Image processing device, telepresence system, image processing method, and program

Abstract

The present disclosure relates to an image processing device, a telepresence system, an image processing method, and an image processing program. An image processing device (7) according to one embodiment of the present disclosure is an image processing device for processing an image displayed on a display unit of a telepresence robot (2) arranged at a first base (H1), and comprises: a background image acquisition unit (71) for acquiring image information obtained by photographing the back side of the display unit in real time; a person image acquisition unit (72) for acquiring image information containing a person at a second base (H2) that is a remote location relative to the first base (H1); an extraction unit (73) for extracting an area in which the person is reflected from the image information containing the person; and a synthesis unit (74) for synthesizing the extracted person image information with the image information of the back side of the display unit.

Description

Technical Field

[0001] The present disclosure relates to an image processing device, a telepresence system, an image processing method, and an image processing program, and for example, to an image processing device, a telepresence system, an image processing method, and an image processing program for processing an image displayed on a display unit of a telepresence robot. Background Art

[0002] In recent years, telepresence technology has become widespread, which enables a person having a conversation to feel as if another person who is located at a remote location is located where the person is.

[0003] For example, as disclosed in Japanese Patent Application Laid-Open No. 2016-208416, this telepresence technology displays an image of a person at a second base, which is a remote location relative to the first base, on the display unit of a telepresence robot configured at a first base (location), thereby achieving a virtual state in which the person at the second base appears to be at the first base. Summary of the Invention

[0004] The applicant has discovered the following problem. The telepresence technology disclosed in Japanese Patent Application Laid-Open No. 2016-208416 displays an image on the display unit of a telepresence robot, showing not only the person at the second location but also the background of that person. Consequently, the person at the second location appears to be in a virtual state, seemingly at the first location, resulting in a lack of a sense of presence.

[0005] The present disclosure has been made in view of such problems, and aims to realize an image processing device, a telepresence system, an image processing method, and an image processing program that can enhance the sense of presence of a person at a second base in a virtual state as if they were at a first base.

[0006] An image processing device according to a technical solution of the present invention is an image processing device for processing an image displayed on a display unit of a telepresence robot arranged at a first base, and comprises: a background image acquisition unit for acquiring image information obtained by photographing the back side of the display unit in real time; a person image acquisition unit for acquiring image information of a person at a second base that is a remote location relative to the first base in real time; an extraction unit for extracting an area in which the person is reflected from the image information containing the person; and a synthesis unit for synthesizing the extracted image information of the person with the image information of the back side of the display unit.

[0007] A telepresence system according to a technical solution of the present disclosure includes: the above-mentioned image processing device; a person imaging unit that images an area including people at the second base; a telepresence robot provided with the display unit; and a background imaging unit that images the back side of the display unit.

[0008] The telepresence system described above preferably includes a first display unit and a second display unit as the display unit, wherein the second display unit displays an image in a direction different from that of the first display unit.

[0009] The telepresence system preferably includes a first imaging unit and a second imaging unit as the background imaging unit, wherein the first imaging unit captures the back side of the first display unit and the second imaging unit captures the back side of the second display unit.

[0010] The telepresence system described above preferably includes a 360-degree camera as the background imaging unit.

[0011] An image processing method of a technical solution disclosed herein is an image processing method for processing an image displayed on a display unit of a telepresence robot configured at a first base, comprising: a step of acquiring image information obtained by photographing the back side of the display unit in real time; a step of acquiring image information of a person at a second base that is a remote location relative to the first base in real time; a step of extracting an area in which the person is reflected from the image information containing the person; and a step of synthesizing the extracted image information of the person with the image information of the back side of the display unit.

[0012] An image processing program of a technical solution disclosed herein is an image processing program for processing an image displayed on a display unit of a telepresence robot arranged at a first base, causing a computer to execute: processing of obtaining image information obtained by photographing the back direction of the display unit in real time; processing of obtaining image information of a person at a second base that is a remote location relative to the first base in real time; processing of extracting an area in which the person is reflected from the image information containing the person; and processing of synthesizing the extracted image information of the person with the image information of the back direction of the display unit.

[0013] According to the present disclosure, an image processing device, a telepresence system, an image processing method, and an image processing program can be realized that can enhance the sense of presence in a virtual state where a person at a second base appears to be at a first base. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and wherein:

[0015] Figure 1 This is a diagram showing a state in which an image is displayed on a display unit of a telepresence robot using the telepresence system according to the first embodiment.

[0016] Figure 2 This is a block diagram showing a control system of the telepresence system according to the first embodiment.

[0017] Figure 3 This is a flowchart showing the flow of image processing executed by the image processing apparatus according to the first embodiment.

[0018] Figure 4 This is a block diagram showing a control system of a telepresence system according to the second embodiment.

[0019] Figure 5 This is a front perspective view showing the telepresence robot according to the second embodiment.

[0020] Figure 6 This is a rear perspective view showing the telepresence robot according to the second embodiment.

[0021] Figure 7 This is a block diagram showing a control system of a telepresence system according to a third embodiment.

[0022] Figure 8 This is a front perspective view showing the telepresence robot according to the third embodiment.

[0023] Figure 9 This is a diagram showing an example of the hardware configuration included in the image processing device. DETAILED DESCRIPTION

[0024] Hereinafter, with reference to the accompanying drawings, a specific embodiment of the present disclosure will be described in detail. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings are appropriately simplified for clarity of description.

[0025] <Implementation Method 1>

[0026] Figure 1 This is a diagram showing a state where an image is displayed on a display unit of a telepresence robot using the telepresence system according to the present embodiment. Figure 2 This is a block diagram showing a control system of the telepresence system according to the present embodiment.

[0027] like Figure 1 and Figure 2 As shown, the telepresence system 1 of the present embodiment includes a telepresence robot 2 , a person imaging unit 3 , a microphone 4 , a speaker 5 , a display unit 6 , and an image processing device 7 .

[0028] like Figure 1As shown, the telepresence robot 2 is placed at a first base H1 and connected to a network 10. Here, the network 10 is, for example, the Internet, which is constructed by a telephone network, a wireless communication line, Ethernet (registered trademark), and the like.

[0029] like Figure 1 and Figure 2 As shown, the telepresence robot 2 includes a moving unit 21, a display unit 22, a foreground imaging unit 23, a background imaging unit 24, a microphone 25, a speaker 26, and a control unit 27. The moving unit 21 includes a flatbed truck (truck) 21a, a pair of driving wheels 21b and driven wheels 21c rotatably provided on the flatbed truck 21a, and a pair of driving mechanisms 21d for rotating the driving wheels 21b.

[0030] The drive mechanism 21 d includes a motor, a speed reducer, etc. The drive mechanism 21 d is driven based on control information received from the control unit 27 to rotate the drive wheels 21 b , thereby enabling the telepresence robot 2 to move forward, backward, and rotate.

[0031] Thus, the telepresence robot 2 can move to any location. Here, the telepresence robot 2 can move autonomously based on environmental information acquired by an environmental camera (not shown), can move based on external control, or can move based on the actions of a person P2 located at a second location H2 remote from the first location H1.

[0032] For example, the number of driving wheels 21b and driven wheels 21c of the moving unit 21 may be arbitrary, and any known mechanism may be used as long as the telepresence robot 2 can be moved to any position.

[0033] The display unit 22 includes a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 22 displays a composite image of the image information of the person P2 located at the second base H2 and the image information of the back side of the display unit 22. Figure 1 In FIG, an image viewed from the rear side of the display unit 22 is simply indicated by hatching.

[0034] The display unit 22 is fixed to the moving unit 21 so as to be able to display an image facing forward of the telepresence robot 2 . In other words, the display surface of the display unit 22 is arranged facing forward of the telepresence robot 2 .

[0035] In this case, the display surface of the display unit 22 may be a curved surface that protrudes toward the front of the telepresence robot 2. Furthermore, the display unit 22 may be sized to display at least the upper half of the person P2 located at the second base H2 in substantially real size.

[0036] The foreground camera unit 23 includes a camera with an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor). The foreground camera unit 23 is fixed to the mobile unit 21 so that it can capture images in real time from the front of the display unit 22 (i.e., the direction in which images are displayed). In other words, the foreground camera unit 23 captures the area in front of the telepresence robot 2. In this case, the foreground camera unit 23 can be positioned near the display unit 22.

[0037] The background imaging unit 24 includes a camera having an imaging element such as a CMOS. The background imaging unit 24 is fixed to the moving unit 21 so as to be able to capture images of the back side of the display unit 22 (that is, the direction opposite to the image display direction) in real time. In other words, the background imaging unit 24 captures the area behind the telepresence robot 2.

[0038] Microphone 25 collects sounds from within the first base H1. Speaker 26 outputs sounds from within the second base H2. These microphone 25 and speaker 26 are located on the mobile unit 21. However, they can be located at the first base H1. The control unit 27 controls the drive mechanism 21d, display unit 22, foreground camera 23, background camera 24, microphone 25, and speaker 26 of the mobile unit 21.

[0039] like Figure 1 As shown, the person imaging unit 3 is disposed at the second base H2 so as to be able to capture the interior of the second base H2. Therefore, when the person P2 is located in the imaging area of ​​the person imaging unit 3, the person imaging unit 3 captures an image including the person P2.

[0040] Microphone 4 is located inside second site H2. Microphone 4 collects sounds from inside second site H2. Speaker 5 is located inside second site H2. Speaker 5 outputs sounds from inside first site H1. Display unit 6 includes a display device such as a liquid crystal display or an organic EL display.

[0041] The display unit 6 is located inside the second base H2 and displays the image of the front view of the display unit 22 in the first base H1 captured by the foreground camera 23 of the telepresence robot 2. In this case, the display unit 6 can be located near the person camera 3. The person camera 3, microphone 4, speaker 5, and display unit 6 are connected to a network 10.

[0042] like Figure 2 As shown, the image processing device 7 includes a background image acquisition unit 71, a person image acquisition unit 72, an extraction unit 73, and a synthesis unit 74, and is connected to the network 10. The background image acquisition unit 71 acquires, in real time, image information of the rear side of the display unit 22 captured by the background capture unit 24 of the telepresence robot 2. However, the background image acquisition unit 71 only needs to be able to acquire image information of the rear side of the display unit 22, and, for example, may also include the background capture unit 24.

[0043] The person image acquisition unit 72 acquires in real time image information including the person P2 located at the second base H2, captured by the person imaging unit 3. However, the person image acquisition unit 72 only needs to be able to acquire image information including the person P2 located at the second base H2, and may include the person imaging unit 3, for example.

[0044] Extraction unit 73 extracts the area showing person P2 from the image information including person P2 located at the second base H2. Extraction unit 73 can extract the area showing person P2 by, for example, performing a chroma keying process on the image information including person P2 located at the second base H2. However, the method for extracting the area showing person P2 from the image information including person P2 located at the second base H2 is not limited, and known methods can be used.

[0045] The synthesis unit 74 synthesizes the extracted image information of the person P2 with the image information of the rear side of the display unit 22. At this time, the synthesis unit 74 may synthesize the image information so that the extracted image of the person P2 is positioned at a predetermined position relative to the image of the rear side of the display unit 22.

[0046] Here, the synthesizing unit 74 can synthesize the extracted image information of the person P2 and the image information of the back side of the display unit 22 by chroma key synthesis, for example. However, the method of synthesizing the image information is not limited, and a known method can be used.

[0047] Next, the flow of image processing executed by the image processing device 7 according to this embodiment will be described. Figure 3 This is a flowchart showing the flow of image processing executed by the image processing apparatus according to this embodiment.

[0048] First, the background image acquisition unit 71 acquires in real time image information of the back side of the display unit 22 captured by the background image capture unit 24 of the telepresence robot 2. Simultaneously, the person image acquisition unit 72 acquires in real time image information of the person P2 located at the second base H2 captured by the person image capture unit (S1).

[0049] Next, the extraction unit 73 extracts the area showing the person P2 from the image information including the person P2 located at the second base H2 (S2). The synthesis unit 74 then synthesizes the extracted image information of the person P2 with the image information from the rear side of the display unit 22 (S3). This generates a synthesized image of the extracted image information of the person P2 and the image information from the rear side of the display unit 22.

[0050] Next, we will describe a situation in which a person P1 at the first site H1 and a person P2 at the second site H2 are communicating using the telepresence system 1 of this embodiment. Person P2 at the second site H2 is viewing an image displayed on the display unit 6 that includes person P1 at the first site H1, while listening to the sounds from within the first site H1 outputted from the speaker 5. Person P2 is moving toward the display unit 6 and speaking to the other party.

[0051] At this time, at the second base H2 , the person imaging unit 3 captures an image including the person P2 located at the second base H2 , and the microphone 4 collects sounds inside the second base H2 including the voice of the person P2 .

[0052] The character P1 at the first base H1 looks at the composite image displayed on the display unit 22 of the telepresence robot 2, listens to the sounds inside the second base H2, including the voice of the character P2, output from the speaker 26, and moves toward the display unit 22 and speaks to the other party.

[0053] At this time, at the first site H1, the foreground imaging unit 23 captures an image including the person P1 located at the first site H1, and the background imaging unit 24 captures an image of the back of the display unit 22. Furthermore, the microphone 25 collects sounds inside the first site H1, including the voice of the person P1.

[0054] As a result, in a virtual state where person P2 at the second site H2 appears to be at the first site H1, person P1 at the first site H1 and person P2 at the second site H2 can converse. At this point, the display unit 22 of the telepresence robot 2 displays a composite image, a composite image of the extracted image information of person P2 and the image information from the rear of the display unit 22.

[0055] In this manner, the telepresence system 1 , the image processing device 7 , and the image processing method of this embodiment display, on the display unit 22 of the telepresence robot 2 , a composite image obtained by combining the extracted image information of the person P2 with the rear-view image information of the display unit 22 .

[0056] Therefore, in the virtual state where the person P2 at the second base H2 appears to be at the first base H1, the background of the person P2 in the synthesized image can be made substantially the same as the background in the line of sight of the person P1 at the first base H1, thereby improving the sense of presence.

[0057] Furthermore, since image information of the rear side of the display unit 22 of the telepresence robot 2 and image information including the person P2 located at the second base H2 are acquired in real time, the sense of presence can be further enhanced.

[0058] Here, when the display surface of the display unit 22 of the telepresence robot 2 is a curved surface protruding toward the front of the telepresence robot 2 , the character P2 is displayed in a circular shape on the display surface, thereby further improving the sense of presence.

[0059] Furthermore, the display unit 22 of the telepresence robot 2 in this embodiment is configured to display images facing forward of the telepresence robot 2. However, the direction in which the display unit 22 displays images is not limited; for example, it may be displayed to the side of the telepresence robot 2 or to the rear of the telepresence robot 2. In this case, the configuration of the background imaging unit 24 may be appropriately changed according to the configuration of the display unit 22.

[0060] <Implementation Method 2>

[0061] Figure 4 This is a block diagram showing a control system of the telepresence system according to the present embodiment. Figure 5 This is a front perspective view showing the telepresence robot according to the present embodiment. Figure 6 This is a rear perspective view showing the telepresence robot according to the present embodiment.

[0062] The configuration of the telepresence system 101 of the present embodiment is substantially the same as that of the telepresence system 1 of the first embodiment, and therefore, redundant descriptions are omitted, and the same elements are described using the same reference numerals.

[0063] The telepresence system 101 is different from the telepresence system 1 of the first embodiment in that the telepresence robot 102 includes a second display unit 103 in addition to the display unit (first display unit) 22 .

[0064] The second display unit 103 includes a display device such as a liquid crystal display or an organic EL display. The second display unit 103 displays a composite image of the image information of the person P2 located at the second base H2 and the image information of the back side of the second display unit 103 .

[0065] The second display unit 103 is fixed to the moving unit 21 so as to be able to display an image toward the rear of the telepresence robot 2 . Therefore, the display surface of the second display unit 103 is arranged toward the rear of the telepresence robot 2 .

[0066] The synthesis unit 105 of the image processing device 104 synthesizes the image information of the person P2 at the second base H2 extracted and the image information of the back direction of the first display unit 22 captured by the background capture unit 24 to generate a synthesized image as an image to be displayed on the first display unit 22 of the telepresence robot 2.

[0067] In addition, the synthesis unit 105 of the image processing device 104 synthesizes the image information of the person P2 of the second base H2 extracted and the image information of the back direction of the second display unit 103 captured by the foreground shooting unit 23 to generate a synthetic image as an image to be displayed on the second display unit 103 of the remote presence robot 2.

[0068] As a result, the first display unit 22 of the telepresence robot 2 can display a composite image of the extracted image information of the person P2 at the second site H2 and the image information of the back side of the first display unit 22 captured by the background capturing unit 24 .

[0069] Furthermore, the second display unit 103 can display a composite image of the extracted image information of the person P2 at the second base H2 and the image information of the rear side of the second display unit 103 captured by the foreground imaging unit 23 .

[0070] Therefore, the person P1 at the first base H1 can communicate with the person P2 at the second base H2 not only from the front side but also from the back side of the remote presence robot 2. For example, multiple people can communicate with the person P2 at the second base H2 from the front and back sides of the remote presence robot 2 respectively.

[0071] Here, the display unit 6 of the second base H2 may display both the image captured by the foreground imaging unit 23 and the image captured by the background imaging unit 24 , or may display only the image showing one side of the person P1 located at the first base H1 .

[0072] In addition, the second display unit 103 of the telepresence robot 102 in this embodiment is configured to display images facing the rear of the telepresence robot 102 , but the second display unit 103 only needs to be configured to display images in a direction different from the direction in which the first display unit 22 displays images.

[0073] Furthermore, the telepresence robot 102 may include the foreground imaging unit 23 and the background imaging unit 24 for conducting conversations using the first display unit 22 , and may include another foreground imaging unit and background imaging unit for conducting conversations using the second display unit 103 .

[0074] <Implementation Method 3>

[0075] Figure 7 This is a block diagram showing a control system of the telepresence system according to the present embodiment. Figure 8 The configuration of the telepresence system 201 of this embodiment is substantially the same as that of the telepresence system 101 of the second embodiment, so duplicate descriptions will be omitted and the same elements will be described using the same reference numerals.

[0076] like Figure 7 As shown, the telepresence system 201 differs from the telepresence system 101 of the second embodiment in that the telepresence robot 202 includes a 360-degree camera 203 instead of the foreground imaging unit 23 and the background imaging unit 24 .

[0077] 360 degree camera 203 is for example Figure 8 As shown, it is fixed to the upper ends of the first display unit 22 and the second display unit 103. The 360-degree camera 203 can use a general 360-degree camera, for example, a dual-lens 360-degree camera.

[0078] In this way, image information of the entire area surrounding the remote presence robot 202 can be obtained, and the synthesis unit 205 of the image processing device 204 can use this image information to synthesize the image information of the person P2 of the second base H2 extracted and the image information of the back direction of the first display unit 22 captured by the 360-degree camera 203 to generate a synthetic image as the image to be displayed on the first display unit 22.

[0079] In addition, the synthesis unit 205 of the image processing device 204 can synthesize the image information of the person P2 of the second base H2 extracted and the image information of the back direction of the second display unit 103 captured by the 360-degree camera 203 to generate a synthetic image as an image to be displayed on the second display unit 103 of the remote presence robot 2.

[0080] Such a telepresence system 201 can reduce the number of imaging units compared to the telepresence system 101 according to the second embodiment, and can be configured at a low cost.

[0081] <Other implementation methods>

[0082] The image processing device according to the above-mentioned embodiment may have the following hardware configuration. Figure 9 : is a diagram showing an example of a hardware configuration included in an image processing apparatus. In the above-mentioned various embodiments, as described above, the order of processing in the image processing apparatus has been described, but the present disclosure can also be adopted as an image processing method.

[0083] Figure 9 The illustrated device includes an interface 303, a processor 301, and a memory 302. Part of the configuration of the image processing device described in the above embodiments is implemented by the processor 301 reading and executing a program stored in the memory 302. In other words, this program is a program for causing the processor 301 to function as a part of the configuration of the image processing device. This program can be said to be a program for causing the image processing device to execute the processing within its configuration or a part thereof.

[0084] The above-mentioned program can be stored using various types of non-transitory computer readable media and supplied to a computer (including a computer of an information notification device). Non-transitory computer readable media include various types of tangible recording media (tangible storage medium). Examples of non-transitory computer readable media include magnetic recording media (such as floppy disks, magnetic tapes, hard disk drives), and optical magnetic recording media (such as optical magnetic disks). Furthermore, this example includes CD-ROM (Read Only Memory), CD-R, and CD-R / W. Furthermore, this example includes semiconductor memories (such as mask ROM, PROM, EPROM, flash ROM, and RAM). In addition, the program can be supplied to a computer by various types of transitory computer readable media (transitory computer readable medium). Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer readable media can supply the program to a computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

[0085] In addition, the present disclosure is not limited to the above-described embodiment, and can be appropriately modified within a scope not departing from the spirit and scope.

Claims

1. A telepresence system comprising: An image processing device for processing an image displayed on a display unit of a telepresence robot located at a first location, comprising: a background image acquisition unit for acquiring image information obtained by photographing the back side of the display unit in real time; a person image acquisition unit for acquiring image information including a person at a second location remote from the first location in real time; and an extraction unit for extracting an area in which the person is reflected from the image information including the person; and a synthesis unit that synthesizes the extracted image information of the area where the person is reflected with the image information of the back side of the display unit; a person photographing unit configured to photograph an area including a person at the second base; A telepresence robot provided with the display unit; and A background photographing unit, which photographs the back side of the display unit, The display unit includes a first display unit and a second display unit, wherein the second display unit displays an image in a direction different from that of the first display unit. The background imaging unit includes a first imaging unit and a second imaging unit, wherein the first imaging unit captures the back side of the first display unit and the second imaging unit captures the back side of the second display unit. The display surface of the first display unit is a curved surface that protrudes toward the front of the telepresence robot, and the display surface of the second display unit is a curved surface that protrudes toward the rear of the telepresence robot. The first display unit displays a composite image of the extracted image information of the area where the person at the second base is shown and the image information of the back side of the first display unit captured by the first imaging unit. A composite image of the extracted image information of the region where the person at the second base appears and the image information of the rear side of the second display unit captured by the second imaging unit is displayed on the second display unit.

2. A telepresence system comprising: An image processing device for processing an image displayed on a display unit of a telepresence robot located at a first location, comprising: a background image acquisition unit for acquiring image information obtained by photographing the back side of the display unit in real time; a person image acquisition unit for acquiring image information including a person at a second location remote from the first location in real time; and an extraction unit for extracting an area in which the person is reflected from the image information including the person; and a synthesis unit that synthesizes the extracted image information of the area where the person is reflected with the image information of the back side of the display unit; a person photographing unit configured to photograph an area including a person at the second base; A telepresence robot provided with the display unit; and A background photographing unit, which photographs the back side of the display unit, The display unit includes a first display unit and a second display unit, wherein the second display unit displays an image in a direction different from that of the first display unit. As the background shooting unit, a 360-degree camera is provided. The display surface of the first display unit is a curved surface that protrudes toward the front of the telepresence robot, and the display surface of the second display unit is a curved surface that protrudes toward the rear of the telepresence robot. The first display unit displays a composite image of the extracted image information of the area where the person at the second base is shown and the image information of the back side of the first display unit captured by the 360-degree camera. A composite image of the extracted image information of the area where the person at the second base appears and the image information of the rear side of the second display unit captured by the 360-degree camera is displayed on the second display unit.

3. An image processing method for processing an image displayed on a display unit of a telepresence robot disposed at a first base, comprising: a step of acquiring, in real time, image information obtained by capturing the back side of the first display unit of the telepresence robot by a first imaging unit of the telepresence robot; a step of acquiring, in real time, image information obtained by capturing, by a second imaging unit of the telepresence robot, a rear side of a second display unit of the telepresence robot that displays an image in a direction different from that of the first display unit; a step of acquiring, in real time, image information including a person at a second location that is remote from the first location; A step of extracting a region where the person appears from the image information containing the person; The step of synthesizing the extracted image information of the area where the person is reflected with the image information of the back side of the first display unit and displaying the synthesized information on the first display unit; and The step of synthesizing the extracted image information of the area where the person is reflected with the image information of the back side of the second display unit and displaying the synthesized information on the second display unit, The display surface of the first display unit is a curved surface that protrudes toward the front of the telepresence robot, and the display surface of the second display unit is a curved surface that protrudes toward the rear of the telepresence robot.

4. An image processing program product, comprising an image processing program for processing an image displayed on a display unit of a telepresence robot disposed at a first location, the image processing program causing a computer to execute: a process of acquiring, in real time, image information of a rear side of a first display unit of the telepresence robot based on image information of a surrounding area of ​​the telepresence robot captured by a 360-degree camera of the telepresence robot; Processing for acquiring, in real time, image information of a rear surface direction of a second display unit of the telepresence robot that displays an image in a direction different from that of the first display unit, based on image information of a surrounding area of ​​the telepresence robot; Processing for acquiring, in real time, image information including a person at a second location that is remote from the first location; Extracting a region where the person appears from the image information containing the person; Processing of synthesizing the extracted image information of the area where the person is reflected with the image information of the back side of the first display unit and displaying the synthesized information on the first display unit; and a process of synthesizing the extracted image information of the area where the person is shown and the image information of the back side of the second display unit and displaying the synthesized information on the second display unit; The display surface of the first display unit is a curved surface that protrudes toward the front of the telepresence robot, and the display surface of the second display unit is a curved surface that protrudes toward the rear of the telepresence robot.

Images