JP2000330709A - Device for inputting spatial coordinate - Google Patents

Abstract

(57) [Summary] To provide a space coordinate input device capable of displaying a virtual object faithfully reproduced in a virtual three-dimensional space by reflecting input space coordinates. SOLUTION: Initial setting including screen position setting is performed (100), and an error between a real space position (real coordinate value) in all of the real space and a space position (magnetic coordinate value) magnetically detected by a position sensor is corrected. (10)
2), a viewpoint correction matrix for correcting an error between the actual coordinate value and the magnetic coordinate value in the viewpoint space is obtained (104), and an operation correction matrix for correcting an error between the actual coordinate value and the magnetic coordinate value in the operation space is obtained. It is determined (106), a buffer area (blend area) for the viewpoint space and the operation space is set, a correction value in the buffer area is determined (108), and an actual spatial position and a position sensor are determined based on the obtained values. An error from the detected spatial position is corrected (space correction), and a stereoscopic image is displayed on the virtual space (110).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spatial coordinate input device, and more particularly to a space for inputting coordinates in a space suitable for use in a stereoscopic image display device for displaying a virtual object in a virtual stereoscopic space. The present invention relates to a coordinate input device.

[0002]

2. Description of the Related Art When designing or evaluating the shape or parts of a vehicle body, a member based on design values (a real object having the same value as the design value) is created, and evaluation, examination, and redesign are repeatedly performed. I was However, it takes an enormous amount of time to create a real product and repeat examination and redesign. For this reason, a need has arisen for a device that can be evaluated and examined without producing a real member.

[0003] As such an apparatus, a virtual object corresponding to a real object to be formed by design values is displayed in a virtual space, and is reproduced by a three-dimensional image of a computer graphic (CG) for examination or redesign. Obtaining information has attracted attention. That is, recently, computer design using CAD has been performed from the design stage, and data for a three-dimensional image is generated using the CAD data.
It is becoming possible to display a stereoscopic image. As an example, by generating a three-dimensional space using stereoscopic glasses and operating a virtual object in the virtual space,
A stereoscopic display device that improves the operability of CAD is known (see Japanese Patent Application Laid-Open No. Hei 6-131442).

[0004]

However, when a real member is virtually displayed, it must be displayed in the same size as the real one or on a predetermined fixed scale. In the device, the display accuracy has not been sufficiently studied, and it has been difficult to display the same size as the real thing or display on a predetermined fixed scale. For this reason, when the position of the virtual object displayed virtually is instructed or the position or shape is changed, a display different from the intention of the operator is performed, and it is difficult to realize a desired position or shape. Was.

The present invention has been made in view of the above circumstances, and has as its object to provide a space coordinate input device capable of displaying a virtual object faithfully reproduced in a virtual three-dimensional space by reflecting input space coordinates. is there.

[0006]

According to a first aspect of the present invention, there is provided a spatial coordinate input apparatus for displaying a virtual object in a predetermined space in a real space. Detecting means for detecting spatial coordinates of a position in a real space including at least a predetermined space; setting means for setting a plurality of small areas in the predetermined space; and for each of the small areas, real coordinates in the predetermined space. The correspondence relationship with the space coordinates detected by the detection means is obtained and stored in advance, and from the space coordinates detected by the detection means, the designated position of the designated position is determined using the correspondence belonging to the small area including the position of the space coordinates. There is provided an operation means for obtaining actual coordinates, and an input means for inputting the coordinate values obtained by the operation means as actual coordinate values.

In the spatial coordinate input device according to the present invention, the display means displays the virtual object in a predetermined space in the real space. The spatial coordinates of the position in the real space including at least the predetermined space are detected by the detecting means. A plurality of small areas are set in the predetermined space by the setting means. In each of these small areas, the correspondence between the actual coordinates in the predetermined space and the space coordinates detected by the detection means is previously obtained and stored. The calculating means obtains the actual coordinates of the designated position from the spatial coordinates detected by the detecting means, using the corresponding relationship (stored) belonging to the small area including the position of the spatial coordinates. The input means inputs the coordinate values obtained by the calculation means as actual coordinate values. As described above, since the actual coordinates can be obtained using the correspondence relationship belonging to the small area, even if there is a difference between the actual coordinates and the detected coordinates, the difference is corrected by the correspondence,
Accurate coordinates can be obtained.

According to a second aspect of the present invention, in the spatial coordinate input device according to the first aspect, the display means displays a virtual object by switching between a left-eye image and a right-eye image. I do.

In order to display an object three-dimensionally, a virtual object can be easily displayed by preparing a left-eye image and a right-eye image and switching and displaying them. Therefore, when the display means switches the left-eye image and the right-eye image to display the virtual object, the virtual object can be displayed in a predetermined space in the real space.

According to a third aspect of the present invention, in the spatial coordinate input device according to the first or second aspect, the display means is capable of switching between transmission and non-transmission of light based on each input signal. It is characterized by including stereoscopic glasses provided with an optical element for the eye and an optical element for the right eye.

In order to display a virtual object by switching between the left-eye image and the right-eye image, a left-eye optical element and a right-eye optical element capable of switching light transmission and non-transmission based on an input signal. It is preferable to use stereoscopic glasses provided with an optical element. Thereby, in the stereoscopic glasses, each of the optical element for the left eye and the optical element for the right eye is switched between light transmission and non-transmission, and the actual object displayed in a predetermined space in a real space. Can be easily recognized by the operator.

According to a fourth aspect of the present invention, in the spatial coordinate input device according to any one of the first to third aspects, the detecting means includes at least one of an eyeball position of the operator and a position designated by the operator. Is detected.

By detecting at least one of the position of the eyeball of the operator and the position designated by the operator by the detecting means, the position of the operator can be accurately specified or the specified position specified by the operator can be specified accurately. It is possible to input the position accurately.

According to a fifth aspect of the present invention, in the spatial coordinate input device according to any one of the first to fourth aspects, when a part of the set plurality of small areas overlaps, A correspondence between actual coordinates in the overlap and spatial coordinates detected by the detecting means is further obtained and stored based on each of the correspondences of the small areas belonging to the overlap.

When a plurality of small areas are set in a predetermined space and at least a part of the small areas overlaps, there are a plurality of correspondences between the real coordinates and the space coordinates in the overlapping parts. Therefore, when a part of the plurality of small areas overlaps, the correspondence between the real coordinates in the overlap and the spatial coordinates detected by the detection unit is further determined based on each of the correspondences of the small areas belonging to the overlap. By obtaining and storing, even in the overlapping portion, the correspondence between the real coordinates and the space coordinates is uniquely corresponded, and the correspondence can be configured smoothly.

According to a sixth aspect of the present invention, in the spatial coordinate input device according to any one of the first to fourth aspects, the setting means divides the predetermined space into a plurality of small areas. Is set.

When a plurality of small areas are set in a predetermined space, if the small areas are set apart from each other, there may be a case where there is no correspondence between the real coordinates and the space coordinates. Therefore, by setting a plurality of small areas by dividing the predetermined space by the setting means, it is possible to make the real coordinates correspond to the space coordinates over the entire area in the predetermined space.

According to a seventh aspect of the present invention, in the spatial coordinate input device according to the sixth aspect, a buffer area having a predetermined size is further set for the plurality of adjacent small areas, and the adjacent small areas are set. The correspondence between the actual coordinates in the buffer area and the spatial coordinates detected by the detection means is further obtained and stored based on each of the correspondences.

When a predetermined space is divided and a plurality of small areas are set, the correspondence between the real coordinates and the space coordinates may be discontinuous at the boundary. Therefore, a buffer region having a predetermined size is further set to include the vicinity of the boundary, and based on each of the small regions belonging to the buffer region, that is, the corresponding relationships between adjacent small regions, the actual coordinates in the buffer region and By further obtaining and storing the correspondence relationship with the space coordinates, the correspondence relationship between the real coordinates and the space coordinates can be formed smoothly without discontinuity over adjacent small areas.

According to an eighth aspect of the present invention, in the spatial coordinate input device according to any one of the first to seventh aspects, a normal designated area and a specific designated area are predetermined in the real space, The input means inputs the coordinate value obtained by the arithmetic means as the actual coordinate value when the position in the real space detected by the detection means is included in the normal designated area, and includes the coordinate value obtained in the specific designated area. Is input to the control information.

When space coordinates are being input, a command corresponding to the input may be input, another command may be input, or the specification may be changed. At this time, it can be dealt with by adding a new input device, but the operation is complicated or the device is complicated. Therefore,
A normal designated area and a specific designated area are determined in advance in the real space, and the input value by the input means is calculated by the calculating means when the position in the real space detected by the detecting means is included in the normal designated area. Is input as the actual coordinate value, and predetermined control information is input when it is included in the specific instruction area. Thereby, it is possible to easily switch between the input of the space coordinates and the input of the control information.

According to a ninth aspect of the present invention, in the spatial coordinate input device according to the eighth aspect, the control information is instruction information indicating selection instruction of a plurality of predetermined functions. I do.

An apparatus for displaying a virtual object and inputting spatial coordinates may have a plurality of predetermined functions. For example, input of the control information includes input of a command, change of screen specifications, execution of a process, and input of a function for selecting a table of contents or a menu. Therefore, by inputting instruction information indicating that a plurality of predetermined functions are selected and instructed, it is possible to easily select a plurality of predetermined functions.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[First Embodiment] In the first embodiment, the present invention is applied to a case where spatial coordinates are input while presenting a stereoscopic image to an operator (observer).

As shown in FIG. 2, a stereoscopic image display apparatus 10 according to the present embodiment is a projector 1 which projects an image on a screen 16 as a display means of the present invention in a dark room 60.
2 is provided. The projector 12 is mounted on a pedestal 13. Note that the projector 12 is connected to a control device 14 that generates an image for stereoscopic display. Between the projector 12 and the screen 16, an infrared transmitter 15 for irradiating infrared rays to the screen 16 is provided at a position where light rays when projected by the projector 12 are not blocked.

The screen 1 on the projection side of the projector 12
The seat 24 on which the operator OP sits is located downstream of the seat 6. The seat 24 is provided on a pedestal 26, and the pedestal 26 is connected to a motor 28 via a bellows 28A. The motor 28 is a cart 2 movable on the floor.
8B, and the bellows 28A expands and contracts by driving the motor 28. Due to the expansion and contraction of the bellows 28A, the pedestal 26 is moved in the vertical direction (the direction of the arrow UD in FIG. 2),
The operator OP sitting on the seat 24 moves up and down. The elevation of the operator OP sitting on the seat 24 is used for adjusting the vehicle height according to the type of the vehicle. When the operator OP moves up and down, the position of the operator OP moves up and down with respect to the screen 16. In this case, it is possible to provide a measuring device for detecting the amount of elevation of the pedestal 26 or to specify the amount of elevation by inputting numerical values.

The bogie 28B is movable on the floor in a predetermined direction (the direction of arrow FR in FIG. 2 as the front-back direction and the direction of arrow RL in FIG. 2 as the left-right direction). This cart 28B
Movement of the operator OP with respect to the screen 16
Is fluctuated, it is preferable to consider the amount of movement of the cart 28B. In this case, it is possible to provide a measuring device for detecting the amount of movement of the cart 28B or to specify the amount of movement by inputting numerical values.

The operator OP has a position input device 18 (details will be described later) for inputting position coordinates and the like. This position input device corresponds to the detecting means of the present invention. Liquid crystal shutter glasses 20 as stereoscopic glasses of the present invention are attached to the head of the operator OP, and the liquid crystal shutter glasses 20 are provided with a position sensor 22. The position sensor 22 is a magnetic field detection sensor, and the magnetic field generator 3 provided behind the operator OP.
This is for detecting the magnetic field generated from 0 to detect the three-dimensional coordinates and the direction in which the position sensor 22 is located.

The pedestal 26 is provided with a magnetic field generator 31. The magnetic field generator 31 is used to detect magnetic coordinates of a space in which space coordinates need to be detected with high accuracy, for example, an operation space that is a space in which the operator OP can operate. The magnetic field generator 31 may be provided as needed, and is not essential.

An optical measuring device 17 is provided at a position spaced around the operator OP. The optical measuring device 17 includes TV cameras 17A, 17B, and 17C, and the TV cameras 17A to 17C are a city 7D and a pedestal 17.
It is fixed to the floor via E.

As shown in FIG. 3, the control device 14 is constituted by a microcomputer including one or more CPUs 34, a RAM 36, a ROM 38, and an input / output port 40, and a bus for transmitting and receiving commands and data. 42. The infrared transmitter 15 is connected to the input / output port 40 via a driver 55, and the optical measuring device 17 is connected via a driver 57. The position input device 18 is connected to the input / output port 40 via a driver 44, the liquid crystal shutter glasses 20 are connected via a driver 46, and the position sensor 22 is connected via a driver 48. The projector 12 is connected to the input / output port 40 via the driver 50. Further, the motor 28 is connected to the input / output port 40 via a driver 52.
The magnetic field generator 30 is connected via the. The keyboard 3 is connected to the input / output port 40 via the driver 56.
2 are connected. The ROM 38 stores a processing routine described later.

The input / output port 40 is connected to a floppy (registered trademark) dusk unit (FDU) 35 into which a floppy disk 37 as a recording medium can be inserted and withdrawn. The processing routine and the like to be described later are performed by the FDU3
5 can be read from and written to the floppy disk 37. Therefore, the processing routine described later is executed in the ROM 3
Alternatively, the processing program recorded on the floppy disk 37 via the FDU 35 may be executed beforehand, instead of being stored in the floppy disk 8. Also, a large-capacity storage device (not shown) such as a hard disk device is connected to the control device 14, and the processing program recorded on the floppy disk 37 is stored (installed) in the large-capacity storage device (not shown) and executed. It may be. As a recording medium, there is an optical disk such as a CD-ROM or a magneto-optical disk such as an MD or MO. When these are used, a CD-ROM device, an MD device, an MO device, etc. may be used instead of the FDU 35 or further. It may be used.

As shown in FIG. 4, the position input device 18
It has a pen-shaped body 62, and a detection unit 64 for detecting a magnetic field is attached to a tip end thereof, and an instruction unit 66 for instructing detection timing is attached. The position input device 18 is connected to the control device 14. A needle-like projection 64A is provided at the tip of the detection unit 64 in order to facilitate the operator OP to designate a coordinate.

In the present embodiment, the correspondence between the real coordinates and the space coordinates (positions specified by detecting the magnetic field) is described below in order to accurately input and display three-dimensional coordinates. I'm asking. In this case, the position input device 1
As 8, the correspondence is determined by optical measurement by the optical measuring device 17 using the pointer 19 shown in FIG.

The pointer 19 shown in FIG. 5 (A) has a shape that is gradually narrowed from the rear end to the front end on a long piece, so that the spatial position can be easily indicated. The pointer 19 has a mark 1 for image detection near the front end and near the rear end.
9M are provided. By detecting these marks 19M, the spatial position and direction indicated by the pointer 19 can be specified. The pointer 19 shown in FIG. 5 (A) is provided with a needle-like projection 19A at the tip thereof to facilitate coordinate designation by the operator OP, similarly to the position input device 18. The pointer 19 shown in FIG. 5B has a T-shape, and has marks 19M near each end (total of three). Note that the number of these marks 19M is not limited to the above number, and it is sufficient that at least two or more, that is, a plurality of marks are provided.

Next, the operation of the present embodiment will be described. When displaying a three-dimensional image, the viewpoint at which the operator OP looks is moved, or, for example, a hand operation of the operator OP is moved to perform drawing or the like on the three-dimensional image. These movements differ in size, movement amount and accuracy within the allowable range. For this reason, if the real space is uniquely associated with the position detected by the magnetic field detection, there may be many errors. Therefore, in the present embodiment, a plurality of spaces are set and the correction is made for each space with respect to the correspondence between the actual space position in the real space and the space position that can be a virtual space detected by the position sensor.

When the three-dimensional image display device 10 is powered on, the control device 14 executes the processing routine of FIG. First, in step 100, initial settings including a screen position setting and a viewpoint position setting of the operator OP are performed for displaying a stereoscopic image. In the next step 102, an overall correction matrix is obtained by an overall space correction process for correcting an error between an actual spatial position in the entire real space and a spatial position to be a virtual space detected by the position sensor, and
In the next step 104, a viewpoint correction matrix is obtained by a viewpoint space correction process for correcting an error between the actual spatial position of the operator OP in the viewpoint space and the spatial position detected by the position sensor. An operation correction matrix is obtained by an operation space correction process for correcting an error between an actual space position in the operation space of the OP and a space position detected by the position sensor. Next, in step 108, a buffer region (blend region) for the viewpoint space and the operation space included in the entire space is set, and an error between the actual spatial position in the buffer region and the spatial position detected by the position sensor is corrected. The buffer correction matrix by the buffer area correction process for the above is obtained. Then, in the next step 110, a stereoscopic image is displayed on the virtual space in which the error between the actual spatial position and the spatial position detected by the position sensor is corrected (spatial correction) based on each matrix obtained above. You.

The above steps 102 to 1
The processing of 10 corresponds to the processing of the calculating means of the present invention.

In step 100, initial settings including screen position setting for accurately grasping the three-dimensional position of the image displayed on the screen 16 and viewpoint setting for determining the actual viewpoint position of the operator OP are performed. . This initial setting sets the position of the screen 16 in the real space. For example, since the screen 16 is fixed, a coordinate system is set so that the screen 16 is used as a reference position in the real space. As described above, since the position of the operator OP changes due to the movement or the elevation of the bogie, the position is set on the assumption that the standard operator OP is seated.

Next, the details of step 102 (FIG. 1) will be described. In this step 102, the whole space correction processing in the real space is performed. The entire space refers to a region around the operator OP including at least a space where the position can be detected by the magnetic field generator 30 (and 31).

In step 102 of FIG. 1, the space correction processing of FIG. 6 is executed. First, in step 112 of FIG. 6, a lattice plate (not shown) is set in a real space.
This grating plate is provided with graduations at regular intervals on a transparent plate, and is configured to be able to measure by the optical measuring device 17. For example, the dots are formed at a predetermined interval d in a direction perpendicular to the transparent plate, that is, in a lattice shape. And it installs in the direction which can measure the distance between the screen 16 and the operator OP.

Next, at step 114, a plurality of points are pointed on the grid plate using the pointer 19. At the same time, the detecting unit 64 at the tip of the pen-type position input device 18 is positioned at the mark 19M of the pointer 19, and the pointing unit 66
Instructs detection. In the next step 116, an optical position is detected by imaging the pointer with the TV cameras 17A to 17C of the optical measuring device 17. In the next step 118, the images captured by the TV cameras 17A to 17C are image-processed and the mark 19M of the pointer 19 is processed.
To obtain a spatial coordinate value (optical coordinate value). In the next step 120, the coordinate value of the mark 19M of the designated pointer 19 is input by detecting the magnetic field according to the instruction from the instruction unit 66 of the position input device 18. This makes it possible to calculate a coordinate value by magnetic field detection.

It is desirable that the steps 112 to 120 be repeated with a grid plate installed so as to cover the entire three-dimensional space which is the entire space. The optical detection can be omitted if it can be obtained by image processing using a plurality of TV cameras.

When the derivation of coordinates in the optically real space and the derivation of coordinates by magnetic field detection are completed, the next step 122
In step (1), the correspondence between these coordinates is obtained using the coordinate values (optical coordinate values) of the real space and the coordinate values (magnetic coordinate values) of the magnetic field detection. That is, a 4 × 4 matrix for converting magnetic coordinate values into optical coordinate values is obtained. This 4 × 4 matrix can be obtained by the least square method from a plurality of correspondences. 4x
After obtaining the four matrices, each matrix component is normalized and orthogonalized to obtain a correction matrix. Note that normalization and orthogonalization of matrix components can be omitted.

The correction matrix obtained as described above is used as an entire correction matrix. Thus, the coordinate values input by the detection of the magnetic field can be converted into actual optical coordinate values using the correction matrix.

In the above-mentioned space correction processing, it is also possible to prepare space frame coordinate data in advance and display a frame based on the data without using a lattice plate. For example, spatial frame coordinate data is
As coordinate data having a predetermined number (for example, m) of coordinate values of a predetermined interval d in each direction of XYZ in a three-dimensional space, by connecting each coordinate point with a straight line, a predetermined size of a side length d is obtained. Can be configured as a cube having a side length md in which the small cubes are stacked. The frame display based on the spatial frame coordinate data can be formed by arranging yarns and laser beams (not shown) at intervals of the length d so as to be orthogonal to the XYZ directions.

In this case, the coordinates of the intersections of the displayed frames are input, that is, the detecting section 64 at the tip of the position input device 18 is positioned at a plurality of intersections of the displayed frames, and each of them is designated by the instruction section 66. By instructing the detection and detecting the magnetic field, the coordinates of the intersection of the displayed frame can be input.

Next, the details of step 104 (FIG. 1) will be described. In step 104, a viewpoint space correction process in the real space is performed. The viewpoint space refers to an area including at least a movement allowable range of the viewpoint position of the operator OP.

In step 104 of FIG. 1, the space correction process of FIG. 6 is executed in the same manner as the above-described overall space correction process.
Note that this processing is the same as the processing in FIG. 6 and will be briefly described using the same reference numerals. First, a grid plate (not shown) is set in the real space so that the viewpoint space can be measured (Step 112 in FIG. 6). In addition, since the viewpoint space needs to be detected with higher accuracy than the whole space, the lattice plate gives a finer scale than the whole space measurement.

Next, the mark 19M of the pointer 19 is positioned at a plurality of points on the lattice plate, and the detection unit 64 of the position input device 18 is positioned at the mark 19M of the pointer 19 to give an instruction (step 114). 17A-17C
Image processing is performed on the image picked up by (1) to obtain spatial coordinate values (optical coordinate values), and a magnetic field is detected to input magnetic coordinate values (steps 116 to 120). This processing is performed so as to cover the viewpoint space.

These real space coordinate values (optical coordinate values)
And the coordinate value (magnetic coordinate value) of the magnetic field detection, that is, 4 × for converting the magnetic coordinate value to the optical coordinate value.
Four matrices are obtained, and a correction matrix obtained by normalizing or orthogonalizing the matrix components is used as a viewpoint correction matrix (step 122). Thus, the coordinate values input by the magnetic field detection in the viewpoint space can be converted into actual optical coordinate values using the correction matrix.

Next, the details of step 106 (FIG. 1) will be described. In step 106, an operation space correction process in the real space is performed. The operation space is a space in which the operator OP can operate, that is, an area including at least a movement allowable range in which the hand of the operator OP can move.

In step 106 of FIG. 1, the space correction process of FIG. 6 is executed in the same manner as the above-described overall space correction process.
Note that this processing is the same as the processing in FIG. 6, and thus different parts will be briefly described. First, a grid plate (not shown) is set in the real space so that the operation space can be measured (Step 112 in FIG. 6). In addition, since the operation space also needs to be detected with higher accuracy than the entire space, similarly to the viewpoint space,
The grating plate gives a finer scale than the global spatial measurement.

Then, the pointer 19 and the position input device 1
In accordance with the instruction of No. 8, a spatial coordinate value (optical coordinate value) and a magnetic coordinate value by magnetic field detection are input (steps 114 to 12).
0). This process is performed so as to cover the operation space, and the magnetic coordinate values that are the corresponding relationship using the coordinate values (optical coordinate values) of the real space and the coordinate values (magnetic coordinate values) of the magnetic field detection are converted into the optical coordinate values. A 4 × 4 matrix to be converted into a matrix is calculated, and a correction matrix obtained by normalizing and orthogonalizing matrix components is set as a viewpoint correction matrix (step 122). Thus, the coordinate values input by the magnetic field detection in the operation space can be converted into actual optical coordinate values using the correction matrix.

Next, the details of step 108 (FIG. 1) will be described. In step 108, a buffer space correction process is performed. When a plurality of spaces overlap or are adjacent to each other in the entire space, coordinate values due to coordinate conversion may be discontinuous. The buffer space is an area for eliminating such a discontinuity, and is an area in which coordinate conversion can be smoothly performed over the entire area.

As shown in FIG. 9, in the entire space 80,
A viewpoint space 84 and an operation space 82 are included. The viewpoint space 84 is a space that covers the moving range of the viewpoint, that is, the moving range of the head, and the operation space 82 is a space that covers the range in which the operator OP can operate, that is, the turning and vertical movement of the arm.

Although the viewpoint space 84 and the operation space 82 are included in the whole space 80 in the example of FIG. 9, the present invention is not limited to this. Also, a case has been described in which two spaces, a viewpoint space 84 and an operation space 82, exist in the entire space 80, but the present invention is not limited to two spaces, and may be only one space, or three or more spaces. May exist. The classification of this space includes a classification having the following inclusion relationship and a classification having a division relationship.

FIG. 7 shows that the small spaces 80A, 80B. The concept including 80C was shown. FIG. 8 shows that the entire space 80 is divided into divided spaces 81A, 81B. 81
The concept divided into C, 81D, 81E, 81F, 81G, and 81H is shown.

The above space may be classified in a space based on magnetic field detection (a space determined by magnetic coordinates) or in a real space. In addition, the calculation of the space to be classified may be a space having a flat surface or a curved surface,
The space may be a sphere or an elliptical cross section.

The above-described space classification corresponds to setting a small area according to the present invention. In the present embodiment, the whole space, the viewpoint space, and the operation space are exemplified.

Next, the details of step 108 in FIG. 1 will be described. In step 108 of FIG. 1, the buffer correction process of FIG. 10 is executed. In the following, in order to simplify the description,
Two spaces, a viewpoint space 84 and an operation space 82, will be described. However, the present invention is not limited to this.
It may be performed for more than one space. Operation space 8
2 will be described as including a viewpoint space 84.

First, at step 130 in FIG. 10, one space is selected. In the next step, 132, it is determined whether or not there is a space (including the included space and the included space) adjacent to the selected space (viewpoint space 84). Repeat the space selection.
If the determination in step 132 is affirmative, the next step 134 is to select one adjacent space. Here, step 130
The viewpoint space 84 is selected as a space to be selected by the operator, and the operation space 82 (or the whole space 80) is selected as an adjacent space. In the next step 136, a buffer area is set. In the next step 138, both correction matrices are read, and in the next step 140, correction values are obtained. In the next step 142, it is determined whether or not all the above processes for adjacent spaces (including the included space and the included space) have been completed.
This routine ends when all the processes have been completed.

Next, the operation of the buffer area processing will be specifically described. Here, the viewpoint space 84 is the operation space 82
A description will be given of the buffer area processing for two spaces existing inside (the entire space 80 may be included). In the following description, the viewpoint space 84 and the operation space 82 will be described.

As shown in FIG. 11, an operation space 82 is located outside the viewpoint space 84. It is assumed that the viewpoint space 84 and the operation space 82 are in contact with a boundary K. A buffer area 83 is set on the side of the operation space 82 that contacts the viewpoint space 84. In the example of FIG.
Is set to be a region of a predetermined width (length L) from the viewpoint space 84. First, the coordinates of the real space are determined with the center of the viewpoint space 84 as the reference point A, and the correction matrix of the viewpoint space 84 is set as M1, and the position B on the magnetic coordinates is determined (B = M1 ^-1 · A). Next, the position C on the magnetic coordinates is detected by the position input device 18, and the distance d between the position B and the position C is obtained (d = | B−C |). When this distance d exists in the buffer area 83 (0 <e ≦ L: e = d−
r) Since the position C exists in the buffer area 83, the correction is performed.

The above correction will be described in detail. FIG.
As shown in FIG. 2 (A), the operator OP sets the viewpoint space 8
The case where the position is located near the boundary between the operation space 4 and the operation space 82 will be described. In these viewpoint space 84 and operation space 82, FIG.
As shown in (B), a buffer area 83 is set. Here, the correction matrix of the viewpoint space 84 is M1, the correction matrix of the operation space 82 is M2, the coordinate value obtained by the position input device 18 is X, and the transformed coordinate value is Y.

In coordinate conversion (conversion from magnetic coordinates to real coordinates) using a correction matrix in the viewpoint space 84, Y = M1 ·
X, and in the coordinate conversion by the correction matrix of the operation space 82 (the conversion from magnetic coordinates to real coordinates), Y = M2 ·
X.

For this reason, a difference may occur in the conversion result. Therefore, in the buffer area 83 near the boundary between the viewpoint space 84 and the operation space 82, weights are assigned to these correction matrices (weight coefficients a and b are assigned). To synthesize (blend). That is, Y = a · M1 · X + b · M2 · X.

The weight coefficients a and b can be obtained by the following equations.

A = (1 + cos (d · π / L)) / 2 b = (1−cos (d · π / L)) / 2 That is, as shown in FIG. The function becomes gradually smaller as the distance from the space 84 increases. This weighting is based on piecewise linear, Gaussian,
Using any one of a gamma function, a sigmoid function, and a trigonometric function and a combination thereof, blending is performed at a distance from a reference point in space (in the present embodiment, a combination of a trigonometric function and a piecewise linear function is used). The blend width can also be changed depending on the position (in this embodiment, L = 100 mm is adopted).
The blend width may vary the shape of the border. The blend may blend multiple spatial corrections.

As described above, in the present embodiment, a plurality of spaces are set, and the correction matrix for each space is weighted.
For example, an area is set according to the position detection accuracy, and a correction matrix is obtained for each area. Then, a correction value is obtained by providing a buffer area so that coordinate conversion can be smoothly performed between spaces. This correction value may be stored as a correction matrix based on the buffer area, or only the function may be stored and obtained.

In the above description, the case where a buffer area is set on one space side when a plurality of spaces are adjacent has been described. However, the present invention is not limited to this. A buffer region may be provided in an overlapping space. For example, as shown in FIG.
When a buffer region is provided in a plurality of spaces, widths L1 and L2 (L1 = L2 may be set) are set in both regions (spaces). By weighting the buffer area as described above, the coordinate conversion characteristics can be interpolated, and the coordinate conversion characteristics can be made smooth by the interpolation characteristics. Further, as shown in FIG. 15, when a buffer area is provided in the overlapping space, the overlapping space K
A buffer area is set outside each of the areas 1. This buffer area may be set in the overlapping space K1. By weighting the buffer area as described above, the coordinate conversion characteristics can be interpolated, and the coordinate conversion characteristics can be made smooth by the interpolation characteristics.

Next, the details of step 110 (FIG. 1) will be described. In step 110, coordinate conversion is performed using the correction matrix obtained above, and a stereoscopic image is displayed.

First, the display of a stereoscopic image will be briefly described with reference to FIG. Operator O of interpupillary distance PD
P views the screen 16 from the viewpoint L of the left eye and the viewpoint R of the right eye. An image based on the image data is displayed on the screen 16. In consideration of the distance between the pupil distance PD and the screen 16 from this image data,
A left-eye image GL and a right-eye image GR including parallax are generated, and the left-eye image GL and the right-eye image GR are displayed alternately. The interpupillary distance PD may be measured in advance, or a standard numerical value may be used.

The above-described left-eye image GL and right-eye image GR
The transmission of light between the left eye and the right eye of the liquid crystal shutter glasses 20 is switched in synchronization with the switching of the display. As a result, the overlapping area of the region up to the left-eye image GL viewed by the left eye and the region up to the right-eye image GR viewed by the right eye becomes a virtual space Vr capable of displaying a virtual object, and the left eye The virtual object is stereoscopically displayed by displaying the image for use GL and the image for right eye GR.

The display of the stereoscopic image is performed on the screen 16.
By changing the overlapping area of the left-eye image GL and the right-eye image GR displayed above, the area up to the left-eye image GL viewed by the left eye and the right-eye image viewed by the right eye The overlapping area with the area up to GR can be changed, and the size of the virtual space Vr in which the virtual object can be displayed can be changed.

In the process of step 110 in FIG.
Are executed. In addition,
This routine displays a stereoscopic image in a virtual stereoscopic space and draws a line drawing or the like by the position input device 18. First, in step 200, image data for displaying a virtual object in the virtual space is read, and in the next step 202, the position sensor 22 is read to read the position of the operator OP. In the next step 204, the read coordinate value (magnetic coordinate value) of the position sensor 22 is read.
Is converted to coordinate values in the real space, and image data is corrected in the next step 206 based on the converted coordinate values,
In the next step 206, a stereoscopic image is displayed based on the corrected image data.

Next, in step 210, it is determined whether or not a drawing instruction such as a line drawing has been made by the position input device 18, and if a negative determination is made, the process returns to step 202 to repeat the stereoscopic image display. On the other hand, when an affirmative determination is made in step 210, the process proceeds to step 212, where the magnetic coordinates instructed by the position input device 18 are read, and the next step 214
Converts the coordinate values (magnetic coordinate values) of the position input device 18 into the coordinate values of the real space. In this coordinate conversion, as described above, real coordinates are derived using a correction matrix for each space, and in the buffer area, a calculation result based on the correction matrix is obtained with weighting.

In the next step 216, based on the transformed coordinate values, image data such as lines drawn on the image data are combined, and the next step 2018 stereoscopic image is displayed by the combined image data. The above process is repeatedly executed until an instruction to end the display is given (No at Step 220).

As described above, in the present embodiment, a plurality of subspaces are defined in the entire space, and a correction matrix for converting the magnetic coordinate values to the actual coordinate values for each space is obtained. In the case of a match, the correction matrix is weighted and interpolated. As a result, coordinate values can be accurately and quickly obtained by magnetic detection. Further, the coordinate values obtained by the coordinate conversion do not become discontinuous regardless of the position in the space. Therefore, it is possible to set a space (area) where high-precision position detection is required as necessary,
It can meet the demands for both accuracy and speed.

[Second Embodiment] Next, a second embodiment will be described. In this embodiment, since the configuration is substantially the same as that of the above-described embodiment, the same portions are denoted by the same reference numerals and detailed description thereof will be omitted.

When displaying a three-dimensional image and drawing a line drawing or the like,
In some cases, specifications such as the type and thickness of the line are determined or changed. In some cases, it is necessary to input a command such as change of a dot or line drawing or selection of a color. It is conceivable to provide a separate switch for such an input, but the device becomes complicated and the operation becomes complicated. Thus, in the present embodiment, the area for commandon input is predetermined.

As shown in FIG. 18, in the present embodiment,
The whole space 80 is separated from the coordinate input space 86 and the command input space 88 by a plane KP that passes through the reference point near the center of the viewpoint space and is parallel to the screen. Therefore, as shown in FIG. 18A, when operating the position input device 18 in the coordinate input space 86, the detected magnetic coordinate value is used as a value for inputting coordinates. On the other hand, as shown in FIG. 18B, when operating the position input device 18 in the command input space 88, the detection is used as a command input.

Next, the operation of the present embodiment will be described. In the present embodiment, the processing is substantially the same as the processing in FIG. 1. When step 110 in FIG. 1 is executed, the processing routine in FIG. 19 is executed. In step 230 in FIG. 19, the position is detected by an instruction from the position input device 18, and the real space coordinates are calculated. In the next step 232, it is determined whether or not the coordinate values obtained in step 230 are included in the command space 88. If the result of the determination in step 232 is negative, it means that the position input device 18 is present in the coordinate input space 86, so the process proceeds to step 236, and the processing described in the above embodiment (FIG. 17) is executed.

On the other hand, if the result of the determination in step 232 is affirmative, it means that the position input device 18 is present in the command input space 86, and the process proceeds to step 234, where the command input processing is executed. This command input processing includes processing for mode change, menu display and selection. The mode change includes an instruction to switch between the line drawing input mode and the stippling input mode, and it is possible to switch the input mode between the line drawing input and the point drawing input by coordinate input.

Therefore, when the position input device 18 exists in the coordinate input space 86, it is possible to draw a line drawing or a point image, and when the position input device 18 is present in the command input space 86, a menu is displayed. Display,
It is possible to instruct switching between the line drawing input mode and the point drawing input mode.

As described above, in the present embodiment,
A coordinate input space 86 and a command input space 88 are set. In the command input space, a command input is performed instead of a coordinate input instruction. Therefore, a process related to image display can be performed without providing a new switch. Execution and switching can be easily performed.

In the above embodiment, the case has been described where the magnetic coordinates generated by one magnetic field generator are detected to determine the magnetic coordinates. However, the present invention is also applicable to the magnetic fields generated by a plurality of magnetic field generators. Is applicable. In this case, a space may be determined for each magnetic field and a correction matrix may be obtained for each space. Further, it is preferable to use the magnetic field generation by switching it in synchronization with the detection. As described above, the use of a plurality of magnetic fields is suitable for the indoor three-dimensional display of a vehicle,
The instrument panel is displayed as a stereoscopic image, and the pressing of a switch provided on the instrument panel can be detected.

[0089]

As described above, according to the first aspect of the present invention, a plurality of small areas set in a predetermined space are provided with the actual coordinates in the predetermined space and the spatial coordinates detected by the detecting means. Correspondence relations are obtained and stored in advance, and from the detected space coordinates, the actual coordinates of the designated position are obtained using the correspondence relations belonging to the small area including the position of the space coordinates, that is, using the correspondence relations belonging to the small area. Since the actual coordinates can be obtained, even if there is a difference between the actual coordinates and the detected coordinates, the actual coordinates and the detected coordinates are corrected based on the correspondence, and an accurate coordinate can be obtained.

According to the second aspect of the present invention, in order to display an object in three dimensions, the image for the left eye and the image for the right eye are switched and displayed. There is an effect that a virtual object can be displayed in a predetermined space.

According to the third aspect of the present invention, stereoscopic spectacles having an optical element for the left eye and an optical element for the right eye capable of switching transmission and non-transmission of light based on an input signal are used. The stereoscopic glasses make it possible to switch between a left-eye image and a right-eye image, so that the operator can easily recognize a virtual object corresponding to an actual object displayed in a predetermined space in a real space. There is an effect that can be.

According to the fourth aspect of the present invention, it is possible to accurately specify the position of the operator, or to accurately specify the position specified by the operator, and to input the position accurately. There is an effect that.

According to the fifth aspect of the present invention, the actual coordinates in the overlapping portion are detected by the detecting means on the basis of the correspondence between the small regions belonging to the overlapping portion in which a part of the plurality of small regions overlap. Since the correspondence between the space coordinates and the space coordinates is stored, the correspondence between the real coordinates and the space coordinates is uniquely associated even in the overlapping portion, and the correspondence can be formed smoothly.

According to the sixth aspect of the present invention, since the predetermined space is divided and a plurality of small areas are set, the real coordinates and the space coordinates can be made to correspond over the entire area in the predetermined space. This has the effect.

According to the seventh aspect of the present invention, a buffer region having a predetermined size is further set so as to include the vicinity of the boundary between adjacent small regions, and the small region belonging to the buffer region, that is, the adjacent small region is set. Based on each of the correspondences, the correspondence between the real coordinates and the space coordinates in the buffer area is further obtained and stored, so that the correspondence between the real coordinates and the space coordinates is discontinuous over the adjacent small areas. There is an effect that the correspondence can be formed smoothly without becoming unnecessary.

According to the eighth aspect of the present invention, the normal designated area and the specific designated area are determined in the real space, and the coordinate value obtained when the detected position in the real space is included in the normal designated area is determined. Since the control information is input when the value is input as the actual coordinate value and is included in the specific instruction area, there is an effect that the input of the space coordinate and the input of the control information can be easily switched.

According to the ninth aspect of the present invention, it is possible to input instruction information indicating that a plurality of predetermined functions are selected and instructed, so that an arbitrary function can be easily selected from the plurality of functions. This has the effect that it becomes possible.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a flow of a process of displaying a stereoscopic image on a stereoscopic image display device according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a schematic configuration of the stereoscopic image display device according to the first embodiment of the present invention.

FIG. 3 is a block diagram illustrating a schematic configuration of a control device of the stereoscopic image display device according to the first embodiment of the present invention.

FIG. 4 is an image diagram showing a schematic configuration of a position input device.

FIG. 5 is an image diagram showing a schematic configuration of a pointer.

FIG. 6 is a flowchart illustrating a flow of a correction matrix calculation process in the stereoscopic image display process.

FIG. 7 is an explanatory diagram for explaining a classification having an inclusion relationship as a classification of a real space.

FIG. 8 is an explanatory diagram for explaining a classification having a division relationship as a classification of a real space.

FIG. 9 is an image diagram showing a viewpoint space and an operation space included in the entire space.

FIG. 10 is a flowchart illustrating a flow of a buffer correction process.

FIG. 11 is an explanatory diagram for describing setting of a buffer area for a viewpoint space and an operation space.

FIG. 12 is an explanatory diagram of correction in a buffer area;
(A) shows the relationship between the operator, the viewpoint space, and the operation space, and (B) further shows the buffer area.

FIG. 13 is an explanatory diagram for explaining weights of a correction matrix.

FIG. 14 is an explanatory diagram for explaining weights of a correction matrix of a buffer area spanning a plurality of spaces.

FIG. 15 is an explanatory diagram for explaining weights of a correction matrix when a plurality of spaces overlap.

FIG. 16 is an image diagram for explaining a process of displaying a stereoscopic image.

FIG. 17 is a flowchart illustrating a flow of a stereoscopic image display process.

FIGS. 18A and 18B are diagrams showing a coordinate input space and a command input space, wherein FIG. 18A shows an input state in the coordinate input space, and FIG. 18B shows an input state in the command input space.

FIG. 19 is a flowchart illustrating the flow of a process according to the second embodiment.

[Explanation of symbols]

 Reference Signs List 10 stereoscopic image display device 12 projector 14 control device 16 screen 18 position input device 20 liquid crystal shutter glasses 22 position sensor 30 magnetic field generation device

 ──────────────────────────────────────────────────続 き Continued on front page F term (reference) 5B050 BA09 CA07 EA27 FA02 FA06 FA08 FA09 5B068 AA01 AA14 DD11 EE01 EE06 5B087 AA07 AA09 AD01 BC03 BC05 BC17 BC34 5E501 AC15 BA05 BA12 CA02 CB07 CB11 CB14 CC07 CC11 CC12 EB06

Claims (9)

[Claims] A display unit configured to display a virtual object in a predetermined space in a real space; a detection unit configured to detect spatial coordinates of a position in the real space including at least the predetermined space; Setting means for setting a small area, and for each of the small areas, a correspondence relationship between real coordinates in the predetermined space and spatial coordinates detected by the detecting means is previously obtained and stored, and detected by the detecting means. Calculating means for obtaining the actual coordinates of the designated position from the obtained spatial coordinates using the correspondence belonging to the small area including the position of the spatial coordinates; and input means for inputting the coordinate values obtained by the arithmetic means as actual coordinate values And a spatial coordinate input device comprising: 2. The spatial coordinate input device according to claim 1, wherein the display unit switches between a left-eye image and a right-eye image to display a virtual object. 3. The display means includes stereoscopic spectacles provided with a left-eye optical element and a right-eye optical element capable of switching transmission and non-transmission of light based on each input signal. The spatial coordinate input device according to claim 1 or 2, wherein 4. The apparatus according to claim 1, wherein said detecting means detects at least one of an eyeball position of the operator and a position designated by the operator.
The spatial coordinate input device according to the paragraph. 5. When a part of the set plurality of small areas overlaps, the actual coordinates in the overlapping part are detected by the detecting means based on each of the correspondences of the small areas belonging to the overlapping part. 5. The method according to claim 1, further comprising obtaining and storing a correspondence relationship with the space coordinates.
The spatial coordinate input device according to the paragraph. 6. The spatial coordinate input device according to claim 1, wherein the setting unit sets a plurality of small areas by dividing the predetermined space. 7. A buffer area having a predetermined size is further set for the plurality of adjacent small areas, and real coordinates in the buffer area and the detection means are set based on each correspondence between the adjacent small areas. 7. The spatial coordinate input device according to claim 6, further comprising obtaining and storing a correspondence relationship with the spatial coordinates detected by (1). 8. A normal instruction area and a specific instruction area are previously determined in the real space, and the input means is configured to execute the arithmetic operation when the position in the real space detected by the detection means is included in the normal instruction area. 2. The method according to claim 1, further comprising the step of: inputting the coordinate values obtained in step (1) as real coordinate values, and inputting predetermined control information when the coordinate values are included in the specific instruction area.
The spatial coordinate input device according to claim 7. 9. The spatial coordinate input device according to claim 8, wherein the control information is instruction information indicating a selection instruction of a plurality of predetermined functions.