Information processing system, information processing method, and supplying medium

• US 6,476,812 B1
• Filed: 11/30/1999
• Issued: 11/05/2002
• Est. Priority Date: 12/09/1998
• Status: Expired due to Term

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Yoshigahara, Takayuki, Yokoyama, Atsushi
• Primary Examiner(s): Zimmerman, Mark
• Assistant Examiner(s): Nguyen, Kimbinh T.
• Application Number:
  US09/451,569
• Time in Patent Office: 1,071 Days
• Field of Search: 345/419, 345/473, 345/474, 345/475, 345/958, 345/427, 463/31
• US Class Current: 345/427
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: Y10S 345/958 Collision avoidance

Abstract

An information processing system for processing three-dimensional information on an object existing actually in a three-dimensional space for detecting a collision between a space having an optional configuration and size in the three-dimensional space and the object. In the information processing system, a virtual space setting section sets a virtual space in the three-dimensional space, and a three-dimensional information creating section creates three-dimensional information on the object such as an intruder. A decision is made, on the basis of the three-dimensional information on the object, on whether or not the collision between the intruder and the virtual space occurs.

Claims

1. An information processing system for processing three-dimensional information on an object existing in a three-dimensional space, comprising:

setting means for setting a predetermined virtual space in said three-dimensional space;

creating means for creating said three-dimensional information on said object; and

judging means for making a decision, on the basis of said three-dimensional information on said ;

object, on whether or not a collision between said object and said virtual space occurs,

wherein said setting means sets, as said virtual space, a space having a predetermined configuration formed to enclose a predetermined space in said three-dimensional space and a predetermined width.

2. An information processing system according to claim 1, further comprising operating means for inputting information needed for setting said virtual space, with said setting means setting said virtual space on the basis of the input by said operating means.

3. An information processing system according to claim 1, wherein said setting means sets, as said virtual space, a space enclosing a predetermined subject in said three-dimensional space but not including said subject.

4. An information processing system according to claim 1, wherein said setting means sets, as said virtual space, a space varying in time series.

5. An information processing system according to claim 1, wherein said setting means sets said virtual space on the basis of a plurality of images obtained by photographing said three-dimensional space.

6. An information processing system according to claim 1, wherein said creating means creates said three-dimensional information on the basis of a plurality of images obtained by photographing said object.

7. An information processing system according to claim 6, further comprising image pickup means for photographing said object.

8. An information processing system according to claim 1, further comprising:

object map drawing means for making out, on the basis of said three-dimensional information on said object, an object map indicating a position, at which said object exists in said three-dimensional space, by a predetermined coordinate system; and

virtual space map drawing means for making out a virtual space map indicating a position, at which said virtual space exists, by said predetermined coordinate system,

said judging means making a decision, on the basis of said object map and said virtual space map, as to whether or not the collision between said object and said virtual space occurs.

9. An information processing system according to claim 1, further comprising processing means for conducting predetermined processing in accordance with a decision result by said judging means.

10. An information processing system according to claim 9, wherein, when the collision between said object and said virtual space occurs, said processing means issues information related to the collision therebetween.

11. An information processing system according to claim 9, wherein, when the collision between said object and said virtual space occurs, said processing means records said object.

12. An information processing method of processing three-dimensional information on an object existing in a three-dimensional space, said method comprising:

a setting step of setting a predetermined virtual space in said three-dimensional space;

a creating step of creating three-dimensional information on said object; and

a judging step of making a decision, on the basis of said three-dimensional information on said object, as to whether or not a collision between said object and said virtual space occurs,

wherein, in said setting step, a space having a predetermined configuration formed to enclose a predetermined space in said three-dimensional space and a predetermined width is set as said virtual space.

13. An information processing method according to claim 12, further comprising an operating step of inputting information needed for setting said virtual space, with in said setting step said virtual space being set on the basis of the input in said operating step.

14. An information processing system according to claim 12, wherein, in said setting step, a space enclosing a predetermined subject in said three-dimensional space but not including said subject is set as said virtual space.

15. An information processing method according to claim 12, wherein, in said setting step, a space varying in time series is set as said virtual space.

16. An information processing method according to claim 12, wherein, in said setting step, said virtual space is set on the basis of a plurality of images obtained by photographing said three-dimensional space.

17. An information processing method according to claim 12, wherein, in said creating step, said three- dimensional information is created on the basis of a plurality of images obtained by photographing said object.

18. An information processing method according to claim 12, further comprising:

an object map drawing step of making out, on the basis of said three-dimensional information on said object, an object map indicating a position, at which said object exists in said three-dimensional space, by a predetermined coordinate system; and

a virtual space map drawing step of making out a virtual space map indicating a position, at which said virtual space exists, by said predetermined coordinate system,

said judging step making a decision, on the basis of said object map and said virtual space map, as to whether or not the collision between said object and said virtual space occurs.

19. An information processing method according to claim 12, further comprising a processing step of conducting predetermined processing in accordance with a decision result by said judging step.

20. An information processing method according to claim 19, wherein, when the collision between said object and said virtual space occurs, information related to the collision therebetween is issued in said processing step.

21. An information processing method according to claim 19, wherein, when the collision between said object and said virtual space occurs, said object is recorded in said processing means.

22. A supply medium for supplying control information which causes an information processing system to process three-dimensional information on an object existing in a three-dimensional space, said medium supplying:

setting instruction for setting a predetermining virtual space in said three-dimensional space;

a creating instruction for creating three-dimensional information on said object; and

a judging instruction for making a decision, on the basis of said three-dimensional information on said object, as to whether or not a collision between said object and said virtual space occurs.

wherein, by said setting instructions, a space having a predetermined configuration formed to enclose a predetermined space in said three-dimensional space and a predetermined width is set as said virtual space.

23. A supply medium according to claim 22, further supplying an operating instruction for inputting information needed for setting said virtual space, with said setting instruction sets said virtual space on the basis of the input by said operating instruction.

24. A supply medium according to claim 22, wherein, by said setting instruction, a space enclosing a predetermined subject in said three-dimensional space but not including said subject is set as said virtual space.

25. A supply medium according to claim 22, wherein, by said setting instruction, a space varying in time series is set as said virtual space.

26. A supply medium according to claim 22, wherein, by said setting instruction, said virtual space is set on the basis of a plurality of images obtained by photographing said three-dimensional space.

27. A supply medium according to claim 22, wherein, by said creating instruction, said three-dimensional information is created on the basis of a plurality of images obtained by photographing said object.

28. A supply medium according to claim 22, further supplying:

an object map drawing instruction for making out, on the basis of said three-dimensional information on said object, an object map indicating a position, at which said object exists in said three-dimensional space, by a predetermined coordinate system; and

a virtual space map drawing instruction for making out a virtual space map indicating a position, at which said virtual space exists, by said predetermined coordinate system, and

said judging instruction making a decision, on the basis of said object map and said virtual space map, as to whether or not the collision between said object and said virtual space occurs.

29. A supply medium according to claim 22, further supplying a processing instruction for conducting predetermined processing in accordance with a decision result by said judging step.

30. A supply medium according to claim 29, wherein, when the collision between said object and said virtual space occurs, information related to the collision therebetween is issued according to said processing instruction.

31. A supply medium according to claim 29, wherein, when the collision between said object and said virtual space occurs, said object is recorded according to said processing instruction.