JP4738896B2 - Virtual reality presentation device, virtual reality presentation method, and program - Google Patents

Description

  The present invention relates to a virtual reality presentation device, a virtual reality presentation method, and a program, and in particular, displays a video generated by a CG object modeled three-dimensionally and responds to changes in the position of the observer's head. The present invention relates to a virtual reality presentation device, a virtual reality presentation method, and a program for displaying an image in front of an observer's field of view.

  Conventionally, virtual reality (VR) presentation devices exist. The virtual reality presentation device includes, for example, a video display device such as a head-mounted display (HMD: Head Mounted Display), a position and orientation detection unit (for example, a position and orientation sensor), and a CG video generation unit. .

  The position and orientation detection means is used to detect the position and orientation of the observer's viewpoint and to specify the position and orientation of the CG object in the virtual space. Specifically, a magnetic position sensor is used. A magnetic position / orientation sensor detects the relative position / orientation between a magnetic generator (transmitter) and a magnetic sensor (receiver), such as the FASTRAK product from the US company Polhemus. It is done. This is a device that detects the three-dimensional position (X, Y, Z) and posture (Pitch, Yaw, Roll) of a sensor in real time in a specific region. If this is attached to the HMD worn by the observer, the position and orientation values of the observer's head can be detected, and the position and orientation of the CG object can be designated by moving the sensor in the virtual space.

  The CG video generation means arranges a three-dimensionally modeled CG object in a virtual space having the same scale as the real space, and renders the virtual space based on the observer's line-of-sight position and orientation detected by the position and orientation detection means. It is.

  By displaying the CG video generated in this way on a video display device (such as an HMD), the observer can feel as if they are immersed in a virtual CG space. It is also possible to operate a CG object with a position and orientation sensor.

  In the virtual reality presentation device, the naturalness of virtual reality must be updated unless an image corresponding to the behavior is updated within a certain response time with respect to the behavior of the observer (change in head position and orientation, operation of the CG object). Therefore, the image update process is generally terminated within a time period during which a video frame rate of a certain level or more can be maintained.

Means for determining collision / interference between CG objects are conventionally known and are generally used in video games and CAD systems (for example, see Patent Document 1).
JP-A-6-259506

  However, the processing time required for the collision / interference determination of the CG object is affected by the number of CG objects to be determined, the shape, the number of polygons, the number of interference points, the accuracy of interference determination, and the like. The determination process can be completed in a short time if the CG objects have a distant positional relationship that can be determined that they are not clearly interfering with each other, but in a state where the CG objects are close to each other or have already interfered with each other. It is necessary to inspect a large number of polygons constituting the CG object in detail, and it takes time to process. In some cases, the process may not be completed within a desired frame time interval.

  As described above, when the processing is not completed within a desired frame time interval, there is a problem that a response to the operation of the CG object is delayed, the operation becomes difficult, and a natural feeling of operation is lost. For example, once an interference state occurs and the frame rate of the drawing update drops extremely, it is impossible to immediately check the position where the CG object has moved even if the CG object is operated. There is a problem that it is difficult to understand whether it is possible to get out of the interference state if the operation is performed. Further, since the observer's operation is not immediately reflected in the video, there is a problem that a natural operation feeling necessary for the virtual reality presentation device is lost.

  An object of the present invention is to improve the system response immediately after interference is detected without lowering the accuracy of CG data and the accuracy of interference determination, and to present a virtual reality that is natural to the observer. To provide a feeling presentation device, a virtual reality presentation method, and a program.

In order to achieve the above object, the virtual reality presentation device according to claim 1 displays an image generated by a CG object modeled three-dimensionally, and displays an image corresponding to a change in the observer's line-of-sight position. In the virtual reality presentation device to be displayed, an interference detection unit that detects interference between the CG objects, and an interference detection suppression unit that suppresses detection of the interference within a detection suppression time period from detection of interference by the interference detection unit. The interference detection inhibiting means includes a processing time measuring means for measuring a processing time required for the immediately previous interference detection, and a detection inhibiting time setting means for setting the detection inhibiting time according to the measured processing time. It is characterized by providing .

According to a second aspect of the present invention, there is provided a virtual reality presentation device that displays an image generated by a three-dimensionally modeled CG object, and displays an image according to a change in an observer's line-of-sight position. In the virtual reality presentation method to be performed, the interference detection unit included in the virtual reality presentation device detects an interference between the CG objects, and the interference detection suppression unit included in the virtual reality presentation device includes: An interference detection suppression step for suppressing the detection of the interference within the detection suppression time from the detection of the interference in the interference detection step. In the interference detection suppression step, the processing time measuring means included in the interference detection suppression means is immediately before A processing time measuring step for measuring a processing time required for the interference detection, and a detection suppression time setting means included in the interference detection suppression means, Depending on the serial measurement processing time, and having a detection inhibiting period setting step of the detection inhibiting setting the time.

The program according to claim 3 is a program for operating a computer as the virtual reality presentation device according to claim 1.

  According to the present invention, since the detection of the interference of the CG object is suppressed within the detection suppression time from the detection of the interference of the CG object, immediately after the interference is detected without reducing the accuracy of the CG data and the accuracy of the interference determination. System response can be improved and natural virtual reality can be presented to the observer.

  Preferably, the processing time required for interference detection is measured, and the detection suppression time is set according to the measured processing time, so that the measured processing time is short and the load of interference determination processing is light. It is possible to prevent an unnecessary long interference detection suppression time from being set for data.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram schematically showing a configuration of a virtual reality presentation device according to an embodiment of the present invention.

  In FIG. 1, a virtual reality presentation device 100 includes a CPU 101 that controls the entire device, a memory 103 that includes various programs, a memory 104 that includes various data, an HMD 105 that is a video display device, and position and orientation sensors 107 and 108. , 109, which are connected to each other via a bus 102.

  The position / orientation sensor 107 is attached to the HMD 105 and detects a change in the position / orientation of the HMD 105, that is, the line of sight of the observer.

  The position / orientation sensor 108 and the position / orientation sensor 109 detect the operations of the observer (hereinafter referred to as user operations), and the position and orientation of the CG object to be displayed in the virtual space are designated based on the outputs of these sensors. . In this embodiment, the position / orientation of the CG object is designated by the user operation by the position / orientation sensor. However, the designation is not limited to this as long as the designation by the user operation is possible. Other input means such as a joystick may be used.

  In the memory 103, a position / orientation acquisition unit 110 that acquires the position / orientation of each of the position / orientation sensors 107, 108, and 109 using the position / orientation sensor controller 106, and a CG object from the data in the memory 104 are arranged. A program that realizes a CG video generation unit 121 that generates a CG video rendered as if the virtual space is observed and an interference detection unit 111 that detects interference between CG objects is stored, and the CPU 101 executes the program.

  The memory 104 is provided with an area for storing the following various data. That is, the head position / posture 120 that acquires / stores the position / posture of the HMD 105 detected by the position / posture sensor 107 from the position / posture acquisition unit 110 and the position / posture of the position / posture sensor 108 from the position / posture acquisition unit 110 are acquired / stored. The first CG position / posture 121, the second CG position / posture 122 that acquires and stores the position / posture of the position / posture sensor 109 from the position / posture acquisition unit 110, and the two CG objects that can be operated by the position / posture sensor 108 and the position / posture sensor 109 Shape data is CG data 123 to be recorded as pre-modeled data, and SKIP variables having a logical value of False when performing interference detection and True when not detecting interference (when skipping (suppressing)). 127, once the interference is detected, the detection of the interference immediately after that is skipped It comprises an interference detection skip time 124 is a variable that specifies the interval, the interference time 128 is the time at which interference occurs.

  In this embodiment, various programs are stored in the memory 103 and various data are stored in the memory 104. However, all the programs may be stored in one memory.

  The number of position and orientation sensors included in the position sensor controller 106 is three, but the number of sensors is not limited to this, and may be increased or decreased according to the number of objects to be detected. The CG data 123 records only the shape data of two CG objects that can be operated by the user with the position and orientation sensors 108 and 109 as the shape data of the CG object, but records the shape data of the CG object that is not operated by the user. It may be.

  Further, in the virtual reality presentation processing of FIG. 2 described later, only the interference between the two CG objects is detected. If there are three or more position / orientation sensors that can be operated by the user, the interval between the CG objects is detected. The interference determination process may be performed for a CG object that is not designated by the user operation.

  In this embodiment, one HMD 105 is provided. However, two or more HMDs 105 may be prepared, and position and orientation sensors may be attached to the two HMDs 105 so that two or more observers can observe the virtual space.

  FIG. 2 is a flowchart showing a procedure of virtual reality presentation processing executed by the virtual reality presentation device 100 of FIG.

  In this flowchart, the virtual reality presentation apparatus 100 displays, on the HMD 105, one frame of CG video regarding the position and orientation between two CG objects based on a user operation and the position and orientation of the HMD 105 detected by the position and orientation sensor 107. This is a process of presenting virtual reality. By repeating this process, the CG image in the virtual space corresponding to the behavior of the observer wearing the HMD 105 can be displayed as an HMD as a moving image.

  First, an initial value is set before performing this process. Specifically, the SKIP variable 127 in the memory 104 is set to False, an appropriate value (for example, 1 second) is set to the interference detection skip time 124 in the memory 104, and the interference time 128 in the memory 104 is initialized. Set the value to the set time.

  In FIG. 2, first, the position and orientation of the position and orientation sensors 107, 108, and 109 are acquired by the position and orientation sensor controller 106 using the position and orientation acquisition means 110 (step S <b> 201). Are stored in the head position / posture 120, the first CG position / posture 121, and the second CG position / posture 122 of the memory 104, respectively. Thereafter, CG data 123 is set according to the position and orientation stored in the first CG position and orientation 121 and the second CG position and orientation 122, and the CG arrangement in the CG scene (virtual space) is determined (step S202). Thus, when the observer operates the CG arrangement with the position and orientation sensors 108 and 109, the observer can feel as if the CG object is moved in the virtual space.

  Thereafter, the position / orientation for rendering one frame of CG composing the CG scene is set according to the head position / orientation 120 in the memory 104, and the CG data 123 is set based on the position / orientation. A position and orientation for rendering the (virtual space) are determined (step S203).

  Next, it is determined whether the SKIP variable 127 is true or false (step S204). If the SKIP variable 127 is false, it is determined that the two CG objects are not in an interference state immediately before this processing, and interference determination is performed. Using means 111, it is determined whether or not there is currently interference between the two CG objects whose position and orientation are designated by the operation of the observer in step S201 (step S205).

  If there is interference as a result of the determination in step S205, the current time is set to the interference time 128 in the memory 104 (step S206), then True is set to the SKIP variable 127 (step S207), and the interference notification is made. Is performed (step S208). Here, the interference notification in step S208 is for informing the observer that the two CG objects are in an interference state. For example, a sound is output from a speaker (not shown) or the CG displayed on the HMD 105 is displayed. This is done by changing the color of the object.

  Next, a CG scene is generated by the CG video generation unit 121 based on the position and orientation to be rendered determined in step S203, this CG scene is displayed on the HMD 105 (step S209), and this process is completed for one frame. As a result, the rendered video can be displayed on the HMD 105 as if the virtual space in which the CG object is arranged is observed from the position and orientation of the head position and orientation 120.

  On the other hand, if the result of determination in step S204 is True, it is determined that the two CG objects were in an interference state immediately before this processing, and the value of the difference between the current time and the interference time 128 set in step S206 Is determined to exceed the interference detection skip time 124 (step S210).

  If the difference value between the current time and the interference time 128 exceeds the interference detection skip time 124 as a result of the determination in step S210, the SKIP variable 127 is set to False (step S211), and the step is performed to detect the interference. The process proceeds to S205.

  On the other hand, if the difference between the current time and the interference time 128 does not exceed the interference detection skip time 124 as a result of the determination in step S210, the SKIP variable 127 remains True and interference detection is not performed (skip skipped). The process proceeds to step S209, and this process is completed for one frame.

  According to the processing of FIG. 2, after determining the position and orientation for rendering the CG scene (virtual space) for one frame (step S203), the CG object is in an interference state before this processing (Yes in step S204). When the difference value of the interference time 128 set when it is determined that the current time and the interference state are present does not exceed the interference detection skip time 124 (NO in step S210), between the CG objects A CG scene (virtual space) for one frame is generated by the CG video generation means 121 based on the determined position and orientation without determining whether or not interference is currently occurring (step S209). Improves system response immediately after interference is detected without reducing accuracy and accuracy of interference judgment, and makes natural virtual reality for the observer It can be presented.

  In the present embodiment, the value of the interference detection skip time 124 is fixedly set before starting all the processes. However, a separate input means is prepared so that the observer can change during the virtual reality experience. It may be.

  Alternatively, the processing time taken to determine whether or not interference is currently occurring may be measured, and the value of the interference detection skip time 124 may be set based on the measured time. For example, when the measured processing time is short, the interference detection skip time 124 is shortened (or made zero) to determine whether or not the current interference occurs at a frequency close to each frame or not. When the measured processing time is long, the interference detection skip time 124 is lengthened. Thereby, it is possible to prevent the uselessly set interference detection skip time 124 for the data having a short measured processing time and a light load on the interference determination processing.

  Moreover, although the check of interference was determined between CG data targeted for user operation, between CG data targeted for user operation and CG data arranged in the virtual space and not targeted for user operation. A configuration may be adopted in which an interference check is determined.

  Another object of the present invention is to supply a storage medium (or recording medium) on which a program code of software that realizes the functions of the above-described embodiments is recorded to a system or apparatus, and the computer (or CPU or CPU) of the system or apparatus. Needless to say, this can also be achieved by the MPU) reading and executing the program code stored in the storage medium.

  In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code constitutes the present invention.

  Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an operating system (OS) running on the computer based on the instruction of the program code. It goes without saying that a case where the function of the above-described embodiment is realized by performing part or all of the actual processing and the processing is included.

  Further, after the program code read from the storage medium is written in a memory provided in a function expansion card inserted into the computer or a function expansion unit connected to the computer, the function expansion is performed based on the instruction of the program code. It goes without saying that the CPU or the like provided in the card or the function expansion unit performs part or all of the actual processing, and the functions of the above-described embodiments are realized by the processing.

  The above-described program only needs to be able to realize the functions of the above-described embodiments by a computer, and the form includes forms such as object code, a program executed by an interpreter, and script data supplied to the OS. But you can.

  As a recording medium for supplying the program, for example, RAM, NV-RAM, floppy (registered trademark) disk, optical disk, magneto-optical disk, CD-ROM, MO, CD-R, CD-RW, DVD (DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), magnetic tape, non-volatile memory card, other ROM, etc. may be used as long as they can store the above programs. Alternatively, the program is supplied by downloading from another computer or database (not shown) connected to the Internet, a commercial network, a local area network, or the like.

It is a block diagram which shows roughly the structure of the virtual reality presentation apparatus which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the virtual reality presentation process performed by the virtual reality presentation apparatus of FIG.

Explanation of symbols

101 CPU
102 Bus 103, 104 Memory 105 HMD
106 Position and orientation sensor controller 107, 108, 109 Position and orientation sensor

Claims (3)

In a virtual reality presentation device that displays an image generated by a three-dimensionally modeled CG object and displays an image according to a change in the position of the observer's line of sight,
Interference detecting means for detecting interference between the CG objects;
Interference detection suppression means for suppressing the detection of the interference within a detection suppression time from detection of interference by the interference detection means,
The interference detection suppression means is
A processing time measuring means for measuring the processing time required for the previous interference detection;
A virtual reality presentation apparatus comprising: a detection inhibition time setting unit configured to set the detection inhibition time according to the measured processing time. In a virtual reality presentation method performed by a virtual reality presentation device that displays a video generated by a three-dimensionally modeled CG object and displays a video according to a change in the observer's gaze position,
An interference detection step in which the interference detection means provided in the virtual reality presentation device detects interference between the CG objects;
The interference detection suppression means provided in the virtual reality presentation device has an interference detection suppression step of suppressing the detection of the interference within a detection suppression time from the detection of interference in the interference detection step,
In the interference detection suppression step,
A processing time measuring step that the processing time measuring means included in the interference detection suppressing means measures a processing time required for the previous interference detection, and
A virtual reality presentation method comprising: a detection suppression time setting unit included in the interference detection suppression unit; and a detection suppression time setting step of setting the detection suppression time according to the measured processing time.   A program for operating a computer as the virtual reality presentation device according to claim 1.

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