JP6929037B2 - Information processing equipment, information processing methods, programs - Google Patents

Description

The present invention relates to a technique for controlling a device that irradiates light.

In recent years, a virtual reality (VR) technology that presents a virtual space to an experiencer has been known. In addition, mixed reality (MR) technology and augmented reality (AR) technology that fuse real space and virtual space and present them to the experiencer are also known. In these technologies, a head-mounted display device (HMD: Head Mounted Display), a hand-held display device (HHD: Hand Held Display), or the like is often used as a means for experiencing the image to be presented.

HMD and HHD are LEDs that irradiate infrared light for the purpose of acquiring a real space image around the experiencer, measuring the distance to a real object, and acquiring the shape of a real object. Some are equipped with a sensor that receives the reflected infrared light.

When multiple devices that irradiate infrared light are used at the same time, the infrared light radiated from multiple devices is mixed into the light receiving part, which affects the image generated by the light receiving part and the distance measurement value. May be given.

Patent Document 1 discloses a configuration of a plurality of infrared light sensors including a sensor that irradiates a vehicle interior of an automobile with light (infrared light) to detect an occupant. In Patent Document 1, when infrared light reflected from a reflector is received, the light receiving result of the vehicle interior infrared light sensor that has been interfered with by invalidating the light receiving result affects the control operation of the in-vehicle device. Is suppressed.

Japanese Unexamined Patent Publication No. 2016-4038

In the method of Patent Document 1, since the position and orientation of the device that irradiates infrared light and the appearance position pattern of the reflector are known in advance, it is possible to specify a pattern that invalidates the light reception result with respect to the reflected light. be. However, there is a problem that interference of infrared light may not be suppressed when each device that irradiates infrared light moves freely.

The present invention has been made in view of the above problems, and an object of the present invention is to irradiate light by a self-irradiation device while reducing the influence of interference with other irradiation devices.

In order to solve the above problems, the information processing apparatus according to the present invention includes a distance information acquisition means for acquiring distance information based on the light reflected by the light irradiated by the first irradiation apparatus , and the first irradiation. on the basis of the output intensity of the position and orientation and the optical device, the an estimation means for estimating a first region where light is irradiated by the first irradiation unit, the first irradiation unit different from the second illumination device Based on the area information acquisition means for acquiring information representing the second region irradiated with light , the estimated first region, and the information representing the acquired second region, the first A duplication determining means for repeatedly determining an overlapping state between a region 1 and the second region, a change determining means for determining a change in the overlapping state based on the repeatedly determined overlapping state, and a change in the overlapping state. and control means for controlling the output intensity of light by the first irradiation device based on.

According to the present invention, it is possible to irradiate light by the self-irradiation device while reducing the influence of interference with other irradiation devices.

The figure which shows an example of the structure of the information processing apparatus which concerns on this invention. The figure which shows typically the user who wears the HMD which concerns on this invention, and the space which this user observes. The block diagram which shows the functional structure of the information processing apparatus 100 which concerns on this embodiment. The flowchart which shows the processing of the irradiation area estimation part 306 which concerns on this embodiment. The figure which shows an example of the reach distance table which concerns on this embodiment. The schematic diagram explaining the infrared light irradiation range estimated by the irradiation area estimation unit 306 which concerns on this embodiment. The flowchart which shows the process of the process of the irradiation control unit 307 which concerns on this embodiment. The figure which showed an example of the priority level definition table which concerns on this embodiment in tabular form. The flowchart which shows the processing of the irradiation control unit 307 according to the priority level which concerns on this Embodiment which concerns on this Embodiment. A timing chart showing the infrared light output timing according to the present embodiment in chronological order. The figure which shows an example of the display screen about the notification means at the time of change of the infrared light irradiation control in this Example which concerns on this Embodiment. The schematic diagram explaining the range of the irradiation prohibition area which concerns on this embodiment. The block diagram which shows the functional structure of the information processing apparatus 1000 which concerns on 2nd Embodiment. The flowchart which shows the processing of the infrared light irradiation control means which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a display device 10 according to the present invention. The display device 10 includes an information processing device 100 and a Head Mounted Display (HMD) 110. The information processing device 100 and the HMD 110 are connected by wireless or wired communication. The HMD 110 is a video see-through type HMD. The information processing device 100 includes a CPU 101, a RAM 102, a ROM 103, an NVMEM 104, an interface 105, a device bus 106, and a communication unit 110. The CPU 101 uses the RAM 102 as a work memory to execute a program stored in the ROM 103, and controls each configuration described later via the device bus 106 in an integrated manner. As a result, various processes described later are executed.

The NVMEM 104 is a rewritable non-volatile memory and has a role as a secondary storage device. The CPU 101 can read data from NVMEM 104 and write data to NVMEM 104. The secondary storage device may be a storage device such as an optical disk drive in addition to the flash memory and the HDD. The interface 105 exchanges data with devices such as a photographing unit 107, a display unit 108, an irradiation unit 109, and a communication unit 110, which will be described later. The functions and processes of the information processing apparatus 100, which will be described later, are realized by the CPU 101 reading a program stored in the ROM 103 or NVMEM 104 and executing this program.

The HMD 110 has two photographing units 107a and 107b, a display unit 108, and an irradiation unit 109. In the following description, the two photographing units 107a and 107b will be referred to as the photographing unit 107 as appropriate. The photographing unit 107 is a camera that photographs an index. The display unit 108 is composed of a CRT, a liquid crystal screen, or the like, and can display various types of information with images, characters, and the like. The irradiation unit 109 is a device that irradiates infrared light. The sensor unit 113 is a light receiving sensor for the infrared light irradiated by the irradiation unit 109, measures the time from the irradiation of the infrared light by the irradiation unit 109 to the light reception, and measures the distance based on the measured time. It is a TOF (Time Of Flight) sensor that measures. The sensor unit 113 outputs the measured distance information to the information processing device 100. It should be noted that the sensor is not limited to the TOF type sensor, but may be, for example, an active stereo type sensor or other sensor capable of acquiring a distance. Further, light having a wavelength different from that of infrared light, such as visible light or ultraviolet light other than infrared light, may be used. In the present embodiment, the photographing unit 107, the display unit 108, the irradiation unit 109, and the sensor unit 113 are incorporated in the video see-through type HMD 110, but are not incorporated in the HMD 110. There may be. The communication unit 110 transmits / receives communication data to / from another information processing device 112 connected to the network 111 through the interface 105.

Next, FIG. 2 is a diagram schematically showing the HMD 110 and the space observed by the user wearing the HMD 110. User A is wearing the HMD 110. The HMD 110 has built-in imaging units 107a and 107b corresponding to the left eye and the right eye, respectively. The photographing units 107a and 107b each capture a moving image of the real space, and capture a moving image of the real space including the observation object 200. The observation object 200 is an object to be observed and is an object that actually exists in the real space. The images of the frames captured by the photographing units 107a and 107b are sequentially input to the image acquisition unit 301 of the information processing apparatus 100. The feature detection unit 302 detects a feature from the image input from the photographing unit 107, and the position / orientation calculation unit 304 calculates the position and orientation of the photographing unit 107 based on the detected feature.

Then, the image generation unit 305 generates an image of the virtual object 210 based on the calculated position and orientation of the photographing unit 107. Then, the generated image of the virtual object 210 is combined with the image acquired by the image acquisition unit 301 while referring to the distance information acquired by the distance information acquisition unit 310, and the composite image is generated. Further, the image generation unit 305 outputs the generated composite image to the display unit 108 of the HMD 110. As a result, the display unit 108 displays a composite image in which the virtual object 210 is combined with the observation object 200. This display device displays this composite image. Here, it is assumed that the display unit of the HMD 110 is attached to the HMD 110 so as to be located in front of the eyes of the user A who wears the HMD 110. Therefore, a composite image is displayed in front of the user A.

FIG. 3 is a block diagram showing a functional configuration of the information processing apparatus 100 according to the present embodiment. The processing of each functional unit in this block is executed by the CPU 101 by reading the program stored in the ROM 103 or NVMEM 104 onto the RAM 102.

The image acquisition unit 301 receives images (real space images) of each frame sequentially output from the photographing unit 107 and transfers them to the feature detection unit 302 in the subsequent stage. When a moving image file in the real space is stored in advance in, for example, NVMEM 104, and the information processing apparatus 100 uses the file, the image acquisition unit 301 reads this file and the feature detection unit in the subsequent stage. The process of transferring to 302 is performed. When the feature detection unit 302 receives an image from the image acquisition unit 301, the feature detection unit 302 detects an image feature used for calculating the position and orientation of the photographing unit 107 from this image. Specifically, the feature detection unit 302 detects a predetermined index. Here, examples of the index include markers artificially placed in the real space to specify the position of the HMD 110, and natural features such as corner points and edges originally existing in the real space.

The distance information acquisition unit 310 acquires the distance information of an object existing in the real space measured by the sensor unit 113. The distance information may be in an image format having the same resolution as the image acquired by the image acquisition unit 301, or may be a three-dimensional point cloud.

The model data storage unit 303 stores the three-dimensional model data of the observation object 200 and the virtual object 210 to be displayed on the HMD 110. The model data storage unit 303 is, for example, an area of the RAM 102.

The position / orientation calculation unit 304 is a coordinate system based on the observation target object 10 based on the image feature information detected by the feature detection unit 302 and the model data stored in the model data storage unit 303 (hereinafter, reference coordinates). The position and orientation of the photographing unit 107 in the system) are calculated.

The image generation unit 305 generates an image of the virtual object 210 based on the position and orientation of the shooting unit, synthesizes the image of the virtual object 210 on the image frame acquired by the image acquisition unit 301 while referring to the distance information, and synthesizes an image. To generate. Specifically, by referring to the distance information, the virtual object 210 is not drawn when the real object exists in front of the virtual object 210, and when the real object does not exist in front of the virtual object 210, the virtual object 210 is not drawn. An image of the virtual object 210 can be drawn. As a result, a more realistic composite image can be drawn in consideration of the consistency of the depth between the virtual object 210 and the real space. The generated composite image is output to the display unit 108 of the HMD 110 (display control).

The irradiation area estimation unit 306 estimates the irradiation area to be irradiated from the irradiation unit 109 based on the position and orientation of the photographing unit 107 obtained by the position / orientation calculation unit 304. The processing of the irradiation area estimation unit 306 will be described in detail later with reference to FIG. Then, the information of the estimated irradiation region is transferred to the irradiation control unit 307. When communicating with another information processing device 112, the information is also transferred to the communication control unit 308.

The irradiation control unit 307 is based on the information of the infrared light irradiation region from the irradiation region estimation unit 306 and the irradiation information by the irradiation unit controlled by another information processing device 112 transferred from the external irradiation information acquisition unit 309. Controls the output intensity of infrared light.

The communication control unit 308 transmits the irradiation area information acquired from the irradiation area estimation unit 306 to another information processing device 112 via the network 111. Further, the infrared light irradiation information received from the other information processing apparatus 112 is received and transferred to the external irradiation information acquisition unit 309.

The external irradiation information acquisition unit 309 records the irradiation information irradiated by the other information processing device 112 received from the communication control unit 308 in the area of the RAM 102, and notifies the irradiation control unit 307.

FIG. 4 is a flowchart showing an irradiation area estimation process by the irradiation area estimation unit 306.

The position / posture information calculated from the position / posture calculation unit 304 is acquired (S401). The position / posture information is recorded in the area of the RAM 102, and is acquired by referring to the area. Next, the current infrared light output intensity set by the irradiation control unit 307 is acquired (S402).

Then, based on the acquired position / orientation information and the infrared light output intensity, the infrared light irradiation range is estimated with reference to the reachable distance table 500 of FIG. 5 (S403). FIG. 5 is a diagram showing an example of the reachable distance. The method of obtaining the estimated range using FIG. 5 will be described later. The infrared light irradiation range emitted from the irradiation unit 109 of the estimated own device (HMD110) is recorded in the area of the RAM 102. When the estimation is completed, the process returns to S401 and these processing flows are repeated.

FIG. 5 is a tabular representation of an example of the reachable distance table according to the present embodiment.

The reach distance table 500 is a table in which the infrared light output intensity 501 and the reach distance 502 are paired, and the value of the reach distance at each output intensity is recorded. The infrared light output intensity 501 is set to a value indicating the output intensity as a current value (unit: mA). Further, the reachable distance 502 is set to a value indicating the reachable distance of infrared light in meters. For example, when the infrared light output intensity is 200 (mA), the reachable distance is 3.5 (m), and the value is stored in the form of a pair of intensity and distance. The reachable distance table 500 is stored in advance in NVMEM 104 or the like. By referring to this table, the distance that infrared light can reach can be estimated. Although a table is used in this embodiment, the relationship between the output intensity and the reach may be obtained by using a function formula.

FIG. 6 is a schematic diagram showing an irradiation range estimated by the irradiation area estimation unit 306 according to the present embodiment.

Since the value 601 of the three-dimensional position of the photographing unit 107 is (x1, y1, z1) and the irradiation unit 109 is mounted in the vicinity of the photographing unit 107, it is assumed that they are in the same position and orientation by approximation here. The three-dimensional position value 603 obtained by moving the infrared light reach distance 602 (3.5 m in this example) in the attitude vector direction is (x2, y2, z2). Further, the irradiation angle 604 of infrared light is 40 ° in this example, and the irradiation range 605 can be estimated by approximating the irradiation range as a cone.

In the present embodiment, the other information processing apparatus 112 also estimates the infrared light irradiation range similar to the schematic diagram of FIG. 6, and the communication control unit 308 is used as infrared light irradiation information via the network 111. Exchange information with.

FIG. 7 is a diagram showing a flow chart of the processing flow of the irradiation control unit 307 according to the present embodiment.

First, the infrared light irradiation range irradiated from the irradiation unit 109 of the own device (HMD110 connected to the information processing device 100) described with reference to FIG. 6 is referred to (S701). Since the estimated irradiation range is recorded in the area of the RAM 102 as described above, the area is referred to.

Next, the infrared light irradiation range of another device (HMD connected to another information processing device 112) is referred to (S702). This also refers to the area of the RAM 102 stored by the external irradiation information acquisition unit 309, as already described in the description of FIG.

Next, based on the information of the infrared light irradiation range of the own device and the infrared light irradiation range of the other device referred to, it is determined whether or not the irradiation areas overlap (S703). Specifically, the CPU 101 draws the irradiation range of both the own device and the external device using the three-dimensional position / orientation and shape as shown in the schematic diagram of FIG. 6 as three-dimensional CG data. Then, the determination is made on the condition that the CGs in the irradiation range overlap each other.

Next, it is determined whether or not the overlapping state of the irradiation regions in the previous loop has changed (S704). When it is determined that the overlapping state has changed (changed from a non-overlapping state to an overlapping state, or changed from an overlapping state to a non-overlapping state), the infrared light output intensity is changed (S705). .. Then, the process returns to S701 and the process is repeated. The change of the infrared light output intensity is specifically controlled to change the intensity by one step. For example, when the state changes from a non-overlapping state to an overlapping state, the output intensity of infrared light is weakened by one step. For example, when the state changes from an overlapping state to a non-overlapping state, control is performed to restore the output intensity of infrared light after confirming that the non-overlapping state has been maintained for a certain period of time.

When changing the output intensity of infrared light, the user is notified to that effect. FIG. 11 illustrates an example of a display screen for notification when the infrared light irradiation control is changed in the present embodiment.

When the image of the virtual object 210 is combined and displayed on the display unit 108 with the real image including the observation target object 10 as the real object, the image generation unit 305 together with the image of the virtual object 210 and the warning message 1101 and the present An image is generated by superimposing the infrared light reach information 1102 of the above. The warning message 1101 and the infrared light reach distance information 1102 are displayed by giving a drawing instruction to the image generation unit 305 when the irradiation control unit 307 changes the output intensity of the infrared light or the output timing. It is superimposed by the generation unit 305. As described above, it is possible to present the user 40 with the overlap of the infrared light irradiation regions and the accompanying change in the infrared light output intensity.

On the other hand, if the region overlap state does not change, it is confirmed whether the infrared light output intensity has been changed in the previous loop (S706). When the infrared light output intensity was changed in the previous loop, the state still continues even if the change is made. Therefore, the process proceeds to S705 and the infrared light output intensity is further changed. On the other hand, when the infrared light output intensity is not changed in the previous loop, the process returns to S701 and the process is repeated without changing the infrared light output intensity.

In the present embodiment, the configuration of only one external device (HMD connected to the information processing device 112) has been described, but a plurality of external devices may exist. In that case, CG drawing may be performed on the infrared light irradiation regions of a plurality of external devices in the same manner, and it may be determined whether or not the regions overlap with the infrared light irradiation regions of the own device.

As described above, the irradiation range of the infrared light emitted from the irradiation unit 109 of the own device is estimated based on the position and orientation information and the infrared light output intensity, and the area overlaps with the infrared light irradiation area of the external device. If this is the case, duplication can be avoided by weakening the infrared light output.

(Modification example 1)
In the first embodiment, when the infrared light irradiation ranges overlap, the own device changes the infrared light output intensity to avoid the overlap. On the other hand, in this modification, when the infrared light irradiation ranges overlap, priority control is performed as to which of the own device and the other device lowers the infrared light output intensity. The configuration of the HMD and the information processing device according to this modification is the same as that of the first embodiment.

FIG. 8 shows an example of the priority level definition table according to this modification in tabular form. The priority level definition table 800 is a table in which the identifier 801 and the priority level 802 are paired, and the priority value of each device is recorded.

As an example of the identifier 801 the HMD-A10001 is the own device (HMD110), and the HMD-B20003 is the identifier of another device (HMD connected to the other information processing device 112). The device identifier is set to a unique and unique value.

The priority level 802 is a value used for controlling by applying the rule that the smaller the value, the higher the priority, and the device having the lower priority level lowers the output intensity of infrared light. The priority level definition table 800 is stored in the area of NVMEM 104.

FIG. 9 is a flowchart showing the processing of the irradiation control unit 307 according to the priority level according to this modification.

First, the priority level of the own device in the priority level definition table 800 described with reference to FIG. 8 is referred to (S901). Since it is recorded in the area of NVMEM104 as described above, the area is referred to. Similarly, the priority level of another device (corresponding to another information processing device 112 in this modification) is referred to (S902).

Next, the value of the priority level of the own device referred to is compared with the value of the priority level of another device, and it is determined whether or not the priority level of the own device is higher (S903). If it is determined that the own device has a higher priority level, the process returns to S901. On the other hand, when it is determined that the priority level of the own device is not higher (including the case where they are the same), the same processing as in S701 to S704 is performed (S904), and the priority level of the own device and others are performed. It is confirmed whether the priority levels of the devices of the above devices are the same (S905). When the priority level of the own device and the priority level of the other device are the same, the infrared light output timing change process is executed (S906). After that, the process returns to S901. The process of changing the infrared light output timing will be described later.

If the priority level of the own device is lower than the priority level of the other device, the infrared light output intensity is changed (S907), and the process returns to S901. The reason for repeating the process is that when the priority level is changed, the changed priority level is immediately reflected.

The process of changing the infrared light output timing in S906 will be described with reference to FIG. FIG. 10 is a timing chart showing the infrared light output timing in chronological order.

Two timings, the infrared light ON / OFF timing 1001 of the HMD of the own device and the infrared light ON / OFF timing 1002 of the other device (HMD connected to the other information processing device 112), are shown in chronological order. ing.

At the timing of time t1, the own device turns on the infrared light and the external device turns off the infrared light. At the timing of time t1 + 10, the own device turns off the infrared light, and the external device turns on the infrared light. Then, at the timing of time t1 + 20, the own device turns on the infrared light, and the external device turns off the infrared light. In this modification, the timing of irradiating infrared light alternately is changed every 10 msec to perform time division processing.

When the priority levels are the same in this way, control is performed to alternately output infrared light so that the infrared light does not overlap.

(Modification 2)
In the first embodiment and the first modification, the case where the infrared light irradiation regions of the own device and the other device that move with each other overlap with each other has been described. In this modification, a case where the present invention is applied to a case where an infrared light irradiation device which is fixedly installed and cannot perform communication exists in the space will be described. Specifically, in this modification, it is possible to register in advance an area that uses infrared light in a fixed installation as an irradiation prohibited area, and to determine overlap with that area. An example of setting and acquiring an irradiation prohibited area will be described with reference to FIG.

FIG. 12 is a schematic diagram showing the range of the irradiation prohibited area according to this modified example.

The irradiation prohibited area 1201 is defined as a rectangular parallelepiped region in which the three-dimensional position values for each vertex are set at eight locations (x5, y5, z5) to (x12, y12, z12). In this embodiment, the irradiation prohibited area is defined by a rectangular parallelepiped, but another shape such as a cone may be used. In this modification, the user 40 inputs in advance the coordinates of each vertex of the rectangular parallelepiped as the area of the irradiation prohibited area by using the input means (keyboard) of the information processing device 100, and the input value is stored in the area of NVMEM 104. Then, the external irradiation information acquisition unit 309 performs a process of acquiring the area information of the irradiation prohibited area of the NVMEM 104 as the external infrared light irradiation area.

As described above, although the own device moves, even when a fixed-installed infrared light irradiation device exists in the environment, duplication determination and infrared light output intensity control can be performed in the same manner.

[Second Embodiment]
In the first embodiment, the irradiation information of the infrared light emitted from the external device is received via communication, and the overlap with the infrared light of the own device is determined. In the second embodiment, the embodiment in which the infrared light directly emitted from another device is detected from the infrared image acquired by the sensor unit and the irradiation intensity of the infrared light emitted from the own device is changed will be described. do.

FIG. 13 is a block diagram showing a functional configuration of the information processing apparatus 1000 according to the second embodiment. A detection unit 311 is added instead of the external irradiation information acquisition unit, the communication control unit, and the network of the first embodiment shown in FIG.

The sensor unit 113 of the HMD 110 of the present embodiment can acquire an infrared image representing infrared light emitted from another device. Then, the detection unit 311 detects whether the infrared light emitted by another device is directly reflected in the infrared image. When the detection unit 311 detects that the infrared light from the external device is directly reflected on the photographing unit, the irradiation control unit 307 changes the output intensity of the infrared light and reddens the own device to another device. Suppress the influence of external light. The detection unit 311 performs a process of detecting a point (or circle) region in the infrared image where the infrared brightness is strong, and writes the detection result in the region of the RAM 102.

FIG. 14 is a diagram showing a flow chart of the processing flow of the irradiation control means of the irradiation control unit 307 according to the second embodiment. First, the detection result of the detection unit 311 is acquired (S1401). The area of the RAM 102 written by the detection unit 311 described above is referred to and acquired.

Next, it is confirmed whether the detection state has changed (S1402).

When the detection state changes (changes from the undetected state to the detected state, or changes from the detected state to the undetected state), the infrared light output intensity is changed (S1403). Then, the process returns to the process of acquiring the detection result (S1401) in the detection unit 311 and repeats the process. If there is no change in the state, the process returns to the process of acquiring the detection result (S1401) by the detection unit 311 and the process is repeated.

In this way, the detection unit 311 detects the infrared light emitted by the external device from the captured infrared image, the irradiation control unit 307 changes the infrared light output intensity, and the own device to another device. The influence of infrared light can be suppressed.

(Other Examples)
The present invention supplies a program that realizes one or more functions of the above-described embodiment to a device or a device via a network or a storage medium, and one or more processors in the device or the computer of the device read and execute the program. It can also be realized by the processing to be performed. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

Claims (15)

A distance information acquisition means for acquiring distance information based on the reflected light emitted by the first irradiation device, and
On the basis of the output intensity of the position and orientation and the light of the first irradiation unit, an estimation unit for estimating a first region where light is irradiated by the first irradiation device,
And area information acquisition means for light to obtain information representing a second region which is irradiated by the first irradiation device is different from the second illumination device,
An overlap determination means for repeatedly determining an overlap state between the first region and the second region based on the estimated first region and the information representing the acquired second region.
A change determining means for determining a change in the overlapping state based on the repeatedly determined overlapping state,
The information processing apparatus characterized by a control means for controlling the output intensity of light by the first irradiation device on the basis of a change in the overlapping state. When it is determined by the change determining means that the control means has changed from the non-overlapping state to the overlapping state, the control means weakens the output intensity and changes from the overlapping state to the non-overlapping state by the change determining means. The information processing apparatus according to claim 1, wherein when it is determined that the change has occurred, the output intensity is increased. The first aspect of the present invention is that the control means further changes the output intensity when it is determined by the change determining means that the overlapping state has not changed as a result of changing the output intensity. The information processing device described. Further, when the duplication determination means determines that the first region and the second region overlap, any of the first irradiation device and the second irradiation device can be used. Equipped with a storage means for storing the priority for determining whether the device of
The information processing apparatus according to claim 2 or 3, wherein the control means includes controlling the irradiation of the light based on the priority. Wherein, when the overlap determination unit determines that said first region and said second region are overlapped, priority is the same between the first irradiation device and the second irradiation device If this is the case, the information processing apparatus according to any one of claims 1 to 4, wherein the information processing apparatus is controlled so as to alternately irradiate light in a time-division manner. In addition
Equipped with communication control means to communicate with other devices
The information processing apparatus according to any one of claims 1 to 5, wherein the area information acquisition means acquires information regarding the second area based on data received by the communication control means. .. In addition
A detection means for detecting the light emitted from the second irradiation device from the image taken by the photographing means is provided.
The information processing apparatus according to any one of claims 1 to 5, wherein the area information acquisition means acquires information regarding the second area based on a detection result by the detection means. In addition
The information processing apparatus according to any one of claims 1 to 7, wherein the control means includes a presentation means for presenting information indicating the change to the user when the irradiation conditions are changed. In addition
Equipped with a setting means to set an area where light is not irradiated in the real space
The information processing apparatus according to any one of claims 1 to 8, wherein the area information acquisition means acquires the set area as the second area. The information processing device according to any one of claims 1 to 9, wherein the light emitted by at least one of the first irradiation device and the second irradiation device is infrared light. .. In addition
An image acquisition means for acquiring an image of a real space taken by a shooting means,
A display control means for generating an image of a virtual object based on the position and orientation of the photographing means and displaying a composite image of the image of the virtual object and the photographed image on the display unit based on the distance information is provided. The information processing apparatus according to claim 1. The information processing device according to claim 11 , wherein the display unit is a head-mounted display device. It said second illumination device is an illumination device that is controlled by the other information processing apparatus,
It said overlap determination means, wherein the estimated first regions, on the basis of the other information processing apparatus to the information representative of the second region obtained through the network, the said first region The information processing apparatus according to any one of claims 1 to 12 , wherein the overlapping state with the second region is repeatedly determined. A distance information acquisition step of acquiring distance information based on the reflected light emitted by the first irradiation device, and a distance information acquisition step.
On the basis of the output intensity of the position and orientation and the light of the first irradiation unit, an estimating step of estimating a first region where light is irradiated by the first irradiation device,
A region information acquisition step of acquiring information representing a second region to which light is irradiated by a second irradiation device different from the first irradiation device, and a region information acquisition step.
An overlap determination step of repeatedly determining an overlap state between the first region and the second region based on the estimated first region and the information regarding the acquired second region.
A change determination step of determining a change in the overlapping state based on the repeatedly determined overlapping state, and a change determination step.
The information processing method characterized by comprising a control step of controlling the output intensity of light by the first irradiation device on the basis of a change in the overlapping state. A program for causing a computer to function as each means of the information processing apparatus according to any one of claims 1 to 13.

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