Image display apparatus and method, and storage medium

• US 7,095,424 B2
• Filed: 10/21/2002
• Issued: 08/22/2006
• Est. Priority Date: 10/26/2001
• Status: Expired due to Fees

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Satoh, Kiyohide, Anabuki, Mahoro
• Primary Examiner(s): Tung, Kee M.
• Assistant Examiner(s): Richter, Aaron M
• Application Number:
  US10/274,200
• Publication Number:
  US 20030080979A1
• Time in Patent Office: 1,401 Days
• Field of Search: 345/633, 382/293, 382/295
• US Class Current: 345/633
• CPC Class Codes: G06F 3/012 Head tracking input arrangements

Abstract

An image display apparatus calculating correction information to correct measured values of an orientation sensor includes an orientation sensor that senses orientation of a viewpoint and outputs measured values, a correction unit for correcting the measured values by using correction information, and a generation unit for generating a virtual image based on the corrected measured values. A display unit displays the generated virtual image, and a calculation unit calculates the corrected information. The calculation unit obtains the measured values of the sensor at the point of when the virtual image is displayed at an appropriate position, generates the correction information from the measured values and predetermined orientation information, and generates the virtual image based on orientation information relating to the viewpoint obtained using the measured values of the orientation sensor and the correction information.

Claims

1. An image display apparatus for calculating correction information to correct measured values of an orientation sensor, said apparatus comprising:

an orientation sensor that senses orientation of a viewpoint and outputs measured values of the orientation;

a correction unit that corrects the measured values by using correction information;

a generation unit that generates a virtual image based on the corrected measured values;

a display unit that displays the generated virtual image; and

a calculation unit that calculates the correction information,

wherein said calculation unit

obtains the measured values of said sensor at the point of when the virtual image, which is generated based on predetermined orientation information, is displayed in an appropriate position,

generates the correction information from the measured values and the predetermined orientation information,

obtains a user'"'"'s instruction to modify the correction information, according to the displayed virtual image which is generated based on the measured values of the orientation sensor and the correction information, and

modifies the generated correction information in response to the user'"'"'s instruction,

wherein said calculation unit modifies the generated correction information to maintain a relationship between a first angle of rotation and a second angle of rotation according to the generated correction information,

with the first angle relating to an azimuth at an orientation of said sensor in a vision coordinate system, and the second angle relating to an azimuth at an orientation of a sensor coordinate system in a world coordinate system and wherein,

said display unit displays the image with the modified generated correction information.

2. An image display apparatus according to claim 1, wherein said display unit is an optical see-through-type through which a real space is transparently observable with the virtual image.

3. An image display apparatus according to claim 1, wherein said image display unit displays an image which is generated by superposing the virtual image on a real image photographed by an image pickup apparatus on said display picture surface.

4. An image display apparatus according to claim 1, wherein the output values from said orientation sensor constitute information representing an orientation of said orientation sensor in a sensor coordinate system, wherein the correction information includes first coordinate transformation information for transforming the orientation of said orientation sensor into the orientation of the viewpoint, and second coordinate transformation information for transforming the orientation in the sensor coordinate system into an orientation in a world coordinate system, and wherein said calculation unit simultaneously modifies transformation information relating to an azimuth within the first coordinate transformation information and transformation information relating to an azimuth within the second coordinate transformation information.

5. An information processing method for generating correction information for correcting a measured value of an orientation sensor, wherein the measured value is used for generating a virtual image in response to a view orientation of a user, said method comprising the steps of:

inputting the user'"'"'s instruction to indicate that a virtual image, which is generated based on predetermined orientation information, is displayed in an appropriate position;

obtaining measured values based on the user'"'"'s instruction;

generating the correction information from the measured values and the predetermined orientation;

obtaining a user'"'"'s instruction to modify the correction information, according to the displayed virtual image which is generated based on the measured values of the orientation sensor and the correction information,

modifying the generated correction information in response to the user'"'"'s instruction, and

modifying the generated correction information to maintain a relationship between a first angle of rotation and a second angle of rotation according to the generated correction information,

with the first angle relating to an azimuth at an orientation of the sensor in a vision coordinate system, and the second angle relating to an azimuth at an orientation of a sensor coordinate system in a world coordinate system, and

displaying the image with the modified generated correction information.

6. An information processing method according to claim 5,

wherein the measured values represent an orientation of the orientation sensor in a sensor coordinate system,

wherein the correction information includes first coordinate transformation information for transforming the orientation of the orientation sensor into the orientation of the viewpoint, and second coordinate transformation information for transforming the orientation in the sensor coordinate system into an orientation in a predetermined coordinate system, and

wherein said modifying step simultaneously modifies transformation information relating to an azimuth of the first coordinate transformation information and transformation information relating an azimuth of the second coordinate transformation information.

7. A computer readable storage medium that stores program codes for causing a computer to execute an image display method according to claim 5.

8. An information processing method for generating correction information for correcting a measured value of an orientation sensor, wherein the measured value is used for generating a virtual image in response to a view orientation of a user, said method comprising the steps of:

inputting the user'"'"'s instruction to indicate that a virtual image, which is generated based on predetermined orientation information, is displayed in an appropriate position;

obtaining measured values based on the user'"'"'s instruction;

generating the correction information from the measured values and the predetermined orientation;

generating the virtual image based on orientation information relating to the viewpoint obtained using the measured values of the orientation sensor and the correction information;

displaying the generated virtual image; and

modifying the correction information in response to the user'"'"'s instruction, while displaying the virtual image, wherein

a first angle of rotation around a Y axis at an orientation of the sensor in a vision coordinate system, and a second angle of rotation around the Y axis at an orientation of a sensor coordinate system in a world coordinate system of the correction information are modified, and wherein,

the first angle of rotation and the second angle of rotation maintain a predetermined relationship.