Information processing device, information processing method, and program

Abstract

This information processing device comprises a head information acquisition unit (21), a body information acquisition unit (22) and a display control unit (30). The head information acquisition unit (21) acquires the position and orientation of the user's head. The body information acquisition unit (22) acquires the position and orientation of part of the user's body other than the head. On the basis of the position and orientation of the head and the history of the position and orientation of the part of the body, the display control unit (30) controls display of a virtual object corresponding to the part of the body during the period until the position and orientation of the part of the body is acquired by the body information acquisition unit (22).

Claims

1. A head information acquisition unit that acquires the position and posture of the user's head, A body information acquisition unit that acquires the position and posture of a part of the user's body other than the head, A display control unit controls the display of a virtual object corresponding to the part of the body during the period until the position and orientation of the part of the body are acquired by the body information acquisition unit, based on the history of the position and orientation of the part of the body and the position and orientation of the head. It has, The display control unit estimates the position and posture of a part of the body based on the history and the position and posture of the head, and controls the display of a virtual object corresponding to the part of the body based on the estimation result. The display control unit detects changes in the position and posture of the body part based on the history, and if the detected change exceeds an acceptable range, it stops estimating the position and posture of the body part and stops displaying the virtual object corresponding to the body part. Information processing device.

2. A head information acquisition unit that acquires the position and posture of the user's head, A body information acquisition unit that acquires the position and posture of a part of the user's body other than the head, A display control unit controls the display of a virtual object corresponding to the part of the body during the period until the position and orientation of the part of the body are acquired by the body information acquisition unit, based on the history of the position and orientation of the part of the body and the position and orientation of the head. It has, The display control unit estimates the position and posture of a part of the body based on the history and the position and posture of the head, and controls the display of a virtual object corresponding to the part of the body based on the estimation result. The display control unit estimates the user's joint movements based on inverse kinematics, and if the joint movements do not satisfy the constraints of the joints, it rejects the estimated position and posture of the body part and stops displaying the virtual object corresponding to the body part. Information processing device.

3. The aforementioned part of the body is a hand, The display control unit controls the display of a virtual object corresponding to the object based on the history of the object's position and orientation during the period until the object's position and orientation are acquired, when the hand is grasping an object, and stops the display of the virtual object corresponding to the object when the hand is not grasping an object. The information processing apparatus according to claim 1.

4. A head information acquisition unit that acquires the position and posture of the user's head, A body information acquisition unit that acquires the position and posture of a part of the user's body other than the head, A display control unit controls the display of a virtual object corresponding to the part of the body during the period until the position and orientation of the part of the body are acquired by the body information acquisition unit, based on the history of the position and orientation of the part of the body and the position and orientation of the head. It has, The display control unit stops displaying the virtual object corresponding to the body part if the period until the position and orientation of the body part are acquired by the body information acquisition unit exceeds a preset time limit. Information processing device.

5. The display control unit adjusts the length of the time limit according to the magnitude of past changes in the position and posture of the body part detected based on the history. The information processing apparatus according to claim 4.

6. When the display control unit transitions from a state in which detection of the body part has failed to a state in which detection has succeeded, it determines the position and orientation of the body part during the first transition period to a position and orientation between the position and orientation of the body part acquired by the body information acquisition unit and the position and orientation of the body part estimated based on the history, and controls the display of the virtual object corresponding to the body part based on the determined position and orientation. The information processing apparatus according to claim 1.

7. The display control unit determines the position and orientation of the part of the body after the first transition period has elapsed as the position and orientation acquired by the body information acquisition unit, and controls the display of the virtual object corresponding to the part of the body based on the determined position and orientation. The information processing apparatus according to claim 6.

8. The display control unit determines the position and orientation of the part of the body during the second transition period immediately following the failure to detect the part of the body to be between the position and orientation of the part of the body corresponding to a preset autonomous movement and the position and orientation of the part of the body estimated based on the history, and controls the display of the virtual object corresponding to the part of the body based on the determined position and orientation. The information processing apparatus according to claim 1.

9. The position and orientation of the user's head are obtained. The position and posture of a part of the user's body other than the head are obtained. During the period until the position and orientation of the body part is acquired, the display of the virtual object corresponding to the body part is controlled based on the history of the position and orientation of the body part and the position and orientation of the head. Based on the aforementioned history and the position and posture of the head, the position and posture of the part of the body are estimated. Based on the estimation results, control the display of the virtual object corresponding to the part of the body, Based on the aforementioned history, changes in the position and posture of the body part are detected. If the detected change exceeds the acceptable range, the estimation of the position and orientation of the body part will be stopped, and the display of the virtual object corresponding to the body part will be stopped. An information processing method performed by a computer, which includes the ability to perform the following actions.

10. Obtain the position and posture of the user's head, The position and posture of a part of the user's body other than the head are obtained. During the period until the position and orientation of the body part is acquired, the display of the virtual object corresponding to the body part is controlled based on the history of the position and orientation of the body part and the position and orientation of the head. Based on the aforementioned history and the position and posture of the head, the position and posture of the part of the body are estimated. Based on the estimation results, control the display of the virtual object corresponding to the part of the body, Based on inverse kinematics, the movement of the user's joints is estimated from the estimated position and posture of the body part. If the movement of the joint does not satisfy the constraints of the joint, the estimated position and posture of the part of the body is rejected, and the display of the virtual object corresponding to the part of the body is stopped. An information processing method performed by a computer, which includes the ability to perform the following actions.

11. The position and orientation of the user's head are obtained. The position and posture of a part of the user's body other than the head are obtained. During the period until the position and orientation of the body part is acquired, the display of the virtual object corresponding to the body part is controlled based on the history of the position and orientation of the body part and the position and orientation of the head. Based on the aforementioned history and the position and posture of the head, the position and posture of the part of the body are estimated. Based on the estimation results, control the display of the virtual object corresponding to the part of the body, Based on the aforementioned history, changes in the position and posture of the body part are detected. If the detected change exceeds the acceptable range, the estimation of the position and orientation of the body part will be stopped, and the display of the virtual object corresponding to the body part will be stopped. A program that allows a computer to accomplish something.

12. Obtain the position and posture of the user's head, The position and posture of a part of the user's body other than the head are obtained. During the period until the position and orientation of the body part is acquired, the display of the virtual object corresponding to the body part is controlled based on the history of the position and orientation of the body part and the position and orientation of the head. Based on the aforementioned history and the position and posture of the head, the position and posture of the part of the body are estimated. Based on the estimation results, control the display of the virtual object corresponding to the part of the body, Based on inverse kinematics, the movement of the user's joints is estimated from the estimated position and posture of the body part. If the movement of the joint does not satisfy the constraints of the joint, the estimated position and posture of the part of the body is rejected, and the display of the virtual object corresponding to the part of the body is stopped. A program that allows a computer to accomplish something.

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