WO2022064881A1 - 情報処理装置、情報処理方法およびプログラム - Google Patents
情報処理装置、情報処理方法およびプログラム Download PDFInfo
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Definitions
- This disclosure relates to information processing devices, information processing methods and programs.
- the information includes a presentation control unit that controls the presentation unit so that the notification information prompting the change of the posture of at least one of the first portion and the second portion is presented to the user.
- Processing equipment is provided.
- the second portion recognized based on the captured image including the first portion of the user's body in the imaging range is shielded by the first portion.
- the processor controls the presenting unit so that the notification information prompting the user to change the posture of at least one of the first portion and the second portion is presented.
- Information processing methods are provided.
- the second portion recognized by the computer based on the captured image including the first portion of the user's body in the imaging range is shielded by the first portion.
- a program provided with a control unit and functioning as an information processing device is provided.
- a plurality of components having substantially the same or similar functional configurations may be distinguished by adding different numbers after the same reference numerals. However, if it is not necessary to particularly distinguish each of the plurality of components having substantially the same or similar functional configurations, only the same reference numerals are given. Further, similar components of different embodiments may be distinguished by adding different alphabets after the same reference numerals. However, if it is not necessary to distinguish each of the similar components, only the same reference numerals are given.
- FIG. 1 is an explanatory diagram for explaining an example of a schematic configuration of an information processing system according to an embodiment of the present disclosure, and various contents are provided to a user by applying so-called AR (Augmented Reality) technology. An example of the case of presenting is shown.
- AR Augmented Reality
- reference numeral m111 schematically indicates an object (for example, a real object) located in real space.
- reference numerals v131 and v133 schematically indicate virtual contents (for example, virtual objects) presented so as to be superimposed on the real space. That is, the information processing system 1 according to the present embodiment superimposes a virtual object on an object in the real space such as the real object m111 and presents it to the user based on, for example, AR technology.
- both a real object and a virtual object are presented together in order to make it easier to understand the characteristics of the information processing system according to the present embodiment.
- the information processing system 1 includes an information processing device 10 and an input / output device 20.
- the information processing device 10 and the input / output device 20 are configured to be able to send and receive information to and from each other via a predetermined network.
- the type of network connecting the information processing device 10 and the input / output device 20 is not particularly limited.
- the network may be configured by a so-called wireless network such as a network based on the Wi-Fi® standard.
- the network may be configured by the Internet, a dedicated line, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.
- the network may include a plurality of networks, and at least a part thereof may be configured as a wired network.
- the input / output device 20 is configured to acquire various input information and present various output information to the user holding the input / output device 20. Further, the presentation of the output information by the input / output device 20 is controlled by the information processing device 10 based on the input information acquired by the input / output device 20. For example, the input / output device 20 acquires information for recognizing the real object m111 (for example, an image of the captured real space) as input information, and outputs the acquired information to the information processing device 10. The information processing device 10 recognizes the position of the real object m111 in the real space based on the information acquired from the input / output device 20, and causes the input / output device 20 to present the virtual objects v131 and v133 based on the recognition result. By such control, the input / output device 20 can present the virtual objects v131 and v133 to the user so that the virtual objects v131 and v133 are superimposed on the real object m111 based on the so-called AR technology. Become.
- the input / output device 20 is configured as a so-called head-mounted device that the user wears on at least a part of the head and uses, for example, and may be configured to be able to detect the line of sight of the user. ..
- the information processing apparatus 10 is, for example, a target desired by the user (for example, a real object m111, virtual objects v131 and v133, etc.) based on the detection result of the user's line of sight by the input / output apparatus 20.
- the target may be specified as an operation target.
- the information processing device 10 may specify a target to which the user's line of sight is directed as an operation target by using a predetermined operation on the input / output device 20 as a trigger. As described above, the information processing device 10 may provide various services to the user via the input / output device 20 by specifying the operation target and executing the process associated with the operation target.
- the information processing device 10 Based on the input information acquired by the input / output device 20, the information processing device 10 uses the movement of the position and posture of the user's arm, palm, and finger joint (for example, change in position or orientation, gesture, etc.) as the user's operation input. It recognizes and executes various processes according to the recognition result of the operation input. As a specific example, the input / output device 20 acquires information for recognizing a user's arm, palm, and finger joint (for example, an image of an captured hand) as input information, and the acquired information is an information processing device. Output to 10.
- the input / output device 20 acquires information for recognizing a user's arm, palm, and finger joint (for example, an image of an captured hand) as input information, and the acquired information is an information processing device. Output to 10.
- the information processing device 10 estimates the position and posture of the arm, palm, and finger joint based on the information acquired from the input / output device 20, recognizes the movement (for example, gesture), and responds to the recognition result of the movement. Recognize instructions from the user (that is, user operation input). Then, the information processing apparatus 10 may control the display of the virtual object presented to the user (for example, the display position or posture of the virtual object) according to the recognition result of the operation input of the user.
- the "user operation input” may be regarded as an input corresponding to an instruction from the user, that is, an input reflecting the intention of the user, as described above.
- “user operation input” may be simply referred to as "user input”.
- the information processing device 10 performs movements (for example, changes in position and orientation, gestures, etc.) of at least a part of the user's body other than the hands of the user based on the input information acquired by the input / output device 20. It may be recognized as an operation input and various processes may be executed according to the recognition result of the operation input.
- FIG. 2 shows an example of a case where various contents are presented in response to a user's hand movement, that is, a user's operation input by applying a so-called AR (Augmented Reality) technology.
- AR Augmented Reality
- the information processing system 1 includes an information processing device 10, an input / output device 20, and a wearable device 30.
- the information processing device 10, the input / output device 20, and the wearable device 30 are configured to be capable of transmitting and receiving information to and from each other via a predetermined network.
- the type of network connecting the information processing device 10, the input / output device 20, and the wearable device 30 is not particularly limited.
- the input / output device 20 acquires information for detecting the position and posture of the palm-mounted wearable device 30 as input information (for example, with relatively low accuracy), and the acquired input information is used in the information processing device 10. Output.
- the acceleration information and the angular velocity information output by the IMU (Inertial Measurement Unit) of the wearable device 30 are used as the input information.
- the input information is not limited to the information output by the IMU.
- the input information may be information output by the magnetic sensor, as will be described later.
- the wearable device 30 includes an optical marker arranged in a predetermined pattern (for example, an active marker of LED (Light Emitting Diode) emission, a passive marker of a retroreflective material, etc.). Since the wearable device 30 shown in FIG. 2 is simply shown, an optical marker is not shown, but the optical marker will be described in detail later with reference to FIG.
- the input / output device 20 acquires an image of the optical marker.
- the information processing device 10 acquires the position and orientation of the wearable device 30 (for example, with relatively high accuracy) based on the input information of the captured image of the optical marker acquired by the input / output device 20.
- the position and posture of the wearable device 30 can be obtained (for example, with relatively low accuracy).
- the input / output device 20 and the information processing device 10 are shown as different devices in FIGS. 1 and 2, the input / output device 20 and the information processing device 10 may be integrally configured. .. The details of the configuration and processing of the input / output device 20 and the information processing device 10 will be described later separately.
- FIGS. 1 and 2 an example of a schematic configuration of the information processing system 1 according to the embodiment of the present disclosure has been described above.
- FIG. 3 is an explanatory diagram for explaining an example of a schematic configuration of the input / output device 20 according to the present embodiment.
- the input / output device 20 is configured as a so-called head-mounted device that is worn and used by the user on at least a part of the head, and is at least one of the lenses 293a and 293b. It is configured as a transmissive display (display unit 211). Further, the input / output device 20 includes image pickup units 201a and 201b, an operation unit 207, and a holding unit 291 corresponding to a frame of eyeglasses. Further, the input / output device 20 may include image pickup units 203a and 203b. In the following, various explanations will be given assuming that the input / output device 20 includes the image pickup units 203a and 203b.
- the holding unit 291 may attach the display unit 211, the imaging units 201a and 201b, the imaging units 203a and 203b, and the operation unit 207 to the user's head. Hold it so that it has a predetermined positional relationship with the unit.
- the input / output device 20 may include a sound collecting unit for collecting the user's voice.
- the lens 293a corresponds to the lens on the right eye side
- the lens 293b corresponds to the lens on the left eye side. That is, the holding unit 291 holds the display unit 211 so that the display unit 211 (in other words, the lenses 293a and 293b) is located in front of the user's eyes when the input / output device 20 is attached.
- the image pickup units 201a and 201b are configured as so-called stereo cameras, and when the input / output device 20 is attached to the user's head, the image pickup unit 201a and 201b face the direction in which the user's head faces (that is, in front of the user). As such, they are each held by the holding unit 291. At this time, the imaging unit 201a is held in the vicinity of the user's right eye, and the imaging unit 201b is held in the vicinity of the user's left eye. Based on such a configuration, the imaging units 201a and 201b image a subject (in other words, a real object located in the real space) located in front of the input / output device 20 from different positions.
- the input / output device 20 acquires an image of the subject located in front of the user, and based on the parallax between the images captured by the imaging units 201a and 201b, the input / output device 20 (and by extension, the user's) It is possible to calculate the distance to the subject from the position of the viewpoint).
- the configuration and method thereof are not particularly limited.
- the distance between the input / output device 20 and the subject may be measured based on a method such as multi-camera stereo, moving parallax, TOF (Time Of Light), Structured Light, or the like.
- TOF is a subject based on the measurement result by projecting light such as infrared rays onto the subject and measuring the time until the projected light is reflected by the subject and returned for each pixel.
- This is a method of obtaining an image (so-called distance image) including the distance (depth) up to.
- Structured Light irradiates a subject with a pattern by light such as infrared rays, and by imaging the pattern, the distance including the distance (depth) to the subject is based on the change of the pattern obtained from the imaging result. This is a method for obtaining an image.
- the moving parallax is a method of measuring the distance to the subject based on the parallax even in a so-called monocular camera. Specifically, by moving the camera, the subject is imaged from different viewpoints, and the distance to the subject is measured based on the parallax between the captured images.
- the imaging unit for example, a monocular camera, a stereo camera, etc.
- the configuration of the imaging unit may be changed according to the distance measurement method.
- the imaging units 203a and 203b are held by the holding unit 291 so that the user's eyeball is positioned within the respective imaging range when the input / output device 20 is attached to the user's head.
- the imaging unit 203a is held so that the user's right eye is located within the imaging range. Based on such a configuration, the line of sight of the right eye is directed based on the image of the eyeball of the right eye captured by the imaging unit 203a and the positional relationship between the imaging unit 203a and the right eye. It becomes possible to recognize the direction.
- the imaging unit 203b is held so that the left eye of the user is located within the imaging range.
- the input / output device 20 shows a configuration including both the image pickup units 203a and 203b, but only one of the image pickup units 203a and 203b may be provided.
- the IR (Infrared) light source 201c and the IR image pickup unit 201d for hand position detection are for obtaining the position and posture of the wearable device 30 (as viewed from the input / output device 20).
- the infrared light (for example, 940 nm) emitted from the IR light source 201c is reflected by the optical marker (FIG. 4) of the retroreflective material of the wearable device 30 and is imaged (or IR) by the IR image pickup unit 201d.
- the optical marker 320 (FIG. 4) is an IR LED (for example, with a wavelength of 940 nm), which may be configured to emit light by itself).
- the IR imaging unit 201d includes a bandpass filter that allows only infrared light (as an example, centered on the 940 nm band) to pass through, and only the bright spot of the optical marker 320 (FIG. 4) is imaged. From the image of the bright spot, it is possible to obtain the relative position and orientation of the wearable device 30 from the input / output device 20 (as an example, with relatively high accuracy).
- the operation unit 207 is configured to receive an operation from the user on the input / output device 20.
- the operation unit 207 may be configured by an input device such as a touch panel or a button.
- the operation unit 207 is held at a predetermined position of the input / output device 20 by the holding unit 291. For example, in the example shown in FIG. 3, the operation unit 207 is held at a position corresponding to the temple of the glasses.
- the input / output device 20 is provided with an inertial measurement unit 220 (FIG. 5) (IMU) including an acceleration sensor, a gyro sensor (angular velocity sensor), and the like (not shown).
- IMU inertial measurement unit
- the input / output device 20 can acquire the acceleration information and the angular velocity information output by the IMU. Then, based on the acceleration information and the angular velocity information, the movement of the head of the user wearing the input / output device 20 (in other words, the movement of the input / output device 20 itself) can be detected.
- the information processing device 10 acquires acceleration information and angular velocity information output by the IMU of the input / output device 20, calculates the position and attitude of the input / output device 20 by inertial navigation, and causes a drift at that time. By correcting the error with the regression model, it is possible to estimate the position information and the posture information of the input / output device 20 and acquire the position and the posture of the head of the user.
- the input / output device 20 can recognize changes in its own position and posture in the real space according to the movement of the user's head. Further, at this time, based on the so-called AR technology, the input / output device 20 displays the content on the display unit 211 so that the virtual content (that is, the virtual object) is superimposed on the real object located in the real space. It is also possible to present it. Further, at this time, the input / output device 20 may estimate its own position and posture (that is, its own position) in the real space based on, for example, a technique called SLAM (Simultaneus Localization And Mapping). The estimation result may be used for presenting a virtual object.
- SLAM Simultaneus Localization And Mapping
- SLAM is a technology that performs self-position estimation and environment map creation in parallel by using an image pickup unit such as a camera, various sensors, an encoder, and the like.
- an image pickup unit such as a camera, various sensors, an encoder, and the like.
- the three-dimensional shape of the captured scene (or subject) is sequentially restored based on the moving image captured by the imaging unit. Then, by associating the restored result of the captured scene with the detection result of the position and posture of the imaging unit, a map of the surrounding environment can be created, and the position and position of the imaging unit (and thus the input / output device 20) in the environment and Posture estimation is performed.
- the position and orientation of the image pickup unit can be estimated as information indicating a relative change based on the detection result of the sensor by, for example, providing various sensors such as an acceleration sensor and an angular velocity sensor in the input / output device 20. Is possible.
- the method is not necessarily limited to the method based on the detection results of various sensors such as an acceleration sensor and an angular velocity sensor.
- HMD Head Mounted Display
- the see-through type HMD uses, for example, a half mirror or a transparent light guide plate to hold a virtual image optical system including a transparent light guide portion in front of the user's eyes and display an image inside the virtual image optical system. Therefore, the user wearing the see-through type HMD can see the outside scenery while visually recognizing the image displayed inside the virtual image optical system.
- the see-through HMD is, for example, based on AR technology, with respect to an optical image of a real object located in the real space according to the recognition result of at least one of the position and the posture of the see-through HMD. It is also possible to superimpose an image of a virtual object.
- the see-through type HMD there is a so-called glasses-type wearable device in which a portion corresponding to a lens of glasses is configured as a virtual image optical system.
- the input / output device 20 shown in FIG. 3 corresponds to an example of a see-through type HMD.
- the video see-through type HMD When the video see-through type HMD is attached to the user's head or face, it is attached so as to cover the user's eyes, and a display unit such as a display is held in front of the user's eyes. Further, the video see-through type HMD has an image pickup unit for capturing an image of the surrounding landscape, and displays an image of the landscape in front of the user captured by the image pickup unit on the display unit. With such a configuration, it is difficult for the user wearing the video see-through type HMD to directly see the external scenery, but it is possible to confirm the external scenery from the image displayed on the display unit. Become.
- the video see-through type HMD superimposes a virtual object on the image of the external landscape according to the recognition result of at least one of the position and the posture of the video see-through type HMD based on, for example, AR technology. You may let me.
- a projection unit is held in front of the user's eyes, and the image is projected from the projection unit toward the user's eyes so that the image is superimposed on the external landscape. More specifically, in the retinal projection type HMD, an image is directly projected from the projection unit onto the retina of the user's eye, and the image is imaged on the retina. With such a configuration, even in the case of a user with myopia or hyperopia, a clearer image can be visually recognized. In addition, the user wearing the retinal projection type HMD can see the external landscape in the field of view while visually recognizing the image projected from the projection unit.
- the retinal projection type HMD is an optical image of a real object located in the real space according to the recognition result of at least one of the position and the posture of the retinal projection type HMD based on, for example, AR technology. It is also possible to superimpose an image of a virtual object on the image.
- the input / output device 20 according to the present embodiment may be configured as an HMD called an immersive HMD.
- the immersive HMD is worn so as to cover the user's eyes, and a display unit such as a display is held in front of the user's eyes. Therefore, it is difficult for the user wearing the immersive HMD to directly see the external scenery (that is, the scenery in the real world), and only the image displayed on the display unit is in the field of view. With such a configuration, the immersive HMD can give an immersive feeling to the user who is viewing the image.
- FIG. 4 is an explanatory diagram for explaining an example of a schematic configuration of the wearable device 30 according to the present embodiment.
- the wearable device 30 is configured as a so-called wearable device that the user wears on the palm of his / her hand.
- the wearable device 30 is configured as a so-called palm vest type device.
- the wearable device 30 includes an imaging unit (palm side) 301 and an imaging unit (back side) 302, and the imaging unit (palm side) 301 holds the fingers (fingers) of the hand on which the wearable device 30 is attached.
- the imaging unit (back side) 302 is arranged on the back side of the hand so that the image can be taken from the palm side, and the image pickup unit (back side) 302 is arranged on the back side of the hand so that the finger (finger) of the hand to which the wearable device 30 is attached can be imaged from the back side of the hand. ..
- the image pickup unit (palm side) 301 and the image pickup unit (back side) 302 are each configured as a TOF sensor, and the depth (distance to the finger) can be obtained from the depth image obtained by the TOF sensor. ..
- the types of sensors of the imaging unit (palm side) 301 and the imaging unit (back side) 302 are not limited to the TOF sensor, and may be other sensors capable of obtaining depth.
- one or both of the image pickup unit (palm side) 301 and the image pickup unit (back side) 302 may be a 2D sensor such as an IR sensor.
- the wearable device 30 includes a plurality of optical markers 320 whose surface is a retroreflective material, an inertial measurement unit 303 (FIG. 5), and a vibration presenting unit 311.
- the finger F1 is shown.
- the relative position and posture of the fingers F1 are shown as the position / posture R1.
- the relative position (as viewed from the image pickup unit 201) can be represented by the coordinates in the camera coordinate system with respect to the image pickup unit 201.
- the image pickup unit 201 used as a reference is not particularly limited (for example, the image pickup unit 201a may be a reference).
- the relative position and posture of the wearable device 30 are shown as the position / posture R2.
- the relative position and posture (as viewed from the wearable device 30) of the imaging unit (palm side) 301 are shown as the position / posture R3.
- the relative position and posture of the finger F1 (as viewed from the imaging unit (palm side) 301) are shown as the position posture R4.
- the relative position and posture (as viewed from the wearable device 30) of the imaging unit (back side of the hand) 302 are shown as the position / posture R5.
- the relative position and posture of the finger F1 are shown as the position posture R6.
- FIG. 4 shows the finger F1 corresponding to the middle finger as an example of the finger.
- fingers other than the middle finger that is, the thumb, index finger, ring finger and little finger
- fingers other than the middle finger can be treated as fingers as well as the finger F1 corresponding to the middle finger.
- the optical marker 320 reflects the irradiation light of the IR light source 201c of the input / output device 20.
- the reflected light is imaged by the IR image pickup unit 201d, and the relative position and posture (as viewed from the image pickup unit 201) of the wearable device 30 is obtained (for example, with relatively high accuracy) from the bright spot of the obtained image.
- the optical marker 320 is not limited to a passive marker using a retroreflective material, but may be an active marker using an IR LED. When the optical marker 320 is an active marker, the IR light source 201c of the input / output device 20 is unnecessary.
- the inertial measurement unit 303 (FIG. 5) is configured by, for example, an IMU, and can acquire acceleration information and angular velocity information output by the IMU, similarly to the IMU included in the input / output unit 20. Based on the acceleration information and the angular velocity information, the movement of the hand of the user wearing the wearable device 30 (in other words, the movement of the wearable device 30 itself) can be detected.
- the information processing device 10 acquires acceleration information and angular velocity information output by the IMU sensor of the wearable device 30, calculates the position and attitude of the wearable device 30 by inertial navigation, and causes a drift error at that time. Is corrected by the regression model, it is possible to estimate the position information and the posture information of the wearable device 30 and acquire the position and the posture of the user's hand.
- the vibration presenting unit 311 presents a tactile sensation to the user's hand by driving a vibration actuator that generates vibration.
- a vibration actuator specifically, a translational actuator such as a voice coil motor or an LRA (Linear Resonant Actuator) or a rotary actuator such as an eccentric motor is used. It can be driven in the frequency range, and high vibration expressive power can be obtained.
- the oscillating actuator is driven by applying a time-varying analog waveform voltage close to the audio signal. It is conceivable to install the vibration actuators at a plurality of locations according to the vibration intensity to be presented and the presentation site.
- the vibration actuator directly on the part where vibration is to be presented (palm, etc.)
- the vibration propagation characteristics and the tactile sensitivity of the hand differ for each frequency. Based on this, it is possible to make the palm shape present a tactile sensation.
- FIG. 5 is a block diagram showing an example of the functional configuration of the information processing system 1 according to the present embodiment.
- the information processing system 1 includes the information processing device 10, the input / output device 20, and the wearable device 30, and the information processing device 10, the input / output device 20, and the wearable device 30 are included.
- the configuration of each of the devices 30 will be described in more detail.
- the information processing system 1 may include a storage unit 190.
- the input / output unit 20 includes image pickup units 201a, 201b and 201d, an output unit 210 (presentation unit), and an inertial measurement unit 220 (IMU).
- the output unit 210 includes a display unit 211. Further, the output unit 210 may include an acoustic output unit 213.
- the image pickup units 201a, 201b and 201d correspond to the image pickup units 201a, 201b and 201d described with reference to FIG. When the imaging units 201a, 201b and 201d are not particularly distinguished, they may be simply referred to as "imaging unit 201".
- the display unit 211 corresponds to the display unit 211 described with reference to FIG. 2.
- the acoustic output unit 213 is composed of an acoustic device such as a speaker, and outputs voice or sound according to the information to be output.
- the input / output device 20 also includes an operation unit 207, image pickup units 203a and 203b, a holding unit 291 and the like.
- the wearable device 30 includes an imaging unit (palm side) 301, an imaging unit (back side) 302, an inertial measurement unit 303 (IMU), and an output unit 310.
- the output unit 310 includes a vibration presentation unit 311.
- the vibration presenting unit 311 is composed of a vibration actuator and presents vibration according to information to be output.
- the wearable device 30 also includes an optical marker 320 and the like.
- the information processing apparatus 10 includes a stereo depth calculation unit 101, a finger joint recognition unit 103, a finger joint recognition unit 115, a finger joint recognition unit 117, and a finger joint recognition integration unit 119. .. Further, the information processing apparatus 10 includes a wearable device position / attitude estimation unit 109, an inertial integral calculation unit 111, an inertial integral calculation unit 121, and a wearable device position / attitude integration unit 113. Further, the information processing apparatus 10 includes a processing execution unit 105 and an output control unit 107 (presentation control unit).
- the stereo depth calculation unit 101 acquires images (imaging results) output from the imaging units 201a and 201b, respectively, and generates depth images of the angles of view of the imaging units 201a and 201b based on the acquired images. Then, the stereo depth calculation unit 101 outputs the depth images of the angles of view of the imaging units 201a and 201b to the finger joint recognition unit 103.
- the finger joint recognition unit 103 acquires a depth image generated by the stereo depth calculation unit 101 from the stereo depth calculation unit 101, and recognizes the positions of each of the plurality of finger joints based on the acquired depth image. Details of recognition of the position of each finger joint will be described later. Then, the finger joint recognition unit 103 outputs the relative position (viewed from the imaging unit 201) of each recognized finger joint position to the finger joint recognition integration unit 119 as a position posture, and also outputs the recognition result of each finger joint position. The reliability (described later) is output to the finger joint recognition integration unit 119. Further, when there is a finger joint that fails to recognize (or estimates) the position from the depth image, the finger joint recognition unit 103 outputs a result indicating that it cannot be estimated as a finger joint (recognition result) that fails to recognize. ..
- the finger joint recognition unit 115 acquires an image (imaging result) output from the image pickup unit (palm side) 301, and recognizes each finger joint position based on the acquired image. Then, the finger joint recognition unit 115 outputs the relative position (viewed from the imaging unit (palm side) 301) of each recognized finger joint as the position / posture R4 (FIG. 4) to the finger joint recognition integration unit 119. The reliability (described later) of the recognition result of each finger joint position is output to the finger joint recognition integration unit 119.
- the finger joint recognition unit 117 acquires an image (imaging result) output from the image pickup unit (back side of the hand) 302, and recognizes each finger joint position based on the acquired image. Then, the finger joint recognition unit 117 outputs the relative position (viewed from the imaging unit (back side) 302 of the image pickup unit (back side) 302) of each recognized finger joint as the position posture R6 (FIG. 4) to the finger joint recognition integration unit 119. The reliability (described later) of the recognition result of each finger joint position is output to the finger joint recognition integration unit 119.
- each finger joint (as viewed from the wearable device 30) is represented by the coordinates in the coordinate system with respect to the wearable device 30.
- the coordinate system based on the wearable device 30 is not particularly limited (for example, the coordinate system based on the wearable device 30 may be the camera coordinate system of the image pickup unit 301).
- each of the finger joint recognition unit 115 and the finger joint recognition unit 117 cannot be estimated as a finger joint (recognition result) that fails to recognize.
- the result showing is output.
- the wearable device position / orientation estimation unit 109 acquires an image (imaging result) output from the IR imaging unit 201d. In such an image, a plurality of bright spots which are reflected light of the optical marker 320 included in the wearable device 30 are shown. Therefore, the wearable device position / posture estimation unit 109 can estimate the relative position and posture (viewed from the image pickup unit 201) of the wearable device 30 as the position / posture based on the positional relationship of the plurality of bright spots.
- the wearable device position / orientation estimation unit 109 outputs the recognized relative position / orientation (hereinafter, also referred to as “position / attitude P1”) of the wearable device 30 (as viewed from the image pickup unit 201) to the wearable device position / attitude integration unit 113. ..
- the relative position / orientation P1 (viewed from the image pickup unit 201) of the wearable device 30 recognized by the wearable device position / orientation estimation unit 109 is represented by the camera coordinate system with respect to the image pickup unit 201.
- the reference imaging unit 201 is not particularly limited.
- optical markers 320 of the wearable device 30 are included in the angle of view of the IR imaging unit 201d (that is, when the optical markers 320 are not included in the angle of view of the IR imaging unit 201d at all or the optical markers 320. It may only be partially included). Alternatively, even if all of the optical markers 320 of the wearable device 30 are included in the angle of view of the IR image pickup unit 201d, if all the reflected light of the optical marker 320 is imaged by the IR image pickup unit 201d due to occlusion or the like.
- the IR image pickup unit 201d may not capture the reflected light of the optical marker 320 at all or may capture only a part of the optical marker 320.
- the wearable device position / orientation estimation unit 109 outputs a result indicating that estimation is impossible.
- the inertial integral calculation unit 111 acquires acceleration information and angular velocity information from the inertial measurement unit 303 (IMU) of the wearable device 30, and based on the acquired acceleration information and angular velocity information, the position and attitude of the wearable device 30 (hereinafter, “position”). (Also shown as posture P2) is estimated (as an example, with relatively low accuracy).
- the position / orientation P2 is represented by a global coordinate system.
- the inertial integral calculation unit 111 estimates the position information and attitude information of the wearable device 30 by calculating the position and attitude of the wearable device 30 by inertial navigation and correcting the drift error generated at that time by the regression model. It is possible.
- the inertial integral calculation unit 111 outputs the position / orientation P2 of the wearable device 30 represented by the global coordinate system to the wearable device position / attitude integration unit 113.
- the inertial integration calculation unit 121 acquires acceleration information and angular velocity information from the inertial measurement unit 220 (IMU) of the input / output device 20, and the position and attitude of the input / output device 20 based on the acquired acceleration information and angular velocity information. (Hereinafter, also referred to as “position / posture P3”) is estimated.
- the position / orientation P3 is represented by a global coordinate system.
- the inertial integration calculation unit 121 calculates the position and attitude of the input / output device 20 by inertial navigation, and corrects the drift error generated at that time by the regression model to obtain the position information and attitude information of the input / output device 20. It is possible to estimate.
- the inertial integral calculation unit 121 outputs the position / orientation P3 of the input / output device 20 represented by the global coordinate system to the wearable device position / attitude integration unit 113.
- the wearable device position / posture integration unit 113 acquires the relative position / posture P1 (viewed from the image pickup unit 201) of the wearable device 30 output by the wearable device position / posture estimation unit 109.
- the position / posture P1 is represented by a camera coordinate system with reference to the image pickup unit 201 (for example, the image pickup unit 201a).
- the wearable device position / orientation integration unit 113 includes the position / orientation P2 of the inertial measurement unit 303 of the wearable device 30 output by the inertial integral calculation unit 111 and the inertial measurement unit 220 of the input / output device 20 output by the inertial integral calculation unit 121.
- the position / posture P2 and P3 are represented by the global coordinate system, respectively.
- the wearable device position-orientation integration unit 113 calculates the relative position-orientation of the position-orientation P2 of the wearable device 30 as seen from the position-orientation P3 of the input / output device 20, and is an IMU obtained in advance by IMU-camera calibration or the like.
- the position / orientation of the wearable device 30 represented by the coordinate system with respect to the image pickup unit 201 (for example, the camera coordinate system of the image pickup unit 201a) using the positional relationship between the image and the camera (hereinafter, also referred to as “position / orientation P4”). .) Is calculated.
- the wearable device position-posture integration unit 113 integrates the position-posture P1 and the position-posture P4, and outputs the integrated position-posture R2 (FIG. 4) to the finger joint recognition integration unit 119.
- the position / orientation R2 after integration is represented by a coordinate system with reference to the image pickup unit 201 (for example, the camera coordinate system of the image pickup unit 201a).
- the position and posture may be integrated in any way. For example, if the position / posture P1 estimated by the wearable device position / posture estimation unit 109 is available (unless it indicates that it cannot be estimated), the wearable device position / posture integration unit 113 recognizes the position / posture P1. Output to the integration unit 119. On the other hand, the wearable device position / posture integration unit 113 outputs the position / posture P4 to the finger joint recognition integration unit 119 when the wearable device position / posture estimation unit 109 outputs unestimable.
- the wearable device position / attitude integration unit 113 determines the position / orientation of the wearable device 30 based on the image pickup result of the optical marker by the IR image pickup unit 201d of the input / output device 20, and (each of the input / output device 20 and the wearable device 30). ) It is mainly assumed that the position and orientation of the wearable device 30 based on the information output from the IMU are integrated. However, the position / posture of the wearable device 30 output from the wearable device position / posture integration unit 113 to the finger joint recognition integration unit 119 is not limited to this example.
- the wearable device position / orientation integration unit 113 has a position / orientation of the wearable device 30 based on the imaging result of the optical marker, a position / orientation of the wearable device 30 based on the information output from the IMU, and a position / orientation of the wearable device 30 based on magnetic tracking.
- at least one of the positions and postures of the wearable device 30 based on ultrasonic sensing may be output to the finger joint recognition integration unit 119.
- the finger joint recognition integration unit 119 uses the position / posture R2 (FIG. 4) of the wearable device 30 output by the wearable device position / posture integration unit 113, and each finger output by the finger joint recognition unit 115 and the finger joint recognition unit 117.
- the joint position (FIG. 4 shows the position / posture R4 and the position / posture R6 as an example of each finger joint position) is a coordinate system with the image pickup unit 201 as a reference (for example, the camera coordinates of the image pickup unit 201a). System).
- the finger joint recognition integration unit 119 has a position / posture R2, a relative position / posture R3 (viewed from the wearable device 30) of the imaging unit (palm side) 301, and a finger joint recognition unit.
- a position / posture R2 a relative position / posture R3 (viewed from the wearable device 30) of the imaging unit (palm side) 301
- a finger joint recognition unit By adding each finger joint position (position / posture R4) output by 115, each finger joint position (position / posture R4) can be re-expressed in the coordinate system based on the image pickup unit 201.
- the imaging unit (palm side) 301 is provided in the controller unit 31, and the position and posture (because the controller unit 31 is not deformed) according to the wearing state of the wearable device 30 by the user. R3 does not change. Therefore, the position / posture R3 can be set in advance before the wearable device 30 is attached by the user.
- the finger joint recognition integration unit 119 has the position / posture R2, the relative position / posture R5 (viewed from the wearable device 30) of the imaging unit (back side) 302, and each finger joint output by the finger joint recognition unit 117.
- position position / posture R6
- each finger joint position position / posture R6
- Position posture R5 does not change. Therefore, the position / posture R5 can be set in advance before the wearable device 30 is attached by the user.
- the present invention is not limited to the example in which the imaging unit (palm side) 301 or the imaging unit (back side) 302 is fixed to the wearable device 30.
- the band portion 32 or the like may be deformed according to the wearing state of the wearable device 30 by the user, and the position / posture R3 or R5 may be changed.
- the self-position may be estimated for the imaging unit (palm side) 301 and the imaging unit (back side) 302 by using SLAM, and the position / posture R3 or R5 may be calculated in real time.
- the finger joint recognition integrated unit 119 is output by the finger joint recognition unit 115 and the finger joint recognition unit 117, which are re-represented by the coordinate system based on the image pickup unit 201 (for example, the camera coordinate system of the image pickup unit 201a).
- the position of each finger joint and the position of each finger joint output by the finger joint recognition unit 103 are integrated by using their reliability (described later).
- the finger joint recognition integration unit 119 outputs each finger joint position after integration as a final estimation result of the finger joint position (as a recognition result of user input) to the processing execution unit 105.
- the processing execution unit 105 is configured to execute various functions (for example, applications) provided by the information processing apparatus 10 (and by extension, the information processing system 1). For example, the processing execution unit 105 stores a corresponding application in a predetermined storage unit (for example, a storage unit 190 described later) according to each finger joint position (recognition result of user input) output from the finger joint recognition integration unit 119. You may execute the extracted application by extracting from. Alternatively, the processing execution unit 105 may control the operation of the application being executed according to the position of each finger joint output from the finger joint recognition integration unit 119. For example, the processing execution unit 105 may switch the subsequent operation of the application being executed according to the position of each finger joint. Alternatively, the processing execution unit 105 may output information indicating the execution results of various applications to the output control unit 107.
- a predetermined storage unit for example, a storage unit 190 described later
- the processing execution unit 105 may control the operation of the application being executed according to the position of each finger joint output from the finger joint recognition integration unit
- the output control unit 107 presents the information to the user by outputting various information to be output to the output unit 210 and the output unit 310.
- the output control unit 107 may present the display information to the user by displaying the display information to be output on the display unit 211.
- the output control unit 107 displays a virtual object that can be operated by the user based on each finger joint position (that is, the finger recognition result) output from the finger joint recognition integration unit 119. You may control 211.
- the output control unit 107 may present the information to the user by causing the sound output unit 213 to output the sound corresponding to the information to be output.
- the output control unit 107 may present the information to the user by causing the vibration presentation unit 311 to output the vibration corresponding to the information to be output.
- the output control unit 107 may acquire information indicating the execution results of various applications from the processing execution unit 105, and present the output information corresponding to the acquired information to the user via the output unit 210. Further, the output control unit 107 may display the display information indicating the execution result of the desired application on the display unit 211. Further, the output control unit 107 may output the output information according to the execution result of the desired application to the acoustic output unit 213 as sound (including voice). Further, the output control unit 107 may output the output information according to the execution result of the desired application to the vibration presentation unit 311 as vibration.
- the storage unit 190 is a storage area (recording medium) for temporarily or permanently storing various data (the various data may include a program for functioning the computer as the information processing device 10). Is.
- the storage unit 190 may store data for the information processing apparatus 10 to execute various functions.
- the storage unit 190 may store data (for example, a library) for executing various applications, management data for managing various settings, and the like.
- the functional configuration of the information processing system 1 shown in FIG. 5 is merely an example, and the functional configuration of the information processing system 1 is not necessarily shown in FIG. 5 if the processing of each configuration described above can be realized. Not limited to examples.
- the input / output device 20 and the information processing device 10 may be integrally configured.
- the storage unit 190 may be included in the information processing device 10, or may be externally attached to a recording medium external to the information processing device 10 (for example, the information processing device 10). It may be configured as a recording medium).
- a part of the configurations of the information processing apparatus 10 may be provided outside the information processing apparatus 10 (for example, a server or the like).
- the reliability is how reliable each finger joint position recognized based on the depth image is by each of the finger joint recognition unit 103, the finger joint recognition unit 115, and the finger joint recognition unit 117. It is information indicating, and is calculated as a value corresponding to each finger recognition position.
- the reliability calculation method may be the same for the finger joint recognition unit 103, the finger joint recognition unit 115, and the finger joint recognition unit 117 (although they may be different).
- FIG. 6 is a diagram showing an example of a depth image.
- the depth image G1 is shown as an example.
- the depth image G1 shows the hand of the user wearing the wearable device 30.
- the stronger the blackness of the color the lower the depth (that is, the closer to the camera).
- the stronger the whiteness of the color the higher the depth (that is, the farther from the camera).
- FIG. 7 is a diagram showing an example of finger joint positions.
- an example of each finger joint position recognized based on a depth image (such as the depth image G1 shown in FIG. 6) is three-dimensionally represented.
- the center position of the palm is indicated by a double circle
- the position of each joint of the thumb is indicated by a circle
- the position of each joint of the index finger is indicated by a triangle
- the position of each joint of the middle finger is indicated by a diamond.
- each joint position of the ring finger is shown as a pentagon
- each joint position of the little finger is shown as a hexagon.
- FIG. 8 is a diagram showing an example of an image in which each recognized finger joint position is reprojected on a depth image.
- each recognized finger joint position eg, as in each joint position shown in FIG. 7
- a depth image eg, such as depth image G1 shown in FIG. 6
- the reprojected image G2 obtained is shown. Since the camera has been calibrated in advance to obtain internal parameters and distortion coefficients, conversion from the camera coordinate system to the image coordinate system can be performed using these.
- the front of the camera (the depth direction of the camera) is the z direction.
- the pixel value of the position where each recognized finger joint position is reprojected on the depth image represents the distance from the camera, and the distance is defined as V (k).
- Z (k) be the z-coordinate of each recognized finger joint position.
- ⁇ (k)
- ⁇ (k) may correspond to an example of an error in the depth direction for each finger joint position.
- n indicates the number of finger joints.
- the reliability of the finger joint can be calculated as 1 / (1 + D). That is, when D is 0, the reliability takes a maximum value of 1, and when the error in the depth direction of each joint increases, the reliability approaches 0. Note that 1 / (1 + D) is only an example of the reliability of the finger joint position. Therefore, the method for calculating the reliability of the finger joint position is not limited to such an example. For example, the reliability of the finger joint position may be calculated so that the larger the error in the depth direction of the finger joint position, the smaller the reliability.
- FIG. 9 is a diagram showing another example of an image in which each recognized finger joint position is reprojected on a depth image.
- a reprojected image G3 obtained by reprojecting each recognized finger joint position onto a depth image is shown, similar to the example shown in FIG.
- the index finger is extended and the other fingers are bent so as to be grasped.
- the index finger (the finger whose outline is the broken line shown in FIG. 9) is almost hidden by the thumb and hardly appears in the depth image. Therefore, each joint position of the index finger is recognized as the back side of the thumb.
- the z-coordinate of the position where each joint position of the recognized index finger is reprojected on the depth image is the distance from the camera to the surface of the thumb, so from the camera to each joint position of the recognized index finger.
- the value is shorter than the distance (distance from the camera to the index finger on the other side of the thumb). Therefore, the difference between the z-coordinate of each joint position of the recognized index finger and the z-coordinate (pixel value) of the position where each joint position of the recognized index finger is reprojected on the depth image becomes large, and the reliability is high. Will be smaller.
- each finger joint position is recognized.
- the recognition result of each finger joint position can be used to detect the position of the fingertip.
- a phenomenon in which one part of the body is shielded by another part hereinafter, also referred to as "self-occlusion" may occur.
- self-occlusion a phenomenon in which one part of the body is shielded by another part
- the most probable position of the finger joint position is the finger joint. Recognized as a position. For example, if the index finger is completely shielded by another finger, it is unclear whether the index finger is bent or stretched. Therefore, even in the same situation, the joint position of the index finger may be recognized as if the index finger is bent, or the joint position of the index finger may be recognized as if the index finger is extended. , The recognition accuracy of the index finger joint position does not improve.
- the joint of a finger of the user's body which is an example of the recognition target, is shielded by another finger.
- the part where the self-occlusion of the user's body occurs is not limited. That is, the part to be shielded (first part) and the part to be shielded (second part) are not limited.
- the embodiment of the present disclosure may be applied even when the finger joint to be recognized is shielded by a part of the user's body other than the fingers (for example, the palm, arm, etc. of the user).
- FIG. 10 is a flowchart for explaining an example of basic control according to the embodiment of the present disclosure.
- the processing execution unit 105 recognizes the operation input by the user based on the finger joint position output from the finger joint recognition integration unit 119, and performs processing according to the recognized operation.
- the process execution unit 105 sets the operation mode to the normal operation mode (hereinafter, also referred to as “normal operation mode M1”).
- normal operation mode M1 the normal operation mode
- the process execution unit 105 transitions to a state in which acceptance of an operation input by the user (hereinafter, also referred to as “user operation”) is permitted (S11).
- the processing execution unit 105 determines whether or not the reliability of the finger joint position output from the finger joint recognition integration unit 119 together with the finger joint position is below a predetermined threshold value (first reliability). It may be determined whether or not self-occlusion has occurred.
- first reliability a predetermined threshold value
- the process execution unit 105 transitions to a state in which acceptance of user operations is prohibited (S13). This reduces the possibility of erroneous operation caused by the execution of processing according to the operation while self-occlusion occurs.
- the output control unit 107 controls the output unit 210 of the input / output device 20 so that the notification information (hereinafter, also referred to as “guide UI (User Interface)”) for prompting the posture change of the fingers is presented (the output control unit 107).
- the guide UI for urging the posture change of the fingers may be any information as long as it is information for urging the posture change of at least one of the finger having the shielded finger joint and the finger that shields the finger joint.
- the user tries to eliminate the self-occlusion by changing the posture of at least one of the fingers, and it is expected that the deterioration of the recognition accuracy of the finger joint position is suppressed.
- the guide UI that prompts the user to change the posture of the fingers is also referred to as "the guide UI that prompts the user to open the hand”.
- While the processing execution unit 105 does not detect the elimination of the self-occlusion in which the finger joint is shielded by another finger (“NO” in S15), S15 is executed again. On the other hand, when it is detected that the self-occlusion in which the finger joint is shielded by another finger is eliminated (“YES” in S15), the process returns to S11 and the operation mode is set to the normal operation mode M1 again. When the operation mode is set to the normal operation mode M1 again, the process execution unit 105 again transitions to a state that allows acceptance of user operations.
- the processing execution unit 105 determines whether or not the reliability of the finger joint position output from the finger joint recognition integration unit 119 together with the finger joint position exceeds a predetermined threshold value (second reliability). It may be determined whether or not the self-occlusion has been resolved.
- the threshold value (second reliability) for determining whether or not self-occlusion has been resolved is the same as the threshold value (first reliability) for determining whether or not self-occlusion has occurred. It may be present or it may be a different value.
- the processing execution unit 105 determines whether or not self-occlusion has occurred by using the positions of the finger joints after the integration by the finger joint recognition integration unit 119 and their reliability. Mainly assume the case. However, the processing execution unit 105 uses the finger joint positions output by at least one of the finger joint recognition unit 115, the finger joint recognition unit 117, and the finger joint recognition unit 103 and their reliability to perform self-occlusion. It may be determined whether or not it has occurred.
- the processing execution unit 105 performs self-occlusion using each finger joint position output by at least one of the finger joint recognition unit 115, the finger joint recognition unit 117, and the finger joint recognition unit 103 and their reliability. It may be determined whether or not the problem has been resolved.
- the finger joint recognition integration unit 119 is viewed from the position / posture R2 (FIG. 4) of the wearable device 30 output by the wearable device position / posture integration unit 113 and the (wearable device 30) of the imaging unit (palm side) 301. )
- the relative position / posture R3 and each finger joint position (position / posture R4) output by the finger joint recognition unit 115 are added together.
- the finger joint recognition integration unit 119 reexpresses each finger joint position (position / posture R4) in the coordinate system with reference to the image pickup unit 201.
- the finger joint recognition integration unit 119 obtains the reliability C1 (k) of each finger joint position from the finger joint recognition unit 115.
- the finger joint recognition integration unit 119 is the relative position (viewed from the wearable device 30) of the image pickup unit (back side) 302 of the position / posture R2 (FIG. 4) of the wearable device 30 output by the wearable device position / posture integration unit 113.
- the posture R5 and the position of each finger joint (positional posture R6) output by the finger joint recognition unit 117 are added together.
- the finger joint recognition integration unit 119 reexpresses each finger joint position (position / posture R6) in the coordinate system with reference to the image pickup unit 201.
- the position information for each finger joint after being re-expressed in the coordinate system with the image pickup unit 201 as a reference in this way is defined as Q2 (k).
- the finger joint recognition integration unit 119 obtains the reliability C2 (k) of each finger joint position from the finger joint recognition unit 117.
- the finger joint recognition integration unit 119 is the position information for each finger joint recognized by the finger joint recognition unit 103 based on the images output from the image pickup units 201a and 201b of the input / output device 20 mounted on the user's head. Obtain Q3 (k). Further, the finger joint recognition integration unit 119 obtains the reliability C3 (k) of each finger joint position from the finger joint recognition unit 103.
- the Q (k) obtained by the finger joint recognition integration unit 119 in this way is output to the processing execution unit 105.
- the initial operation mode is set to the normal operation mode M1.
- the process execution unit 105 sets the normal operation mode M1 as the operation mode (assuming that self-occlusion has not occurred). To continue.
- the processing execution unit 105 operates the operation mode (assuming that self-occlusion has occurred). Switch to guide mode M2.
- the process execution unit 105 When the operation mode is the operation guide mode M2 and at least one of Q (k) is "unknown", the process execution unit 105 operates as the operation mode (assuming that the self-occlusion has not been resolved). The guide mode M2 is continued. On the other hand, when the operation mode is the operation guide mode M2 and none of Q (k) is "unknown", the process execution unit 105 sets the operation mode to the normal operation mode M1 (assuming that the self-occlusion is resolved). Switch to.
- the process execution unit 105 allows the acceptance of user operations when the operation mode is the normal operation mode M1. On the other hand, when the operation mode is the operation guide mode M2, the processing execution unit 105 prohibits acceptance of user operations and outputs and controls control information for presenting a guide UI prompting the user to open his / her hand.
- the output control unit 107 controls the output unit 210 of the input / output device 20 so that a guide UI prompting the user to open his / her hand is presented according to the control signal.
- the finger joint position is recognized by the finger joint recognition unit 115 based on the image output from the image pickup unit (palm side) 301.
- the finger joint recognition unit 117 is based on the image output from the image pickup unit (back side) 302.
- the position of the finger joint is recognized.
- the angle of view of the image pickup units 201a and 201b of the input / output device 20 mounted on the head is increased.
- the finger joint position is recognized by the finger joint recognition unit 103 based on the depth image.
- the finger joint positions are integrated by the finger joint recognition integration unit 119 in this way, if self-occlusion occurs and at least one finger joint position is not detected, the user operation is accepted.
- the user may be presented with an instruction to take a posture of the finger that is transitioned to the prohibited state and is less likely to cause self-occlusion.
- the self-occlusion is canceled and all the finger joint positions are detected, the state returns to the state where the acceptance of the user operation is allowed.
- FIG. 11 is a diagram for explaining an example of user operation.
- a user wearing the wearable device 30 is shown.
- the button B10 exists as an example of an object that can be operated by the user.
- the button B10 is an example of a virtual object controlled by the output control unit 107 so as to be displayed by the display unit 211 of the input / output device 20.
- the object that can be operated by the user may be a virtual object other than the button B10 (for example, a thumb of a slider for determining a predetermined position) or a real object.
- the user operation is an operation of pressing the button B10.
- the user operation may be another operation on the object.
- the user operation may be an operation of moving the thumb of the slider.
- the shape of the button B10 is rectangular.
- the shape of the button B10 is not limited.
- the processing execution unit when the button B10 moves based on the user operation of pressing the button B10 in the direction perpendicular to the surface (rectangular area) of the button B10, and the moved button B10 reaches the rectangular area v12, the processing execution unit. It is assumed that the operation associated with the button B10 is executed by the 105.
- the user operation of pressing the button B10 is performed by the fingertip of the index finger.
- self-occlusion may occur in which the tip of the index finger is shielded by another finger (for example, thumb, middle finger, ring finger or little finger), palm, or arm.
- the user operation of pressing the button B10 may be performed by a portion other than the fingertip of the index finger.
- the user operation of pressing the button B10 is performed as follows. First, assume a virtual plane including the surface (rectangular area) of the button B10. Then, the projection position of the fingertip position of the index finger obtained by the finger joint recognition integration unit 119 on a virtual plane is included in the surface (rectangular area) of the button B10, and the fingertip position of the index finger and the position thereof.
- the initial state is a state in which the distance to the virtual plane is within a specified threshold.
- the output control unit 107 provides predetermined feedback (for example, the color or texture of the button B10) when the projection position of the fingertip position of the index finger on a virtual plane is included in the surface (rectangular area) of the button B10.
- predetermined feedback for example, the color or texture of the button B10
- Visual feedback such as changing, auditory feedback such as playing a prescribed sound, tactile feedback by vibration presentation, etc.
- the "first condition” that the projection position of the fingertip position of the index finger on the virtual plane is included in the surface (rectangular area) of the button B10 based on the initial state, and the fingertip position of the index finger are defined. While satisfying both the "second condition” that the speed is not exceeded, the fingertip position of the index finger is moved by a specified distance in the direction of the arrow (the direction from the button B10 to the rectangular area v12) (for example, the fingertip of the index finger).
- the end state is the state in which the distance between the position and the virtual plane is a specified value in the direction of the arrow).
- the display mode (for example, color) of the button B10 may change according to the amount of movement of the fingertip position of the index finger.
- the "second condition" is a condition provided to prevent the button B10 from being moved when the user accidentally touches the button B10 when reaching out. Therefore, if it is not necessary to consider the possibility of erroneous operation by the user, the "second condition" may not be considered.
- the process execution unit 105 executes the operation associated with the button B10.
- the process execution unit 105 cancels the operation of pressing the button B10 by the user (that is,). , Return the position of button B10 to the original position).
- the processing execution unit 105 prohibits the acceptance of the operation of pressing the button B10 when the reliability of the fingertip position of the index finger falls below the predetermined threshold value before the end state is reached or the operation is canceled.
- the output control unit 107 controls the display unit 211 to display a guide UI prompting the user to open his / her hand.
- FIG. 12 is a diagram for explaining a first example of a guide UI that prompts the user to open his / her hand.
- a rectangular area v30 is shown.
- the rectangular area v30 indicates the position of the button B10 in the initial state.
- the output control unit 107 prohibits the acceptance of the operation of pressing the button B10 and stops the display of the button B10. This reduces the possibility that the user will continue to close his hand in an attempt to press button B10.
- the output control unit 107 controls the display unit 211 so as to display the virtual objects v21 to v25 (first virtual object) as an example of the guide UI.
- the virtual objects v21 to v25 include an area away from the position of the rectangular area v30 as an example of the predetermined reference position. This makes it possible to encourage the user who sees the virtual objects v21 to v25 to open their hands.
- the example shown in FIG. 12 is an example in which separate virtual objects v21 to v25 are displayed in each of the five regions separated from the rectangular region v30. It is desirable that the virtual objects v21 to v25 are displayed at positions where they can be simultaneously touched by the thumb, index finger, middle finger, ring finger and little finger, respectively.
- the user's hand will be opened by the user trying to touch the virtual objects v21 to v25 at the same time with the thumb, index finger, middle finger, ring finger and little finger, respectively.
- the shapes of the virtual objects v21 to v25 are not limited to rectangles.
- the number of virtual objects does not have to be five.
- the number of virtual objects may be a plurality (for example, two, three, or four) other than five, or may be one as described later.
- the fingertip position of the index finger is likely to be shielded by the fingers adjacent to the index finger (that is, the thumb and middle finger), so that the fingertips of the thumb and middle finger, which are the shielding side fingers, and the shielded side respectively. It is desirable that the virtual object is preferentially displayed at a position that is simultaneously touched by the fingertip of a certain index finger.
- the processing execution unit 105 may detect whether or not a finger touches at least a part of the virtual objects v21 to v25.
- the output control unit 107 changes a predetermined feedback (for example, the color or texture of the virtual object touched by the finger) when it is detected that the finger touches at least a part of the virtual objects v21 to v25.
- Visual feedback such as, auditory feedback such as playing a prescribed sound, tactile feedback by vibration presentation, etc.
- the processing execution unit 105 transitions to a state in which the operation of pressing the button B10 is allowed to be accepted, and the output control unit 107 displays the guide UI.
- the display unit 211 is controlled so as to stop and resume the display of the button B10. This allows the user to resume the operation of pressing the button B10.
- the position where the button B10 is displayed again is not particularly limited.
- the position where the button B10 is displayed again may be the position of the button B10 at the time when the acceptance of the user operation is started to be prohibited.
- an object such as button B10, which is not executed by the processing execution unit 105 until the end state is operated, it is desirable that the position where the object is displayed again is the initial position of the object. Be done.
- the process executed by the process execution unit 105 changes according to the position of the object, such as an object operated by the user, such as a thumb of a slider.
- the user wants to input the operation from the continuation of the operation already input, so the position where the object is displayed again is the position of the object at the time when the acceptance of the user operation is started to be prohibited. It is considered desirable to be.
- FIG. 13 and 14 are diagrams for explaining a modification of the first example of the guide UI that prompts the user to open his / her hand.
- the virtual objects v21 to v25 are displayed as an example of the guide UI as in the example shown in FIG.
- the virtual objects v21 to v25 are virtual objects that are supposed to be touched by the thumb, index finger, middle finger, ring finger and little finger at the same time.
- the current position of the fingertip of the finger that is, the thumb, middle finger, ring finger and little finger
- the user can easily change the posture of the finger. ..
- the output control unit 107 is a virtual object v41, v43 to v45 (second) according to the fingertip position of these fingers (that is, the thumb, middle finger, ring finger and little finger) that can shield the fingertip position of the index finger.
- the display unit 211 is controlled so that the virtual object) of the above is presented.
- the display positions of the virtual objects v41 and v43 to v45 are projection positions on a virtual plane including the rectangular area v30 of the fingertip positions of the fingers (thumb, middle finger, ring finger and little finger). There may be.
- the shapes of the virtual objects v41 and v43 to v45 are not limited to the circle. Since the fingertip position of the index finger is unknown, the virtual object corresponding to the fingertip position of the index finger does not have to be displayed.
- the number of virtual objects according to the fingertip position of the finger does not have to be four.
- the number of virtual objects according to the fingertip position of the finger may be a plurality (for example, two or three) other than four, or may be one.
- the virtual object corresponding to the fingertip of each of the thumb and middle finger is preferentially displayed.
- a virtual object corresponding to the fingertip of the finger that actually shields the fingertip of the index finger may be displayed.
- the output control unit 107 is presented with information indicating the direction corresponding to the positions of the virtual objects v21 and v23 to v25 as an example of the guide UI and the positions of the virtual objects v41 and v43 to v45 according to the fingertip position. It is desirable to control the display unit 211 so as to control the display unit 211.
- an arrow is presented from the virtual object v41 corresponding to the position of the fingertip of the thumb toward the virtual object v21 corresponding to the thumb.
- an arrow pointing from the virtual object v43 corresponding to the fingertip position of the middle finger toward the virtual object v23 corresponding to the middle finger is presented.
- an arrow pointing from the virtual object v44 corresponding to the fingertip position of the ring finger to the virtual object v24 corresponding to the ring finger is presented.
- an arrow pointing from the virtual object v45 corresponding to the fingertip position of the little finger toward the virtual object v25 corresponding to the little finger is presented.
- the virtual objects v41, v21 and the corresponding arrow in the first display mode for example, red
- the virtual objects v43, v23 and the corresponding arrow second A display mode (eg, brown)
- a third display mode of virtual objects v44, v24 and their corresponding arrows eg, green
- a fourth display mode of virtual objects v45, v25 and their corresponding arrows It should be different from (eg purple). This makes it easier to understand the correspondence between the virtual object as an example of the guide UI and the virtual object according to the fingertip position.
- FIG. 15 is a diagram for explaining a second example of the guide UI that prompts the user to open his / her hand.
- virtual objects v51 to v55 as an example of the guide UI are arranged on the circumference centered on the rectangular area v30.
- the positions where the virtual objects v51 to v55 as an example of the guide UI are arranged are not limited.
- the shapes of the virtual objects v51 to v55 as an example of the guide UI are circular.
- the shapes of the virtual objects v51 to v55 as an example of the guide UI are not limited.
- FIG. 16 is a diagram for explaining a third example of the guide UI that prompts the user to open his / her hand.
- one virtual object v60 as an example of the guide UI is arranged.
- the virtual object v60 includes an area away from the rectangular area v30.
- the number of virtual objects as an example of the guide UI may be one.
- the virtual object v60 may be a virtual object having a size larger than the rectangular area v30 including the rectangular area v30.
- the shape of the virtual object v60 may be the shape of an open hand.
- the reference position of the virtual object displayed as an example of the guide UI is the position of the button B10 (the position of the rectangular area v30) as an example of the object that can be operated by the user. ..
- the reference position of the virtual object displayed as an example of the guide UI is not limited to such an example.
- the reference position of the virtual object displayed as an example of the guide UI may be the position of the wearable device 30 output from the wearable device position / attitude integration unit 113.
- FIG. 17 is a diagram showing an example of changing the attribute of the button B10.
- the button B20 after the attribute change is shown.
- the size of the button B20 after the attribute change is larger than that of the button B10 before the attribute change. That is, the guide UI may include increasing the size of the button B10 as an attribute of the button B10.
- the button B20 after the attribute change may have a size larger than the button B10 including the button B10 before the attribute change.
- the attribute change is not limited to the size change, and may include a shape change and the like.
- the shape of the button B20 after the attribute change may be the shape of the open hand. It is considered that the user will open his / her hand and press the button B20 so that the palm is placed on the button B20.
- the output control unit 107 may increase the amount of information in the guide UI based on the fact that the occurrence of self-occlusion is detected again by the processing execution unit 105 within a predetermined time from the display of the guide UI. ..
- the output control unit 107 may increase the amount of information in the guide UI based on the fact that the occurrence of self-occlusion is detected more than a predetermined number of times within a predetermined time range by the processing execution unit 105. ..
- the output control unit 107 controls the display unit 211 so that a text prompting the change of the posture of the finger (for example, a text such as "press a button with the hand open") is displayed as an additional guide UI. By doing so, the amount of information in the guide UI may be increased.
- the output control unit 107 acoustically outputs voice guidance (for example, voice guidance such as "Please operate without closing the hand") prompting the change of the posture of the fingers as an additional guide UI.
- the amount of information in the guide UI may be increased by controlling the unit 213.
- the output control unit 107 may increase the amount of information in the guide UI according to the number of occurrences of self-occlusion detected within a predetermined time range.
- the output control unit 107 detects the occurrence of self-occlusion within a predetermined time range (for example, within 1 minute) the first time (for example, twice) by the processing execution unit 105.
- the text is presented as an additional guide UI, and based on the second number of detections (eg, 3 times), the text and voice guidance are presented as an additional guide UI, and a third number of times (eg, 3 times) is presented. 4) Based on the detection, you may play a video or animation explaining how the user should operate as an additional guide UI.
- the output control unit 107 has a text that prompts a change in the posture of the fingers based on the detection of the occurrence of self-occlusion by the processing execution unit 105 (for example, a text such as "press a button with the hand open"). ) May be controlled so that the display unit 211 is displayed as an example of the guide UI.
- the output control unit 107 may perform voice guidance (for example, "Please operate without closing your hands") to prompt the change of the posture of the fingers based on the detection of the occurrence of self-occlusion by the processing execution unit 105.
- the display unit 211 may be controlled so that the voice guidance) is displayed as an example of the guide UI.
- the position and posture of the hand are based on the image captured by the IR image pickup unit 201d provided in the input / output device 20 mounted on the user's head. Is mainly assumed when is recognized.
- the position and posture of the hand may be recognized based on images captured by other cameras.
- the position and posture of the hand may be recognized based on the image captured by the camera of the smartphone.
- it may be recognized based on an image captured by a camera installed in the environment.
- the guide UI may not be displayed because it is considered that the user is not trying to operate the object. That is, in the output control unit 107, when the line of sight recognized based on the images captured by the image pickup units 203a and 203b hits the object, and the wearable device 30 is based on the image captured by the IR image pickup unit 201d.
- the display unit 211 may be controlled to display the guide UI.
- the output control unit 107 may stop displaying the guide UI when a predetermined time elapses without detecting the cancellation of the self-occlusion after the display of the guide UI.
- the fingertip position is not recognized with high accuracy, it is desirable to continue to maintain the state in which the acceptance of user operations is prohibited.
- the processing execution unit 105 predicts the reliability of the fingertip position of the index finger in chronological order (externalization), and the output control unit 107 displays the guide UI when the predicted reliability falls below the threshold value.
- the display unit 211 may be controlled so as to do so.
- the output control unit 107 starts fading out the object (button, etc.) and fades in the guide UI when the reliability falls below the threshold value, and when the reliability falls below the threshold value.
- Objects (buttons, etc.) may be completely switched to the guide UI.
- FIG. 18 is a functional block diagram showing a configuration example of a hardware configuration of various information processing devices constituting the information processing system 1 according to the embodiment of the present disclosure.
- the information processing apparatus 900 constituting the information processing system 1 mainly includes a CPU (Central Processing unit) 901, a ROM (Read Only Memory) 902, and a RAM (Random Access Memory) 903. .
- the information processing device 900 further includes a host bus 907, a bridge 909, an external bus 911, an interface 913, an input device 915, an output device 917, a storage device 919, a drive 921, and a connection port 923. And a communication device 925.
- the CPU 901 functions as an arithmetic processing device and a control device, and controls all or a part of the operation in the information processing device 900 according to various programs recorded in the ROM 902, the RAM 903, the storage device 919, or the removable recording medium 927.
- the ROM 902 stores programs, calculation parameters, and the like used by the CPU 901.
- the RAM 903 primary stores a program used by the CPU 901, parameters that change as appropriate in the execution of the program, and the like. These are connected to each other by a host bus 907 composed of an internal bus such as a CPU bus.
- a host bus 907 composed of an internal bus such as a CPU bus.
- each block of the information processing apparatus 10 shown in FIG. 5 may be configured by the CPU 901.
- the host bus 907 is connected to an external bus 911 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 909. Further, an input device 915, an output device 917, a storage device 919, a drive 921, a connection port 923, and a communication device 925 are connected to the external bus 911 via the interface 913.
- an external bus 911 such as a PCI (Peripheral Component Interconnect / Interface) bus
- an input device 915, an output device 917, a storage device 919, a drive 921, a connection port 923, and a communication device 925 are connected to the external bus 911 via the interface 913.
- the input device 915 is an operation means operated by the user, such as a mouse, a keyboard, a touch panel, a button, a switch, a lever, and a pedal. Further, the input device 915 may be, for example, a remote control means (so-called remote controller) using infrared rays or other radio waves, or an externally connected device such as a mobile phone or a PDA that supports the operation of the information processing device 900. It may be 929. Further, the input device 915 is composed of, for example, an input control circuit that generates an input signal based on the information input by the user using the above-mentioned operating means and outputs the input signal to the CPU 901. By operating the input device 915, the user of the information processing apparatus 900 can input various data to the information processing apparatus 900 and instruct the processing operation.
- a remote control means such as a mobile phone or a PDA that supports the operation of the information processing device 900. It may be 929.
- the input device 915 is composed of
- the output device 917 is composed of a device capable of visually or audibly notifying the user of the acquired information.
- Such devices include display devices such as CRT display devices, liquid crystal display devices, plasma display devices, EL display devices and lamps, audio output devices such as speakers and headphones, and printer devices.
- the output device 917 outputs, for example, the results obtained by various processes performed by the information processing device 900.
- the display device displays the results obtained by various processes performed by the information processing device 900 as text or an image.
- the audio output device converts an audio signal composed of reproduced audio data, acoustic data, and the like into an analog signal and outputs the signal.
- the output unit 210 shown in FIG. 5 may be configured by an output device 917.
- the storage device 919 is a data storage device configured as an example of the storage unit of the information processing device 900.
- the storage device 919 is composed of, for example, a magnetic storage device such as an HDD (Hard Disk Drive), a semiconductor storage device, an optical storage device, an optical magnetic storage device, or the like.
- the storage device 919 stores programs executed by the CPU 901, various data, and the like.
- the storage unit 190 shown in FIG. 5 may be configured by a storage device 919.
- the drive 921 is a reader / writer for a recording medium, and is built in or externally attached to the information processing apparatus 900.
- the drive 921 reads the information recorded on the removable recording medium 927 such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 903.
- the drive 921 can also write a record to a removable recording medium 927 such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.
- the removable recording medium 927 is, for example, a DVD media, an HD-DVD media, a Blu-ray (registered trademark) medium, or the like.
- the removable recording medium 927 may be a compact flash (registered trademark) (CF: CompactFlash), a flash memory, an SD memory card (Secure Digital memory card), or the like. Further, the removable recording medium 927 may be, for example, an IC card (Integrated Circuit card) or an electronic device equipped with a non-contact type IC chip.
- CF CompactFlash
- SD memory card Secure Digital memory card
- the connection port 923 is a port for directly connecting to the information processing device 900.
- the connection port 923 there are a USB (Universal Serial Bus) port, an IEEE1394 port, a SCSI (Small Computer System Interface) port, and the like.
- the connection port 923 there are an RS-232C port, an optical audio terminal, an HDMI (registered trademark) (High-Definition Multidimedia Interface) port, and the like.
- the communication device 925 is, for example, a communication interface composed of a communication device or the like for connecting to a communication network (network) 931.
- the communication device 925 is, for example, a communication card for a wired or wireless LAN (Local Area Network), Bluetooth (registered trademark), WUSB (Wireless USB), or the like.
- the communication device 925 may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), a modem for various communications, or the like.
- the communication device 925 can transmit and receive signals and the like to and from the Internet and other communication devices in accordance with a predetermined protocol such as TCP / IP.
- the communication network 931 connected to the communication device 925 is configured by a network or the like connected by wire or wirelessly, and may be, for example, the Internet, a home LAN, infrared communication, radio wave communication, satellite communication, or the like. ..
- the above is an example of a hardware configuration capable of realizing the functions of the information processing apparatus 900 constituting the information processing system 1 according to the embodiment of the present disclosure.
- Each of the above-mentioned components may be configured by using general-purpose members, or may be configured by hardware specialized for the function of each component. Therefore, it is possible to appropriately change the hardware configuration to be used according to the technical level at the time of implementing the present embodiment.
- various configurations corresponding to the information processing apparatus 900 constituting the information processing system 1 are naturally provided.
- the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like.
- the computer program described above may be distributed via a network, for example, without using a recording medium.
- the number of computers for executing the computer program is not particularly limited. For example, a plurality of computers (for example, a plurality of servers, etc.) may execute the computer program in cooperation with each other.
- the information includes a presentation control unit that controls the presentation unit so that the notification information prompting the change of the posture of at least one of the first portion and the second portion is presented to the user. Processing equipment is provided.
- the deterioration of the recognition accuracy of the second portion is suppressed. Is expected. Further, based on the determination that the second portion is shielded by the first portion, the state may be changed to prohibit the acceptance of the operation by the second portion. According to such a configuration, the possibility of erroneous operation caused by the processing corresponding to the operation being executed while the second part is shielded by the first part is reduced, so that the user can use the second part. There is no need to worry about how the part is reflected in the captured image.
- the first part is based on the determination that the second part recognized based on the captured image including the first part of the user's body is shielded by the first part.
- a presentation control unit for controlling the presentation unit so that notification information prompting a change in the posture of at least one of the portion and the second portion is presented to the user.
- Information processing equipment (2)
- the presentation control unit controls the presentation unit so that one or a plurality of first virtual objects including a region away from a predetermined reference position are presented as the notification information.
- the information processing apparatus according to (1) above.
- the presentation control unit controls the presentation unit so that a separate first virtual object is presented in each of a plurality of regions away from the reference position.
- the information processing device according to (2) above.
- the presentation control unit controls the presentation unit so that one first virtual object including a region away from the reference position is presented.
- the information processing device according to (2) above.
- the reference position is the position of an object that can be manipulated by the second portion or the position of a wearable device that is worn on the user's body.
- the information processing apparatus according to any one of (2) to (4) above.
- the presentation control unit controls the presentation unit so that a second virtual object corresponding to the position of the first portion is presented.
- the presentation control unit controls the presentation unit so that information indicating a direction corresponding to the position of the first virtual object and the position of the second virtual object is presented.
- the information processing apparatus according to (6) above.
- the notification information includes changing the attributes of the first virtual object that can be manipulated by the second part.
- the information processing apparatus according to (1) above. (9)
- the notification information includes increasing the size of the first virtual object as an attribute of the first virtual object.
- the information processing apparatus according to (8) above. (10)
- the second portion is determined to be shielded by the first portion when the reliability of the position in the depth direction is lower than the first reliability.
- the information processing device is It is provided with a processing execution unit that executes processing according to the operation by the second part. The processing execution unit transitions to a state in which acceptance of an operation by the second portion is prohibited based on the determination that the second portion is shielded by the first portion.
- the information processing apparatus according to any one of (1) to (10) above. (12) Based on the determination that the shielding of the second portion by the first portion is released, the processing execution unit transitions to a state in which the acceptance of the operation by the second portion is permitted.
- the information processing apparatus according to (11) above.
- the second portion is determined to have been unshielded by the first portion when the reliability of the position in the depth direction exceeds the second reliability.
- the information processing apparatus according to (12) above.
- the presentation control unit determines the amount of information of the notification information based on the determination that the second portion is shielded by the first portion within a predetermined time from the presentation of the notification information. increase, The information processing apparatus according to any one of (1) to (13).
- the presentation control unit determines the amount of information of the notification information based on the determination that the second portion is shielded by the first portion more than a predetermined number of times within a predetermined time range. increase, The information processing apparatus according to any one of (1) to (14) above.
- the presentation control unit controls the presentation unit so that a text prompting the change of the posture is displayed as the notification information.
- the presentation control unit controls the presentation unit so that voice guidance prompting the change of the posture is presented as the notification information.
- the first part is the thumb, middle finger, ring finger, little finger, palm, or arm.
- the second part is the tip of the index finger.
- the first part is based on the determination that the second part recognized based on the captured image including the first part of the user's body is shielded by the first part.
- the processor controls the presentation unit so that the user is presented with notification information prompting the user to change the posture of at least one of the portion and the second portion.
- Information processing method (20) Computer, The first part is based on the determination that the second part recognized based on the captured image including the first part of the user's body is shielded by the first part.
- a presentation control unit for controlling the presentation unit so that notification information prompting a change in the posture of at least one of the portion and the second portion is presented to the user.
- a program that functions as an information processing device.
- Information processing system 10 Information processing device 101 Stereo depth calculation unit 103 Finger joint recognition unit 105 Processing execution unit 107 Output control unit 109 Wearable device position / orientation estimation unit 111 Inertial integration calculation unit 113 Wearable device position / posture integration unit 115 Finger joint recognition unit 117 Finger joint recognition unit 119 Finger joint recognition integration unit 121 Inertial integration calculation unit 190 Storage unit 20 Input / output device 201a Image pickup unit 201b Imaging unit 201d IR image pickup unit 201c IR light source 210 Output unit 211 Display unit 213 Sound output unit 220 Inertivity measurement unit 30 Wearable device 301 Imaging unit 302 Imaging unit 303 Inertivity measurement unit 310 Output unit 311 Vibration presentation unit 320 Optical marker
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Abstract
Description
1.システム構成
2.入出力装置の構成
3.ウェアラブルデバイスの構成
4.システムの機能構成
5.手指関節認識の信頼度
6.特筆すべき特徴
6.1.基本的な制御
6.2.手指関節位置の統合とオクルージョン検知の例
6.3.ガイドUIの具体例
6.4.各種の変形例
7.ハードウェア構成例
8.まとめ
まず、図1を参照して、本開示の一実施形態に係る情報処理システムの概略的な構成の一例について説明する。図1は、本開示の一実施形態に係る情報処理システムの略的な構成の一例について説明するための説明図であり、所謂AR(Augmented Reality)技術を応用してユーザに対して各種コンテンツを提示する場合の一例を示している。
続いて、図3を参照して、図1および図2に示した本実施形態に係る入出力装置20の概略的な構成の一例について説明する。図3は、本実施形態に係る入出力装置20の概略的な構成の一例について説明するための説明図である。
続いて、図4を参照して、図1および図2に示した本実施形態に係るウェアラブルデバイス30の概略的な構成の一例について説明する。図4は、本実施形態に係るウェアラブルデバイス30の概略的な構成の一例について説明するための説明図である。
続いて、図5を参照して、本実施形態に係る情報処理システム1の機能構成の一例について説明する。図5は、本実施形態に係る情報処理システム1の機能構成の一例を示したブロック図である。以降では、図1を参照して説明したように、情報処理システム1が情報処理装置10と入出力装置20とウェアラブルデバイス30とを含むものとして、当該情報処理装置10、入出力装置20及びウェアラブルデバイス30それぞれの構成についてより詳しく説明する。なお、図5に示すように、情報処理システム1は、記憶部190を含んでもよい。
続いて、図6~図9を参照して、本開示の一実施形態に係る信頼度の算出手法の例について説明する。なお、前述したように、信頼度は、手指関節認識部103、手指関節認識部115および手指関節認識部117それぞれによって、デプス画像に基づいて認識される各手指関節位置がどの程度信頼し得るかを示す情報であり、各手指認識位置に対応する値として算出される。信頼度の算出手法は、手指関節認識部103と手指関節認識部115と手指関節認識部117とにおいて(異なってもよいが)同様であってよい。
続いて、本開示の一実施形態の特筆すべき特徴について説明する。前述したように、本開示の一実施形態に係る情報処理装置10においては、各手指関節位置が認識される。例えば、各手指関節位置の認識結果は、指先の位置を検出するために用いられ得る。しかし、身体のある部位が他の部位によって遮蔽されてしまう現象(以下、「セルフオクルージョン」とも言う。)が起こり得る。セルフオクルージョンが起きてしまっている状況では、セルフオクルージョンによって遮蔽されてしまっている手指関節位置の認識精度が低下してしまうことが想定され得る。
図10は、本開示の実施形態に係る基本的な制御の例について説明するためのフローチャートである。上記したように、処理実行部105は、手指関節認識統合部119から出力される手指関節位置に基づいて、ユーザによって入力される操作を認識し、認識した操作に応じた処理を行う。まず、処理実行部105は、動作モードを通常操作モード(以下、「通常操作モードM1」とも言う。)に設定する。処理実行部105は、動作モードを通常操作モードM1に設定すると、ユーザによって入力される操作(以下、「ユーザ操作」とも言う。)の受け付けを許容する状態に遷移する(S11)。
続いて、図1~図5を参照しながら、手指関節認識統合部119による手指関節位置の統合の例と、処理実行部105によるセルフオクルージョン検知の例について説明する。
信頼度C1(k)>閾値T1の場合、Q(k)=Q1(k)とし、
それ以外の場合かつ信頼度C2(k)>閾値T2の場合、Q(k)=Q2(k)とし、
それ以外の場合かつ信頼度C3(k)が閾値T3の場合、Q(k)=Q3(k)とし、
それ以外の場合、Q(k)=不明とする。
続いて、図11~図16を参照しながら、手を開くことをユーザに促すガイドUIについて説明する。
図12は、手を開くことをユーザに促すガイドUIの第1の例を説明するための図である。図12を参照すると、矩形領域v30が示されている。矩形領域v30は、初期状態におけるボタンB10の位置を示している。出力制御部107は、人差し指の指先位置の信頼度が既定の閾値を下回った場合、ボタンB10を押す操作の受け付け禁止とともに、ボタンB10の表示を停止するのが望ましい。これによって、ユーザが引き続きボタンB10を押そうとして手を閉じ続ける可能性が低減される。そして、出力制御部107は、ガイドUIの例として、仮想オブジェクトv21~v25(第1の仮想オブジェクト)を表示するように表示部211を制御する。
図13および図14は、手を開くことをユーザに促すガイドUIの第1の例の変形例を説明するための図である。図13を参照すると、変形例においても、図12に示された例と同様に、ガイドUIの例として、仮想オブジェクトv21~v25が表示されている。上記したように、仮想オブジェクトv21~v25は、親指、人差し指、中指、薬指および小指が同時に触れられることを想定された仮想オブジェクトである。ここで、人差し指の指先位置を遮蔽し得る手指(すなわち、親指、中指、薬指および小指)の指先の現在位置がユーザに提示されれば、ユーザが手指の姿勢を変更しやすくなることが考えられる。
図15は、手を開くことをユーザに促すガイドUIの第2の例を説明するための図である。図15に示された例では、図12に示された例と異なり、ガイドUIの例としての仮想オブジェクトv51~v55が、矩形領域v30を中心とした円周上に配置されている。このように、ガイドUIの例としての仮想オブジェクトv51~v55が配置される位置は限定されない。また、図15に示された例では、図12に示された例と異なり、ガイドUIの例としての仮想オブジェクトv51~v55それぞれの形状が円形である。このように、ガイドUIの例としての仮想オブジェクトv51~v55それぞれの形状も限定されない。
図16は、手を開くことをユーザに促すガイドUIの第3の例を説明するための図である。図16に示された例では、図12および図15に示された例と異なり、ガイドUIの例としての仮想オブジェクトv60が1つ配置されている。仮想オブジェクトv60は、矩形領域v30から離れた領域を含んでいる。このように、ガイドUIの例としての仮想オブジェクトの数は1つであってもよい。一例として、仮想オブジェクトv60は、矩形領域v30を含んで矩形領域v30よりも大きいサイズの仮想オブジェクトであってもよい。図16に示されるように、仮想オブジェクトv60の形状は、開かれた状態の手の形状であってもよい。
上記した各例では、ガイドUIの例として表示される仮想オブジェクトの基準位置が、ユーザによって操作可能なオブジェクトの例としてのボタンB10の位置(矩形領域v30の位置)である場合を主に想定した。しかし、ガイドUIの例として表示される仮想オブジェクトの基準位置は、かかる例に限定されない。例えば、ガイドUIの例として表示される仮想オブジェクトの基準位置は、ウェアラブルデバイス位置姿勢統合部113から出力されるウェアラブルデバイス30の位置であってもよい。
上記した各例では、セルフオクルージョンが発生した場合に、ユーザ操作の受け付けを禁止する状態に遷移し、セルフオクルージョンが解消した場合に、ユーザ操作の受け付けを許容する状態に遷移する場合を主に想定した。しかし、セルフオクルージョンが発生した場合に、ユーザ操作の受け付けが許容されたまま、出力制御部107は、ボタンB10の属性を変更してもよい。このとき、ガイドUIの例に、ボタンB10の属性を変更することが含まれ得る。これによって、ユーザは、少なくともいずれか一方の手指の姿勢を変更し、セルフオクルージョンを解消させた上で、ボタンB10を押す操作を行うことが期待されるため、上記した各例と同様に、手指関節位置の認識精度の低下が抑制されることが期待される。
上記した例では、セルフオクルージョンが発生し、ガイドUIが提示されてユーザが手を開いてセルフオクルージョンが解消したとしても、再びユーザが指先でボタンB10を押すために手を閉じてしまい、再度セルフオクルージョンが発生してしまうことが想定され得る。このとき、ガイドUIが繰り返し表示されてしまう。そこで、例えば、出力制御部107は、所定の条件が満たされた場合に、ガイドUIの情報量を増加させてもよい。
上記した例では、ガイドUIの例として、仮想オブジェクトの表示、ボタンの属性変更などを主に想定した。しかし、ガイドUIは、かかる例に限定されない。例えば、出力制御部107は、処理実行部105によってセルフオクルージョンの発生が検知されたことに基づいて、手指の姿勢の変更を促すテキスト(例えば、「手を開いたままボタンを押す」などといったテキスト)がガイドUIの例として表示されるように表示部211を制御してもよい。あるいは、出力制御部107は、処理実行部105によってセルフオクルージョンの発生が検知されたことに基づいて、手指の姿勢の変更を促す音声ガイダンス(例えば、「手を閉じないで操作してください」などといった音声ガイダンス)がガイドUIの例として表示されるように表示部211を制御してもよい。
続いて、本開示の実施形態に係る各種の変形例について説明する。
上記した例では、ユーザの頭部に装着される入出力装置20に設けられたIR撮像部201dによって撮像された画像に基づいて、手の位置および姿勢(すなわち、ウェアラブルデバイス30の位置と姿勢)が認識される場合を主に想定した。しかし、手の位置および姿勢は、他のカメラによる撮像画像に基づいて認識されてもよい。例えば、手の位置および姿勢は、スマートフォンのカメラによる撮像画像に基づいて認識されてもよい。あるいは、環境に設置されたカメラによる撮像画像に基づいて認識されてもよい。
上記した例では、セルフオクルージョンの発生が検知された場合に、ガイドUIが無条件に表示される場合を主に想定した。しかし、セルフオクルージョンの発生が検知された場合であっても、ガイドUIが表示されない場合があってもよい。一例として、ユーザが何らかの物(例えば、ボール、棒など)を手に把持している場合には、物によって指先位置が遮蔽されてしまうが、かかる場合には、ガイドUIは表示されなくてもよい。ユーザが物を手に把持しているか否かは、撮像部(手のひら側)301による撮像画像に基づく画像認識(例えば、機械学習による学習済みモデルによる画像認識)などによって推定されてもよい。
上記した例では、人差し指の指先位置の信頼度が既定の閾値を下回ってから、ガイドUIが表示される場合を主に想定した。しかし、処理実行部105は、人差し指の指先位置の信頼度を時系列的に予測し(外挿し)、出力制御部107は、予測された信頼度が閾値を下回った段階で、ガイドUIを表示するように表示部211を制御してもよい。あるいは、出力制御部107は、信頼度が閾値よりも大きい値を下回った段階で、オブジェクト(ボタンなど)をフェードアウトさせ始めるとともに、ガイドUIをフェードインさせ始め、信頼度が閾値を下回った段階で、オブジェクト(ボタンなど)からガイドUIに完全に切り替えてもよい。
続いて、図18を参照しながら、前述した情報処理装置10や入出力装置20やウェアラブルデバイス30のように、本開示の一実施形態に係る情報処理システム1を構成する各種の情報処理装置のハードウェア構成の一例について、詳細に説明する。図18は、本開示の一実施形態に係る情報処理システム1を構成する各種の情報処理装置のハードウェア構成の一構成例を示す機能ブロック図である。
本開示の実施形態によれば、ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように提示部を制御する提示制御部を備える、情報処理装置が提供される。
(1)
ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように提示部を制御する提示制御部を備える、
情報処理装置。
(2)
前記提示制御部は、前記通知情報として、所定の基準位置から離れた領域を含む1または複数の第1の仮想オブジェクトが提示されるように前記提示部を制御する、
前記(1)に記載の情報処理装置。
(3)
前記提示制御部は、前記基準位置から離れた複数の領域それぞれに別々の前記第1の仮想オブジェクトが提示されるように前記提示部を制御する、
前記(2)に記載の情報処理装置。
(4)
前記提示制御部は、前記基準位置から離れた領域を含む1つの第1の仮想オブジェクトが提示されるように前記提示部を制御する、
前記(2)に記載の情報処理装置。
(5)
前記基準位置は、前記第2の部位によって操作可能なオブジェクトの位置または前記ユーザの身体に装着されるウェアラブルデバイスの位置である、
前記(2)~(4)のいずれか一項に記載の情報処理装置。
(6)
前記提示制御部は、前記第1の部位の位置に応じた第2の仮想オブジェクトが提示されるように前記提示部を制御する、
前記(2)~5のいずれ一項に記載の情報処理装置。
(7)
前記提示制御部は、前記第1の仮想オブジェクトの位置と前記第2の仮想オブジェクトの位置とに応じた方向を示す情報が提示されるように前記提示部を制御する、
前記(6)に記載の情報処理装置。
(8)
前記通知情報は、前記第2の部位によって操作可能な第1の仮想オブジェクトの属性を変更することを含む、
前記(1)に記載の情報処理装置。
(9)
前記通知情報は、前記第1の仮想オブジェクトの属性として前記第1の仮想オブジェクトのサイズを大きくすることを含む、
前記(8)に記載の情報処理装置。
(10)
前記第2の部位は、奥行方向の位置の信頼度が第1の信頼度を下回る場合に、前記第1の部位によって遮蔽されていると判定される、
前記(1)~(9)のいずれか一項に記載の情報処理装置。
(11)
前記情報処理装置は、
前記第2の部位による操作に応じた処理を実行する処理実行部を備え、
前記処理実行部は、前記第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第2の部位による操作の受け付けを禁止する状態に遷移する、
前記(1)~(10)のいずれか一項に記載の情報処理装置。
(12)
前記処理実行部は、前記第1の部位による前記第2の部位の遮蔽が解除されたと判定されたことに基づいて、前記第2の部位による操作の受け付けを許容する状態に遷移する、
前記(11)に記載の情報処理装置。
(13)
前記第2の部位は、奥行方向の位置の信頼度が第2の信頼度を上回る場合に、前記第1の部位による遮蔽が解除されたと判定される、
前記(12)に記載の情報処理装置。
(14)
前記提示制御部は、前記通知情報の提示から所定の時間以内に前記第2の部位が前記第1の部位によって遮蔽されていると再度判定されたことに基づいて、前記通知情報の情報量を増加させる、
前記(1)~(13)のいずれか一項に記載の情報処理装置。
(15)
前記提示制御部は、前記第2の部位が前記第1の部位によって遮蔽されていると所定の時間範囲以内に所定の回数よりも多く判定されたことに基づいて、前記通知情報の情報量を増加させる、
前記(1)~(14)のいずれか一項に記載の情報処理装置。
(16)
前記提示制御部は、前記通知情報として前記姿勢の変更を促すテキストが表示されるように前記提示部を制御する、
前記(1)に記載の情報処理装置。
(17)
前記提示制御部は、前記通知情報として前記姿勢の変更を促す音声ガイダンスが提示されるように前記提示部を制御する、
前記(1)に記載の情報処理装置。
(18)
前記第1の部位は、親指、中指、薬指、小指、手のひら、または、腕であり、
前記第2の部位は、人差し指の指先である、
前記(1)~(17)のいずれか一項に記載の情報処理装置。
(19)
ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように、プロセッサが提示部を制御する、
情報処理方法。
(20)
コンピュータを、
ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように提示部を制御する提示制御部を備える、
情報処理装置として機能させるプログラム。
10 情報処理装置
101 ステレオデプス計算部
103 手指関節認識部
105 処理実行部
107 出力制御部
109 ウェアラブルデバイス位置姿勢推定部
111 慣性積分計算部
113 ウェアラブルデバイス位置姿勢統合部
115 手指関節認識部
117 手指関節認識部
119 手指関節認識統合部
121 慣性積分計算部
190 記憶部
20 入出力装置
201a 撮像部
201b 撮像部
201d IR撮像部
201c IR光源
210 出力部
211 表示部
213 音響出力部
220 慣性計測部
30 ウェアラブルデバイス
301 撮像部
302 撮像部
303 慣性計測部
310 出力部
311 振動提示部
320 光学マーカー
Claims (20)
- ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように提示部を制御する提示制御部を備える、
情報処理装置。 - 前記提示制御部は、前記通知情報として、所定の基準位置から離れた領域を含む1または複数の第1の仮想オブジェクトが提示されるように前記提示部を制御する、
請求項1に記載の情報処理装置。 - 前記提示制御部は、前記基準位置から離れた複数の領域それぞれに別々の前記第1の仮想オブジェクトが提示されるように前記提示部を制御する、
請求項2に記載の情報処理装置。 - 前記提示制御部は、前記基準位置から離れた領域を含む1つの第1の仮想オブジェクトが提示されるように前記提示部を制御する、
請求項2に記載の情報処理装置。 - 前記基準位置は、前記第2の部位によって操作可能なオブジェクトの位置または前記ユーザの身体に装着されるウェアラブルデバイスの位置である、
請求項2に記載の情報処理装置。 - 前記提示制御部は、前記第1の部位の位置に応じた第2の仮想オブジェクトが提示されるように前記提示部を制御する、
請求項2に記載の情報処理装置。 - 前記提示制御部は、前記第1の仮想オブジェクトの位置と前記第2の仮想オブジェクトの位置とに応じた方向を示す情報が提示されるように前記提示部を制御する、
請求項6に記載の情報処理装置。 - 前記通知情報は、前記第2の部位によって操作可能な第1の仮想オブジェクトの属性を変更することを含む、
請求項1に記載の情報処理装置。 - 前記通知情報は、前記第1の仮想オブジェクトの属性として前記第1の仮想オブジェクトのサイズを大きくすることを含む、
請求項8に記載の情報処理装置。 - 前記第2の部位は、奥行方向の位置の信頼度が第1の信頼度を下回る場合に、前記第1の部位によって遮蔽されていると判定される、
請求項1に記載の情報処理装置。 - 前記情報処理装置は、
前記第2の部位による操作に応じた処理を実行する処理実行部を備え、
前記処理実行部は、前記第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第2の部位による操作の受け付けを禁止する状態に遷移する、
請求項1に記載の情報処理装置。 - 前記処理実行部は、前記第1の部位による前記第2の部位の遮蔽が解除されたと判定されたことに基づいて、前記第2の部位による操作の受け付けを許容する状態に遷移する、
請求項11に記載の情報処理装置。 - 前記第2の部位は、奥行方向の位置の信頼度が第2の信頼度を上回る場合に、前記第1の部位による遮蔽が解除されたと判定される、
請求項12に記載の情報処理装置。 - 前記提示制御部は、前記通知情報の提示から所定の時間以内に前記第2の部位が前記第1の部位によって遮蔽されていると再度判定されたことに基づいて、前記通知情報の情報量を増加させる、
請求項1に記載の情報処理装置。 - 前記提示制御部は、前記第2の部位が前記第1の部位によって遮蔽されていると所定の時間範囲以内に所定の回数よりも多く判定されたことに基づいて、前記通知情報の情報量を増加させる、
請求項1に記載の情報処理装置。 - 前記提示制御部は、前記通知情報として前記姿勢の変更を促すテキストが表示されるように前記提示部を制御する、
請求項1に記載の情報処理装置。 - 前記提示制御部は、前記通知情報として前記姿勢の変更を促す音声ガイダンスが提示されるように前記提示部を制御する、
請求項1に記載の情報処理装置。 - 前記第1の部位は、親指、中指、薬指、小指、手のひら、または、腕であり、
前記第2の部位は、人差し指の指先である、
請求項1に記載の情報処理装置。 - ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように、プロセッサが提示部を制御する、
情報処理方法。 - コンピュータを、
ユーザの身体の第1の部位を撮像範囲に含んだ撮像画像に基づいて認識された第2の部位が前記第1の部位によって遮蔽されていると判定されたことに基づいて、前記第1の部位および前記第2の部位の少なくともいずれか一方の姿勢の変更を促す通知情報が前記ユーザに提示されるように提示部を制御する提示制御部を備える、
情報処理装置として機能させるプログラム。
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