Inconsistency detecting system, mixed-reality system, program, and inconsistency detecting method

1. An inconsistency detecting system in a mixed-reality system that includes a portable display device having a transmissive display unit for displaying a virtual object to a user and also having a photographing unit for photographing a real space and that renders the virtual object on the display unit in a predetermined real space, whereby the virtual object is visually recognized by the user as being superimposed on the real space through the display unit,

wherein the mixed-reality system includes:

a three-dimensional-space-data storage part configured to store three-dimensional space data including point cloud data of a real object located in the predetermined real space, acquired in advance, the point cloud data each having three-dimensional position information;

a user-environment determining part configured to determine, on the basis of data obtained from a sensor included in the display device and the three-dimensional space data, a user environment including the position of the display device and also including a visual-field region that is visually recognized by the user through the display unit; and

a rendering part configured to render the virtual object on the display unit on the basis of the user environment, and

the inconsistency detecting system comprising:

a first point-cloud-data generating part configured to generate first point cloud data, which is point cloud data of the real object and the virtual object, from a combined image obtained by displaying the virtual object that is rendered by the rendering part, in a superimposed fashion, on a real-space image that is visually recognized by the user through the display unit, the real-space image being generated from the photographed real-space image;

a second point-cloud-data generating part configured to generate second point cloud data by using point cloud data in the visual-field region determined by the user-environment determining part, stored by the three-dimensional-space-data storage part, as well as point cloud data of the virtual object that is rendered by the rendering part; and

an inconsistency detecting part configured to detect an inconsistency on the basis of a result of comparison between the first point cloud data and the second point cloud data.

2. The inconsistency detecting system according to claim 1 , wherein the photographing unit acquires real spaces as stereoscopic images, and wherein the first point-cloud-data generating part generates the first point cloud data from individual combined images obtained by individually displaying the virtual object that is rendered by the rendering part, in a superimposed fashion, on individual real-space images that are visually recognized by the user through the display unit, the individual real-space images being generated individually from two real-space images acquired as the stereoscopic images.

3. The inconsistency detecting system according to claim 1 , wherein the first point-cloud-data generating part generates the real-space image that is visually recognized by the user through the display unit by subjecting the photographed real-space image to projective transformation on the basis of a positional relationship between the display unit and the photographing unit.

4. The inconsistency detecting system according to claim 1 , wherein the inconsistency detecting part detects an inconsistency in the case where the difference between the first point cloud data and the second point cloud data exceeds a predetermined amount.

5. The inconsistency detecting system according to claim 1 , wherein the inconsistency detecting part detects an inconsistency in the case where the difference between the first point cloud data and the second point cloud data exceeds a predetermined amount in a predetermined three-dimensional space region including the virtual object that is rendered on the basis of the user environment.

6. A mixed-reality system that includes a server as well as a portable display device having a transmissive display unit for displaying a virtual object to a user and also having a photographing unit for photographing a real space and that renders the virtual object on the display unit in a predetermined real space, whereby the virtual object is visually recognized by the user as being superimposed on the real space through the display unit,

wherein each of the following part is included in the server or the display device:

a three-dimensional-apace-data storage part configured to store three-dimensional space data including point cloud data of a real object located in the predetermined real space, acquired in advance, the point cloud data each having three-dimensional position information;

a user-environment determining part configured to determine, on the basis of data obtained from a sensor included in the display device and the three-dimensional space data, a user environment including the position of the display device and also including a visual-field region that is visually recognized by the user through the display unit;

a rendering part configured to render the virtual object on the display unit on the basis of the user environment;

a first point-cloud-data generating part configured to generate first point cloud data, which is point cloud data of the real object and the virtual object, from a combined image obtained by displaying the virtual object that is rendered by the rendering part, in a superimposed fashion, on a real-space image that is visually recognized by the user through the display unit, the real-space image being generated from the photographed real-space image;

a second point-cloud-data generating part configured to generate second point cloud data by using point cloud data in the visual-field region determined by the user-environment determining part, stored by the three-dimensional-space-data storage part, as well as point cloud data of the virtual object that is rendered by the rendering part; and

an inconsistency detecting part configured to detect an inconsistency on the basis of a result of comparison between the first point cloud data and the second point cloud data.

7. A non-transitory computer readable medium storing a program for detecting an inconsistency in a mixed-reality system that includes a portable display device having a transmissive display unit for displaying a virtual object to a user and also having a photographing unit for photographing a real space and that renders the virtual object on the display unit in a predetermined real space, whereby the virtual object is visually recognized by the user as being superimposed on the real space through the display unit,

wherein the mixed-reality system includes:

a three-dimensional-space-data storage part configured to store three-dimensional space data including point cloud data of a real object located in the predetermined real space, acquired in advance, the point cloud data each having three-dimensional position information;

a user-environment determining part configured to determine, on the basis of data obtained from a sensor included in the display device and the three-dimensional space data, a user environment including the position of the display device and also including a visual-field region that is visually recognized by the user through the display unit; and

a rendering part configured to render the virtual object on the display unit on the basis of the user environment, and

wherein the program causes the display device to execute:

a step of generating first point cloud data, which is point cloud data of the real object and the virtual object, from a combined image obtained by displaying the virtual object that is rendered by the rendering part, in a superimposed fashion, on a real-space image that is visually recognized by the user through the display unit, the real-space image being generated from the photographed real-space image;

a step of generating second point cloud data by using point cloud data in the visual-field region determined by the user-environment determining part, stored by the three-dimensional-space-data storage part, as well as point cloud data of the virtual object that is rendered by the rendering part; and

a step of detecting an inconsistency on the basis of a result of comparison between the first point cloud data and the second point cloud data.

8. A method of detecting an inconsistency in a mixed-reality system that includes a portable display device having a transmissive display unit for displaying a virtual object to a user and also having a photographing unit for photographing a real space and that renders the virtual object on the display unit in a predetermined real space, whereby the virtual object is visually recognized by the user as being superimposed on the real space through the display unit,

wherein the mixed-reality system includes:

a three-dimensional-space-data storage part configured to store three-dimensional space data including point cloud data of a real object located in the predetermined real space, acquired in advance, the point cloud data each having three-dimensional position information;

a user-environment determining part configured to determine, on the basis of data obtained from a sensor included in the display device and the three-dimensional space data, a user environment including the position of the display device and also including a visual-field region that is visually recognized by the user through the display unit; and

a rendering part configured to render the virtual object on the display unit on the basis of the user environment, and

the method comprising:

a step of generating first point cloud data, which is point cloud data of the real object and the virtual object, from a combined image obtained by displaying the virtual object that is rendered by the rendering part, in a superimposed fashion, on a real-space image that is visually recognized by the user through the display unit, the real-space image being generated from the photographed real-space image;

a step of generating second point cloud data by using point cloud data in the visual-field region determined by the user-environment determining part, stored by the three-dimensional-space-data storage part, as well as point cloud data of the virtual object that is rendered by the rendering part; and

a step of detecting an inconsistency on the basis of a result of comparison between the first point cloud data and the second point cloud data.