Plane (n).

As shown in FIG. 8, it is assumed that there are a plurality of target planes in the virtual space 10b. In FIG. 8, in the virtual space 10b, the one having the same positional relationship as the AP (2) is the BP (2), and the plane located in the BP (2) is the B-Plane (3). , B-Plane (4). However, since this plane is defined as an infinite plane, any plane existing on the same plane may be selected, and the same result can be obtained.

If the target real space is, for example, a cubic space in which nothing is placed, it is possible that there are multiple groups with exactly the same positional relationship in the depth direction in the same virtual space. In such a case, information indicating the direction is given in advance to the virtual space 10a, and for the virtual space 10b, a sensor capable of detecting the direction such as a gyro sensor is provided in the MR device to indicate the direction detected by the sensor. Give information. Then, the plane extraction unit 42 extracts the plane 12b (here, B-Plane (n)) based on the information indicating the orientation given to the virtual space 10a and the information indicating the orientation given to the virtual space 10b. conduct.

Next, the direction changing unit 44 tilts the vertical direction in the virtual space 10a so as to match the vertical direction in the virtual space 10b (step ST303).

At this time, first, as shown in FIGS. 9 and 10, the direction changing unit 44 obtains the intersection line 14a and the intersection line 15a existing in the virtual space 10a. The intersection line 14a is a line segment where one A-HPlane (n) and one A-Plane (n) intersect. In FIG. 9, the crossing line 14a is a line segment where A-HPlane (1) and A-Plane (1) intersect. The intersection line 15a is a line segment where the A-HPlane (n) and one A-Plane (n) that is not parallel to the A-Plane (n) intersect. In FIG. 10, the crossing line 15a is a line segment where A-HPlane (1) and A-Plane (2) intersect. Then, as shown in FIG. 11, the direction changing unit 44 obtains the vector 13a'in the same direction as the vertical direction from the outer product of the vectors 14a'and 15a' in the same direction as the crossing line 14a and the crossing line 15a.
Similarly, as shown in FIGS. 9 and 10, the direction changing unit 44 obtains the intersection line 14b and the intersection line 15b existing in the virtual space 10b. The intersection line 14b is a line segment where one B-HPlane (n) and one B-Plane (n) intersect. In FIG. 9, the crossing line 14b is a line segment where the B-HPlane (1) and the B-Plane (1) intersect. The intersection line 15b is a line segment where the B-HPlane (n) and one B-Plane (n) that is not parallel to the B-Plane (n) intersect. In FIG. 10, the crossing line 15b is a line segment where the B-HPlane (1) and the B-Plane (2) intersect. Then, as shown in FIG. 11, the direction changing unit 44 obtains the vector 13b'in the same direction as the vertical direction from the outer product of the vectors 14b'and 15b' in the same direction as the crossing line 14b and the crossing line 15b.
After that, as shown in FIG. 13, the direction changing unit 44 tilts the vertical direction in the virtual space 10a so as to match the vertical direction in the virtual space 10b. At this time, the direction changing unit 44 also tilts the intersection line 14a and the intersection line 15a existing in the virtual space 10a.

Next, the position conversion unit 45 moves the point 16a existing in the virtual space 10a so as to match the point 16b existing in the virtual space 10b (step ST304).

At this time, first, as shown in FIG. 12, the position conversion unit 45 uses the intersection coordinates of the intersection lines 14a and the intersection lines 15a existing on the same plane as points 16a among the combinations of the intersection lines 14a and the intersection lines 15a. demand. In FIG. 12, the position changing unit 45 obtains the point 16a before the direction changing unit 44 changes the direction of the virtual space 10a. Therefore, the direction changing unit 44 also tilts the above point 16a as the direction is changed with respect to the virtual space 10a.
Similarly, as shown in FIG. 12, among the combinations of the intersection lines 14b and the intersection lines 15b, the position conversion unit 45 includes the intersection lines 14a and the intersection lines 14b and the intersection lines corresponding to the intersection lines 14a and the intersection lines 15a existing on the same plane. The intersection coordinates of 15b are obtained as points 16b.
After that, as shown in FIG. 14, the position conversion unit 45 moves the point 16a existing in the virtual space 10a so as to match the point 16b existing in the virtual space 10b (see reference numeral 1401).

Next, the direction changing unit 46 tilts the horizontal direction in the virtual space 10a so as to match the horizontal direction in the virtual space 10b (step ST305).

At this time, as shown in FIG. 15, the direction changing unit 46 is in the same direction as the horizontal direction due to the outer product of the vector in the same direction as the intersection line 14a or the intersection line 15a and the vector 13a'in the same direction as the vertical direction. Find the vector 17a'.
Similarly, the direction changing unit 46 obtains the vector 17b'in the same direction as the horizontal direction by the outer product of the vector in the same direction as the intersection line 14b or the intersection line 15b and the vector 13b'in the same direction as the vertical direction.
After that, the direction changing unit 46 tilts the horizontal direction in the virtual space 10a so as to match the horizontal direction in the virtual space 10b. That is, the direction changing unit 46 rotates the virtual space 10a in the vertical direction (see reference numeral 1501).

As described above, according to the first embodiment, the arithmetic processing unit (alignment device) 4 imitates the plane 11a existing in the virtual space 10a imitating the real space having the virtual object and the real space. A plane setting unit 41 that sets a plane 11b corresponding to the plane 11a existing in the virtual space 10b, a plane 12a intersecting the plane 11a existing in the virtual space 10a, and a virtual plane 12a based on the setting result by the plane setting unit 41. Based on the plane extraction unit 42 that extracts the plane 12b corresponding to the plane 12a existing in the space 10b, the setting result by the plane setting unit 41, and the extraction result by the plane extraction unit 42, the position and direction in the virtual space 10a are virtually set. A conversion unit 43 for adjusting to a position and direction in the space 10b is provided. As a result, the arithmetic processing unit 4 according to the first embodiment does not require an operation by the user when matching the two virtual spaces.

Finally, with reference to FIG. 16, a hardware configuration example of the arithmetic processing unit 4 according to the first embodiment will be described.
Each function of the plane setting unit 41, the plane extraction unit 42, the direction changing unit 44, the position changing unit 45, and the direction changing unit 46 in the arithmetic processing unit 4 is realized by the processing circuit 101. As shown in FIG. 16A, the processing circuit 101 may be dedicated hardware, or as shown in FIG. 16B, a CPU (Central Processing Unit, central processing unit, central processing unit) that executes a program stored in the memory 103. It may be a processing unit, an arithmetic unit, a microprocessor, a microprocessor, a processor, or a DSP (also referred to as a Digital Signal Processor) 102.

When the processing circuit 101 is dedicated hardware, the processing circuit 101 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate). Array) or a combination of these is applicable. The functions of each of the plane setting unit 41, the plane extraction unit 42, the direction changing unit 44, the position changing unit 45, and the direction changing unit 46 may be realized by the processing circuit 101, or the functions of each unit may be collectively realized by the processing circuit 101. It may be realized by.

When the processing circuit 101 is the CPU 102, the functions of the plane setting unit 41, the plane extraction unit 42, the direction changing unit 44, the position changing unit 45, and the direction changing unit 46 are realized by software, firmware, or a combination of software and firmware. The firmware. The software and firmware are described as a program and stored in the memory 103. The processing circuit 101 realizes the functions of each part by reading and executing the program stored in the memory 103. That is, the arithmetic processing unit 4 includes a memory 103 for storing a program in which, for example, each step shown in FIG. 3 is executed as a result when executed by the processing circuit 101. Further, it can be said that these programs cause a computer to execute the procedures and methods of the plane setting unit 41, the plane extraction unit 42, the direction changing unit 44, the position changing unit 45, and the direction changing unit 46. Here, the memory 103 includes, for example, a non-volatile or volatile semiconductor such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Program ROM), or an EEPROM (Electrically EPROM). A magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versaille Disc), or the like is applicable.

For each function of the plane setting unit 41, the plane extraction unit 42, the direction conversion unit 44, the position conversion unit 45, and the direction conversion unit 46, a part is realized by dedicated hardware and a part is realized by software or firmware. You may try to do it. For example, the plane setting unit 41 is realized by a processing circuit 101 as dedicated hardware, and the processing circuit 101 is a memory for the plane extraction unit 42, the direction changing unit 44, the position changing unit 45, and the direction changing unit 46. The function can be realized by reading and executing the program stored in 103.

As described above, the processing circuit 101 can realize each of the above-mentioned functions by hardware, software, firmware, or a combination thereof.

It is possible to modify any component of the embodiment or omit any component of the embodiment.

The alignment device according to the present disclosure does not require any operation by the user when matching the two virtual spaces, and is suitable for use as an alignment device or the like that aligns the positions and directions of the two virtual spaces.

1 display, 2 storage unit, 3 sensor unit, 4 arithmetic processing unit, 5 display control unit, 41 plane setting unit, 42 plane extraction unit, 43 conversion unit, 44 direction conversion unit (first direction conversion unit), 45 position Conversion unit, 46 direction conversion unit (second direction conversion unit), 101 processing circuit, 102 CPU, 103 memory.

Claims (7)

1. A first plane existing in a first virtual space imitating a real space having a virtual object, and a second plane corresponding to the first plane existing in a second virtual space imitating a real space. The plane setting part to be set and
   Based on the setting result by the plane setting unit, the third plane intersecting with the first plane existing in the first virtual space and the fourth plane corresponding to the third plane existing in the second virtual space. A plane extractor that extracts a plane, and a plane extractor
   An alignment device provided with a conversion unit that aligns a position and direction in a first virtual space with a position and direction in a second virtual space based on a setting result by the plane setting unit and an extraction result by the plane extraction unit. ..
2. The conversion unit
   A first direction changing unit that tilts the first direction in the first virtual space so as to match the second direction corresponding to the first direction in the second virtual space.
   A position changing unit that moves the first point existing in the first virtual space so as to match the second point corresponding to the first point existing in the second virtual space.
   A second direction changer that tilts a third direction, which is a direction perpendicular to the first direction in the first virtual space, so as to match a fourth direction corresponding to the third direction in the second virtual space. The alignment device according to claim 1, wherein the alignment device has and.
3. The first direction changing unit is
   Find the first crossing line where one first plane and one third plane intersect, and the first plane where the first plane and one third plane that is not parallel to the third plane intersect. Obtain the intersection line of 2, and obtain the vector in the same direction as the first direction from the outer product of the vector in the same direction as the first intersection line and the second intersection line.
   Find the third intersection where one second plane and one fourth plane intersect, and the second plane where the second plane and one fourth plane that is not parallel to the fourth plane intersect. The alignment device according to claim 2, wherein the intersection of 4 is obtained, and the vector in the same direction as the second direction is obtained from the outer product of the vector in the same direction as the third intersection and the fourth intersection. ..
4. The position conversion unit is
   Of the combinations of the first intersection line and the second intersection line, the intersection coordinates of the first intersection line and the second intersection line existing on the same plane are obtained as the first point.
   Of the combinations of the third intersection line and the fourth intersection line, the intersection coordinates of the third intersection line and the fourth intersection line corresponding to the first intersection line and the second intersection line existing on the same plane. 3. The alignment device according to claim 3, wherein the alignment device is obtained as a second point.
5. The second direction changing unit is
   The vector in the same direction as the third direction is obtained by the outer product of the vector in the same direction as the first intersection line or the second intersection line and the vector in the same direction as the first direction.
   A claim characterized in that a vector in the same direction as the fourth direction is obtained by the outer product of a vector in the same direction as the third intersection line or the fourth intersection line and a vector in the same direction as the second direction. 4. The alignment device according to 4.
6. The plane extraction unit
   A plane that intersects with the first plane is extracted, the plane is divided into groups according to the normal direction, and the first distribution information indicating the position of the plane in the normal direction is created for each group.
   A plane that intersects with the second plane is extracted, the plane is divided into groups according to the normal direction, and a second distribution information indicating the position of the plane in the normal direction is created for each group.
   When a group having a matching positional relationship is extracted from the first distribution information and the second distribution information, and the extracted group in the first virtual space includes a third plane, the second virtual space is used. The position according to any one of claims 1 to 5, wherein a plane included in the extracted group and having the same positional relationship as the third plane is set as the fourth plane. Matching device.
7. The plane setting unit corresponds to the first plane existing in the first virtual space imitating the real space having the virtual object and the first plane existing in the second virtual space imitating the real space. The step to set the second plane and
   Based on the setting result by the plane setting unit, the plane extraction unit becomes a third plane that intersects with the first plane existing in the first virtual space and a third plane existing in the second virtual space. The step of extracting the corresponding fourth plane,
   A position where the conversion unit has a step of adjusting the position and direction in the first virtual space to the position and direction in the second virtual space based on the setting result by the plane setting unit and the extraction result by the plane extraction unit. Matching method.

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