Movable display apparatus, robot having movable display apparatus and display method thereof
First Claim
1. A movable display apparatus comprising:
- a display unit configured to display an image;
a camera provided on the display unit and configured to acquire an image of a user;
a head mounted device (HMD) configured to measure a head rotation direction and a pupil direction of the user;
a control unit configured to recognize a sightline of the user using the image of the user acquired by the camera and the head rotation direction and the pupil direction measured by the HMD, control a posture of the display unit according to the recognized sightline of the user, and control the displaying of the image by the display unit according to the recognized sightline of the user;
a camera image processing unit configured to extract a face direction of the user from the image of the user acquired by the camera, wherein the control unit is further configured to estimate the head rotation direction for recognizing the sightline of the user using the extracted face direction and the measured head rotation direction of the user; and
a driving unit configured to move the display unit under the control of the control unit, wherein the display unit is configured to be movably provided on a manipulator to display the image, and the control unit is configured to compute a difference between a sightline position of the user based the recognized sightline of the user and a current position of the display unit, and generate a motion path of the manipulator.
1 Assignment
0 Petitions
Accused Products
Abstract
A movable display apparatus, a robot having the movable display apparatus, and a display method thereof, and, more particularly, a display method of a robot having an apparatus to display an image according to a visual point of a user are provided. It is possible to provide a convenient extended image service, by movably mounting the apparatus to display the image according to the visual point of the user and mounting the movable display apparatus in the robot so as to accurately display the image according to the visual point of the user using the mobility and motion of the robot. In addition, it is possible to provide an image, which is viewed like a three-dimensional image, via a two-dimensional display apparatus, by changing the displayed image according to a variation in the sightline of the user.
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Citations
17 Claims
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1. A movable display apparatus comprising:
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a display unit configured to display an image; a camera provided on the display unit and configured to acquire an image of a user; a head mounted device (HMD) configured to measure a head rotation direction and a pupil direction of the user; a control unit configured to recognize a sightline of the user using the image of the user acquired by the camera and the head rotation direction and the pupil direction measured by the HMD, control a posture of the display unit according to the recognized sightline of the user, and control the displaying of the image by the display unit according to the recognized sightline of the user; a camera image processing unit configured to extract a face direction of the user from the image of the user acquired by the camera, wherein the control unit is further configured to estimate the head rotation direction for recognizing the sightline of the user using the extracted face direction and the measured head rotation direction of the user; and a driving unit configured to move the display unit under the control of the control unit, wherein the display unit is configured to be movably provided on a manipulator to display the image, and the control unit is configured to compute a difference between a sightline position of the user based the recognized sightline of the user and a current position of the display unit, and generate a motion path of the manipulator. - View Dependent Claims (2, 3, 4)
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5. A robot comprising:
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a display unit movably provided on a manipulator and configured to display an image; a camera provided on the display unit and configured to acquire an image of a user; a head mounted device (HMD) configured to measure a head rotation direction and a pupil direction of the user; a control unit configured to recognize a sightline of the user using the image of the user acquired by the camera and the head rotation direction and the pupil direction measured by the HMD, control a posture of the display unit according to the recognized sightline of the user, and control the displaying of the image by the display unit according to the recognized sightline of the user; a driving unit configured to move the manipulator and change the posture of the display unit under the control of the control unit; and a camera image processing unit configured to extract a face direction of the user from the image of the user acquired by the camera, wherein the control unit is further configured to estimate the head rotation direction for recognizing the sightline of the user using the extracted face direction and the measured head rotation direction of the user, compute a difference between a sightline position of the user based on the recognized sightline of the user and the current position of the display unit, and generate a motion path of the manipulator. - View Dependent Claims (6, 7, 8)
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9. A display method of a robot, the method comprising:
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providing an image service using a display unit movably provided on a manipulator; acquiring an image of a user who receives the image service; measuring a head rotation direction and a pupil direction of the user using a head mounted device (HMD); and recognizing a sightline of the user using the acquired image of the user and the measured head rotation direction and pupil direction of the user; controlling a posture of the display unit according to the recognized sightline of the user to track the sightline of the user; and controlling the displaying of the image by the display unit according to the recognized sightline of the user, extracting a face direction of the user from the acquired image of the user, wherein the controlling a posture of the display unit includes estimating the head rotation direction for recognizing the sightline of the user using the extracted face direction and the measured head rotation direction of the user, computing a difference between a sightline position of the user based on the recognized sightline of the user and a current position of the display unit, and generating a motion path of the manipulator. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A robot comprising:
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a display unit movably provided on a manipulator and configured to display an image; a camera provided on the display unit configured to acquire an image of a user; a data communication unit configured to receive a head rotation direction and a pupil direction of the user; a control unit configured to recognize a sightline of the user using the image of the user acquired by the camera and the head rotation direction and the pupil direction received by the data communication unit, control a posture of the display unit according to the recognized sightline of the user, and atoll control the displaying of the image by the display unit according to the recognized sightline of the user; a camera image processing unit configured to extract a face direction of the user from the image of the user acquired by the camera, wherein the control unit is further configured to estimate the head rotation direction for recognizing the sightline of the user using the extracted face direction and the received head rotation direction of the user; and a driving unit configured to move the manipulator and change the posture of the display unit under the control of the control unit, wherein the control unit is configured to compute a difference between a sightline position of the user based on the sightline of the user and the current position of the display unit, and generate a motion path of the manipulator. - View Dependent Claims (16, 17)
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Specification