Image display apparatus, image display method, measurement apparatus, measurement method, information processing method, information processing apparatus, and identification method
First Claim
1. An image display apparatus which comprises a display device that displays an image to be presented to a passenger on a vehicle on a front windshield portion of the vehicle, comprising:
- vehicle measurement unit adapted to measure a position and azimuth of the vehicle on a world coordinate system;
head measurement unit adapted to measure a position of a head of the passenger on the vehicle on a coordinate system defined in the vehicle; and
control unit adapted to control the display device to display the image at a position according to the position and azimuth of the vehicle measured by said vehicle measurement unit, and the position of the head measured by said head measurement unit, on the front windshield portion.
1 Assignment
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Accused Products
Abstract
An external index detection unit (105) receives an image sensed by a camera (100), and detects an external index set in a real scene. A tachometer (110) measures the rotational velocities of two rear wheels of a vehicle. A vehicle measurement unit (120) measures the position and azimuth of the vehicle on the basis of the image coordinate position of the external index and the rotational velocities of the two rear wheels of the vehicle. A head index detection unit (135) receives an image sensed by a camera (130), and detects a head index set on the head of a passenger (132). A head measurement unit (140) measures the position of the head on the basis of the image coordinate position of the head index. An image generation unit (150) generates a display image based on the position and azimuth of the vehicle and the position of the head, so that the passenger can observe predetermined navigation information superimposed at a predetermined position of the real scene, and controls a projector (160) to project the generated image.
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Citations
34 Claims
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1. An image display apparatus which comprises a display device that displays an image to be presented to a passenger on a vehicle on a front windshield portion of the vehicle, comprising:
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vehicle measurement unit adapted to measure a position and azimuth of the vehicle on a world coordinate system;
head measurement unit adapted to measure a position of a head of the passenger on the vehicle on a coordinate system defined in the vehicle; and
control unit adapted to control the display device to display the image at a position according to the position and azimuth of the vehicle measured by said vehicle measurement unit, and the position of the head measured by said head measurement unit, on the front windshield portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 20, 24)
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8. A measurement apparatus which is mounted on a vehicle and is used to measure a position and azimuth of the vehicle on a world coordinate system, comprising:
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external world image sensing unit adapted to sense an image of an external world of the vehicle;
position calculation unit adapted to calculate positions of indices in the image, which are included in the image of the external world sensed by said external world image sensing unit; and
position/azimuth measurement unit adapted to measure the position and azimuth of the vehicle on the world coordinate system on the basis of the positions of the indices in the image calculated by said position calculation unit. - View Dependent Claims (9, 21)
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10. A measurement apparatus which measures a position and orientation of an image sensing device or an object sensed by the image sensing device by detecting indices on an image of the object sensed by the image sensing device, comprising:
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an index selection unit adapted to select indices which are to be observed on the sensed image without being occluded, wherein the position and orientation of the image sensing device or the object sensed by the image sensing device are measured on the basis of information of the selected indices. - View Dependent Claims (11, 12, 13, 14)
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15. An image display method executed by an image display apparatus which comprises a display device that displays an image to be presented to a passenger on a vehicle on a front windshield portion of the vehicle, comprising:
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a vehicle measurement step of measuring a position and azimuth of the vehicle on a world coordinate system;
a head measurement step of measuring a position of a head of the passenger on the vehicle on a coordinate system defined in the vehicle; and
a control step of controlling the display device to display the image at a position according to the position and azimuth of the vehicle measured in the vehicle measurement step, and the position of the head measured in the head measurement step, on the front windshield portion. - View Dependent Claims (22)
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16. A measurement method which is mounted on a vehicle and is used to measure a position and azimuth of the vehicle on a world coordinate system, comprising:
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an external world image sensing step of sensing an image of an external world of the vehicle using an image sensing device;
a position calculation step of calculating positions of indices in the image, which are included in the image of the external world sensed in the external world image sensing step; and
a position/azimuth measurement step of measuring the position and azimuth of the vehicle on the world coordinate system on the basis of the positions of the indices in the image calculated in the position calculation step. - View Dependent Claims (23)
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17. A measurement method which measures a position and orientation of an image sensing device or an object sensed by the image sensing device by detecting indices on an image of the object sensed by the image sensing device, comprising:
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an index selection step of selecting indices which are to be observed on the sensed image without being occluded, wherein the position and orientation of the image sensing device or the object sensed by the image sensing device are measured on the basis of information of the selected indices. - View Dependent Claims (18, 19)
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25. An information processing method which comprises a detection step of detecting a position of an index in a sensed image sensed by image sensing unit adapted to sense an image of a real space where the index is laid out, and a first calculation step of calculating a coordinate position of the index upon projecting the index in the real space onto the sensed image on the basis of the position of the index in the real space and a position and orientation of the image sensing unit when at least one of the position of the index in the real space and the position and orientation of the image sensing unit is obtained based on a measurement, and executes a process for determining correspondence between indices at coordinate positions with a smaller distance on the basis of coordinate positions of indices detected in the detection step and the coordinate position calculated in the first calculation step on the sensed image, comprising:
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a second calculation step of calculating a value using a normal vector to an index of interest, and a visual axis vector of the image sensing unit; and
a determination step of determining, on the basis of a range of the value calculated in the second calculation step, whether or not the process for calculating the coordinate position of the index of interest on the sensed image in the first calculation step is to be executed, wherein when it is determined in the determination step that the process for calculating the coordinate position of the index of interest on the sensed image in the first calculation step is to be executed, the process for determining correspondence between indices at coordinate positions with a smaller distance is executed based on the coordinate position of the index of interest calculated in the first calculation step and the coordinate positions of the indices detected in the detection step. - View Dependent Claims (26, 27, 28, 30, 31)
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29. An information processing apparatus which comprises image sensing unit adapted to sense an image of a real space where an index is laid out, detection unit adapted to detect a position of the index in a sensed image sensed by the image sensing unit, and first calculation unit adapted to, when at least one of a position of an index in the real space and a position and orientation of the image sensing unit is obtained based on a measurement, calculating a coordinate position of the index upon projecting the index in the real space onto the sensed image on the basis of the position of the index in the real space and the position and orientation of the image sensing unit, and executes a process for determining correspondence between indices at coordinate positions with a smaller distance on the basis of coordinate positions of indices detected by the detection unit and the coordinate position calculated by the first calculation unit, on the sensed image, comprising:
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second calculation unit adapted to calculate a value using a normal vector to an index of interest, and a visual axis vector of the image sensing unit; and
determination unit adapted to determine, on the basis of a range of the value calculated by said second calculation unit, whether or not the process for calculating the coordinate position of the index of interest on the sensed image by the first calculation unit is to be executed, wherein when said determination unit determines that the process for calculating the coordinate position of the index of interest on the sensed image by the first calculation unit is to be executed, the process for determining correspondence between indices at coordinate positions with a smaller distance is executed based on the coordinate position of the index of interest calculated by the first calculation unit and the coordinate positions of the indices detected by the detection unit.
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32. An identification method of an index used to measure a position and orientation of an image sensing device for sensing an image of a real space, comprising:
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a position/orientation measuring step of measuring roughly a position and orientation of the image sensing device;
an image sensing step of sensing an image of a real space including an index using the image sensing device;
a first image coordinate calculation step of calculating coordinate of the index, which is included in the image of the real space obtained in the image sensing step, in the obtained image; and
a second image coordinate calculation step of calculating a position of the index in a sensed image sensed by the image sensing device, whose position and orientation are obtained in the position/orientation measuring step, wherein the index is identified on the basis of the coordinate of the index calculated in the first image coordinate calculation step, the coordinate of the index calculated in the second image coordinate calculation step, and relationship between a visual axis vector of the image sensing device obtained in the position/orientation measuring step and a normal vector of the index.
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33. An identification method of an index used to measure a position and orientation of an object in a real space, comprising:
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a position/orientation measuring step of measuring roughly a position and orientation of the object;
an image sensing step of sensing an image of the object using an image sensing device, which is fixed in position;
a first image coordinate calculation step of calculating coordinate of an index, which is included in the image of the object obtained in the image sensing step, in the obtained image; and
a second image coordinate calculation step of calculating a position of the index in a sensed image sensed by the image sensing device, on the basis of position and orientation are obtained in the position/orientation measuring step, wherein the index is identified on the basis of the coordinate of the index calculated in the first image coordinate calculation step, the coordinate of the index calculated in the second image coordinate calculation step, and relationship between a visual axis vector of the image sensing device obtained in the position/orientation measuring step and a normal vector of the index.
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34. An identification method of an index used to measure a position and orientation of an object in a real space, comprising:
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a first position/orientation measuring step of measuring roughly a position and orientation of the object;
a second position/orientation measuring step of measuring roughly a position and orientation of an image sensing device which senses the object;
an image sensing step of sensing an image of the object using the image sensing device;
a first image coordinate calculation step of calculating coordinate of an index, which is included in the image of the object obtained in the image sensing step, in the obtained image; and
a second image coordinate calculation step of calculating a position of the index in a sensed image sensed by the image sensing device, on the basis of a position and orientation of the object with reference to the image sensing device, or of the image sensing device with reference to the object, which is obtained in the first and second position/orientation measuring step, wherein the index is identified on the basis of the coordinate of the index calculated in the first image coordinate calculation step, the coordinate of the index calculated in the second image coordinate calculation step, and relationship between a visual axis vector of the image sensing device obtained in the second position/orientation measuring step, and a normal vector of the index obtained in the first position/orientation measuring step.
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Specification