Displaying images according to head posture and camera posture
[Object] To process an image captured by a camera mounted on a moving object device or a user to be suitable for display on an image display device fixed to the head or face of the user. [Solution] The image rendering processor 1042 , in the beginning, corrects the user's head posture angle q h using the camera posture angle q c (F 1421 ), and clips a display angle of view depending on the corrected user's head posture angle q h * from the captured image to render a free viewpoint image (F 1422 ). Then, the image processing device 1040 transmits the free viewpoint image rendered by the image rendering processor 1042 to the display device 1020 via the communication unit 1041 , and the image is displayed on the display device 1020 (F 1430 ).
1. An information processing device comprising:
a first sensor to acquire information on head posture of a user;
a second sensor to acquire information on posture of an omnidirectional camera; and
an image rendering processor configured to generate an image to be displayed on a display device from an image captured by the camera based on the head posture of the user and the posture of the camera, the display device being fixed to a head or a face of the user,
further comprising:
a controller configured to remotely operate a moving object device; and
a filter configured to constrain a trajectory of the moving object device and cut off an input other than the constrained trajectory from the controller,
wherein the input from the controller is converted to a position command, a velocity command, or an acceleration command in a direction along the constrained trajectory for transmitting to the moving object device, and
wherein, when the trajectory of the moving object device is constrained to a straight motion, the filter cuts off an input other than a back-and-front direction from the controller, and transmits a command to maintain a trajectory of the straight motion to the moving object device.
2. The information processing device according to claim 1 ,
wherein the trajectory is set to a straight line toward a current direction of travel through a current point of the moving object or to a straight line connecting the current point of the moving object device and a destination point.
3. The information processing device according to claim 1 ,
wherein, when the trajectory of the moving object device is constrained to a circular motion, the filter cuts off an input other than a left-and-right direction from the controller, and
transmits a command to maintain a trajectory of the circular motion to the moving object device and controls posture of the moving object device to be directed toward a destination point.
4. The information processing device according to claim 3 ,
wherein the trajectory is set to a circular motion passing through a current point of the moving object device centered on a destination point or to a circular motion in a horizontal plane through the current point of the moving object device centered on a perpendicular axis intersecting a destination point.
5. An information processing device comprising:
a first sensor to acquire information on head posture of a user;
a second sensor to acquire information on posture of a camera that is mounted on a moving object device;
an image rendering processor configured to generate an image to be displayed on a display device from an image captured by the camera based on the head posture of the user and the posture of the camera, the display device being fixed to a head or a face of the user;
a controller configured to remotely operate the moving object device; and
a filter configured to constrain a trajectory of the moving object device and cut off an input other than the constrained trajectory from the controller,
wherein the input from the controller is converted to a position command, a velocity command, or an acceleration command in a direction along the constrained trajectory for transmitting to the moving object device, and
wherein, when the trajectory of the moving object device is constrained to a straight motion, the filter cuts off an input other than a back-and-front direction from the controller, and the information processing device transmits a command to maintain a trajectory of the straight motion to the moving object device.
6. The information processing device according to claim 5 ,
wherein the trajectory is set to a straight line toward a current direction of travel through a current point of the moving object or to a straight line connecting the current point of the moving object device and a destination point.
7. An information processing device comprising:
a first sensor to acquire information on head posture of a user;
a second sensor to acquire information on posture of a camera that is mounted on a moving object device;
an image rendering processor configured to generate an image to be displayed on a display device from an image captured by the camera based on the head posture of the user and the posture of the camera, the display device being fixed to a head or a face of the user;
a controller configured to remotely operate the moving object device; and
a filter configured to constrain a trajectory of the moving object device and cut off an input other than the constrained trajectory from the controller,
wherein the input from the controller is converted to a position command, a velocity command, or an acceleration command in a direction along the constrained trajectory for transmitting to the moving object device, and
wherein, when the trajectory of the moving object device is constrained to a circular motion, the filter cuts off an input other than a left-and-right direction from the controller, and the information processing device transmits a command to maintain a trajectory of the circular motion to the moving object device and controls posture of the moving object device to be directed toward a destination point.
8. The information processing device according to claim 7 ,
wherein the trajectory is set to a circular motion passing through a current point of the moving object device centered on a destination point or to a circular motion in a horizontal plane through the current point of the moving object device centered on a perpendicular axis intersecting a destination point.