Source: https://patents.google.com/patent/CN102445756B/en
Timestamp: 2020-03-31 10:59:41
Document Index: 773327938

Matched Legal Cases: ['arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'art 152', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173', 'arts 173']

CN102445756B - Automatic focus improvement for augmented reality displays - Google Patents
CN102445756B
CN102445756B CN201110386149.4A CN201110386149A CN102445756B CN 102445756 B CN102445756 B CN 102445756B CN 201110386149 A CN201110386149 A CN 201110386149A CN 102445756 B CN102445756 B CN 102445756B
CN201110386149.4A
CN102445756A (en
2011-11-18 Application filed by 微软公司 filed Critical 微软公司
2012-05-09 Publication of CN102445756A publication Critical patent/CN102445756A/en
2015-01-14 Publication of CN102445756B publication Critical patent/CN102445756B/en
The invention relates to automatic focus improvement for augmented reality displays. An augmented reality system provides improved focus of real and virtual objects. A see-through display device includes a variable focus lens a user looks through. A focal region adjustment unit automatically focuses the variable focus lens in a current user focal region. A microdisplay assembly attached to the see-through display device generates a virtual object for display in the user's current focal region by adjusting its focal region. The variable focus lens may also be adjusted to provide one or more zoom features. Visual enhancement of an object may also be provided to improve a user's perception of an object.
Auto-focus for expanding reality display improves
The auto-focus that the present invention relates to for expanding reality display improves.
Expansion reality is the technology that virtual image mixes with real world physical environment or space by a kind of permission mutually.Usually, user wears near-to-eye to check the vision-mix of dummy object and real world object.This near-to-eye uses the combination of optical device and stereoscopic vision to be focused in space by virtual image usually.The focusing power of user user can be limited to both object, i.e. real world object and dummy object in the only part being in this space of checking (if any).
Present technology provides the embodiment of the focus of the object of reality for improving mixing or the display of expansion reality.User checks scene by nearly eye display device.This scene comprises the one or more real world object in the physical environment or space that user directly checks with his or her eyes.When having an X-rayed display device, user directly checks real world object by the thoroughly clear of display device or perspective lens.One or more dummy object by display device project to eyes of user position one of at least.Therefore, the display of reality scene is expanded with dummy object.
In one embodiment, present technology provides the expansion reality system comprising perspective display device, this perspective display device comprises the Zoom lens being positioned as being had an X-rayed by user.By being attached to the micro-display parts of perspective display device to generate virtual image.This virtual image is projected at least one the eyes of user, makes user see both dummy object and real world object when being checked by Zoom lens.One or more processor determines current user focus district under the control being stored in the software in addressable memory.This processor controls focal region adjustment unit and focuses in current user focus district for by Zoom lens.
In another embodiment, expand reality system and zoom feature is provided.This processor determines focal length based on zoom feature and current user focus district, and focal region adjustment unit adjusts Zoom lens based on determined focal length.
In another embodiment, present technology provides a kind of for providing the method for focus of the improvement of object in expansion reality system.The visual field of user in the three-dimensional model in space comprising real world object is confirmed as current user focus district.For at least one eyes being positioned as automatically being adjusted to by the Zoom lens that user has an X-rayed focusing in current user focus district.Real world focal length place in the visual field of user shows one or more dummy object.Vision enhancement is carried out to the image of one of the object in the user visual field.In one example, real world object is by vision enhancement.
There is provided content of the present invention to introduce some concepts that will further describe in the following specific embodiments in simplified form.Content of the present invention not intended to be identify key feature or the essential feature of theme required for protection, are not also intended to the scope for helping to determine theme required for protection.
Figure 1A is the block diagram of the example components of the embodiment depicting the system that the focus for providing in the display of expansion reality is improved.
Figure 1B is the top view of a part for the embodiment of head-mounted display apparatus, and it comprises the Zoom lens being positioned as being had an X-rayed by user.
Fig. 1 C is the top view of a part for another embodiment of head-mounted display apparatus, and it comprises the Zoom lens being positioned as being had an X-rayed by user.
Fig. 2 A is the example of the rotatable lens combination of a part for micro-display parts for use as near-to-eye.
Fig. 2 B1 and Fig. 2 B2 is the example of the fluid lens showing different curvature radius, and these fluid lens are for use as a part for micro-display parts or as perspective Zoom lens.
Fig. 2 B3 is another example of focal zone adjustment unit, and it may be used for as a part for micro-display parts or the liquid lens as perspective Zoom lens.
Fig. 2 C is the example of the birefringent lens system of a part for micro-display parts for use as near-to-eye.
Fig. 2 D is the example of the lens combination inserted of a part for use as micro-display parts.
Fig. 3 is the block diagram of an embodiment of the assembly of wear-type display unit.
Fig. 4 is the block diagram of an embodiment of the assembly of the processing unit be associated with wear-type display unit.
Fig. 5 is the block diagram of an embodiment of the assembly of the maincenter computing system used in conjunction with wear-type display unit.
Fig. 6 is the block diagram of the embodiment that can be used for the computing system realizing maincenter computing system described herein.
Fig. 7 is the block diagram of the multi-user system of the focus of the virtual content describing the focus place that can change being in user.
Fig. 8 depicts the process flow diagram of an embodiment of the process that the focus for expanding in reality display is improved.
Fig. 9 is the process flow diagram of an embodiment of the process of the model described for creating space.
Figure 10 is the process flow diagram of an embodiment of the process described for model being divided into object.
Figure 11 is the process flow diagram of an embodiment of the process described for identifying object.
Figure 11 A is the process flow diagram of an embodiment of the process described for carrying out Renewal model in response to mobile object.
Figure 12 A depicts the process flow diagram of the embodiment for Zoom lens being adjusted to the process in current user focus district.
Figure 12 B depicts the process flow diagram of the embodiment for the process for zoom feature adjustment Zoom lens.
Figure 13 describes for showing being checked that the user of near-to-eye is in the process flow diagram of an embodiment of the process of the dummy object at focus place when checking.
Figure 14 be describe for by maincenter to the process flow diagram of an embodiment of the process of the position and orientation of following the tracks of user and/or wear-type display unit.
Figure 15 is the process flow diagram of an embodiment of the process described for following the tracks of eye position.
Figure 16 is the process flow diagram of an embodiment of the process of the focal region described for determining the user visual field and user.
Figure 17 A describes for the process flow diagram by making at least one Lens shift of micro-display parts change an embodiment of the process of the focal region of these parts.
Figure 17 B is the process flow diagram that the polarizability described at least one lens by changing micro-display parts changes an embodiment of the process of the focal region of these parts.
Figure 17 C is the process flow diagram that the radius-of-curvature described at least one liquid lens by changing micro-display parts changes an embodiment of the process of the focal region of these parts.
Figure 18 A is the process flow diagram described for generating an embodiment of the process of the dummy object image in different focal region in the display of expansion reality.
Figure 18 B is the process flow diagram described for generating another embodiment of the process of the dummy object image in different focal region in the display of expansion reality.
Figure 19 depicts for the process flow diagram of the virtual image in the user visual field to the process that real world object strengthens embodiment.
Present technology provides the varifocal embodiment for realizing for mixed reality or the display of expansion reality.In one embodiment, system comprises perspective display device as the near-to-eye for expanding reality and the processing unit that communicates with this perspective display device.In each embodiment discussed below, see-through display is in a pair of glasses, but also can use other HMD forms and near-to-eye fixator.
The natural eyesight of user is used to come actual and directly check real world object in checked scene.In other words, user directly checks real-world objects with human eye.Based on the context of executive software (application of such as playing), virtual image can be projected on the display that can be checked by the people wearing this see-through display by this system, and this people also checks real world objects by this display simultaneously.
The contiguous physical environment using one or more sensor to check to scan user, provides the data that can be used to the three-dimensional model building institute's scanning circumstance thus.This model is divided into real world object, and is expanded by with the position of dummy object image like that as explained below.
Additionally, use various sensor to detect by the position of account and eyes and orientation to determine virtual image to project to where.This system is automatically followed the tracks of user and is just watched where attentively, and this system can be understood fully, and user passes through the visual field of the display having an X-rayed display device.Any sensor that can use depth camera and comprise in the various sensors of depth transducer, imageing sensor, inertial sensor, eye position sensor is to follow the tracks of user.Except the visual field of user, this system is also determined: user focuses on or which position in visual field of fixation, and this position is usually called user focal region (focal region).
In certain embodiments, user focal region is the volume being called Panum confluence area, and wherein human eye checks object by single vision.The mankind have binocular vision or stereoscopic vision.Each eyes produce the image of different visual angles.Only in this small size of Panum confluence area, the mankind check object by single vision.This typically refers to object and it is said situation when being in focus place.Outside this region, object may look it is fuzzy, or even appears as dual imaging.Be in the horopter (Horopter) that intracardiac having in Panum confluence area comprises the focus of eyes of user.When user's focusing certain point (being called focus afterwards) is in space upper, this focus is positioned on curve.The object be on this curve in space is during to fall on eye retina little recessed.This curve is sometimes referred to as horizontal horopter.Also there is vertical horopter, it is through a line of this curve, and this line is from having a down dip to the focus of eyes on this curve on the focus of eyes.Term " horopter " used below refers to both its vertical and horizontal components.
Once this system is aware of the visual field and the user focal region of user, then system just can be understood fully: one or more dummy object image should project to where by the display of nearly eye display device.The micro-display parts of nearly eye display device generate the dummy object in the user visual field, and dummy object can be placed on the user focal region in the visual field.
Different users has different focusing powers at different focal place, and this affects their visual acuity or eyesight sharpness.Many people have ametropia, thus cause the object that is difficult to focus on several feet or farther place.These people are near-sighted.Specifically, along with people is aged, they suffer from presbyopia, and wherein for many people, eye focus also declines to the ability of neighbouring object.Therefore, for many people, along with they are aged, need presbyopic glasses.Fixed-focus glasses through grinding are outputed to compensate ametropia as prescription by eye health professional.User can have prescription lens in his or her near-to-eye, but this will be remote prescription usually, instead of presbyopic glasses prescription, makes to suffer from presbyopic user and can not clearly check neighbouring object.Additionally, especially for the adult of children and more than 40 years old, prescription is always not up-to-date.
In certain embodiments, perspective display device comprises Zoom lens, and these lens are positioned as being had an X-rayed by user.When user checks real world object in focal region and dummy object, variable lens focuses in focal region by focal region adjustment unit.Therefore, user sees reality and the dummy object at the focal region place of focusing.In certain embodiments, Zoom lens can provide zoom feature, and this characteristic allows user to select amicron or super eyesight.The example of super eyesight can see farther with twenty-twenty vision than people, such as, can realize 20/20 or 6/6.
Virtual image can also be used for the observability or the perception that strengthen the object comprising real world object, to improve user awareness or to focus on the ability of this object.
Figure 1A is the block diagram of the example components of the embodiment depicting the system 10 that the focus for providing in the display of expansion reality is improved.System 10 comprises the perspective display device as the nearly eye head-mounted display apparatus 2 being undertaken communicating by line 6 and processing unit 4.In other embodiments, head-mounted display apparatus 2 is communicated with processing unit 4 by radio communication.In one embodiment for the head-mounted display apparatus 2 of the shape of glasses in mirror holder 115 is worn on the head of user, user can be checked by display, and thus there is the direct view of reality in the space in this user front.Use term " actual and direct view " to refer to that direct human eye checks the ability of real-world objects, instead of check the image created of object is represented.Such as, undertaken checking by the direct view of the roomed reality of permission user tool by glasses in a room, and check that the video in room is not the direct view of reality in room on TV.The more details of head-mounted display apparatus 2 are provided below.
In one embodiment, processing unit 4 is worn in the wrist of user, and comprises many computing powers for operating head-mounted display apparatus 2.Processing unit 4 can with one or more maincenter computing system 12 wirelessly (such as WiFi, bluetooth, infrared or other wireless communication means) communicate.
Maincenter computing system 12 can be computing machine, games system or control desk etc.According to an exemplary embodiment, maincenter computing system 12 can comprise nextport hardware component NextPort and/or component software, makes maincenter computing system 12 may be used for performing the application of application, non-gaming application etc. and so on of such as playing.In one embodiment, maincenter computing system 12 can comprise the processor of such as standardization device, application specific processor, microprocessor etc. and so on, and these processors can perform and be stored in instruction in processor readable storage device for execution process described herein.
Maincenter computing system 12 also comprises one or more capture device, as capture device 20A and 20B.In other embodiments, the capture device greater or less than two can be used.In an illustrative embodiments, capture device 20A and 20B points to different directions, makes them can catch the different piece in room.Maybe advantageously, the visual field of two capture devices is overlapping slightly, and maincenter computing system 12 is appreciated that, and how the visual field of capture device is relative to each other.In this way, multiple capture device can be used to check whole room (or other spaces).Alternately, if capture device can translation during operation, make whole correlation space in time the equipment of being captured check, then can use a capture device.
Capture device 20A and 20B can be such as camera, this camera visually monitors one or more user and surrounding space, make it possible to catch, analyze and follow the tracks of this posture performed by one or more user and/or the structure of movement and surrounding space, to perform one or more control or action in the application and/or to make incarnation or the upper character animation of screen.
Maincenter computing environment 12 can be connected to the audio-visual equipment 16 that such as televisor, monitor, HDTV (HDTV) etc. can provide game or application program vision.Such as, maincenter computing system 12 can comprise the audio frequency adapter such as the video adapters such as such as graphics card and/or such as sound card, these adapters can provide with play apply, audio visual signal that non-gaming application etc. is associated.Audio-visual equipment 16 can receive audio visual signal from maincenter computing system 12, and then can export the game that is associated with audio visual signal or apply vision and/or audio frequency.According to an embodiment, audio-visual equipment 16 can via such as, and S-vision cable, concentric cable, HDMI cable, DVI cable, VGA cable, component video cable, RCA cable etc. are connected to maincenter computing system 12.In one example, audio-visual equipment 16 comprises boombox.In other embodiments, audio-visual equipment 16, independent stereophonic sound system or maincenter computing equipment 12 are connected to external loudspeaker 22.
Maincenter computing equipment 10 can be used from capture device 20A and 20B mono-and to identify, analyze and/or follow the tracks of the mankind's (and other types) target.Such as, capture device 20A and 20B can be used follow the tracks of the user wearing head-mounted display apparatus 2, the posture and/or the motion that make it possible to seizure user make character animation on incarnation or screen, and/or the posture of user and/or movement can be interpreted as the control that can be used for the application affected performed by maincenter computing system 12.
Figure 1B depicts the top view of a part for head-mounted display apparatus 2, it comprise mirror holder 115 comprise in temple 102 and nose 104 part.The pipeline that the supporting mass and being used for that mirror holder 115 is provided for each element of this system to remain on original position is electrically connected.Depict only the right side of head-mounted display apparatus 2.In nose, inserted microphone 110 in 104 send processing unit 4 to for recording voice and by voice data, this will be described below.That this video camera 113 can catch video and rest image towards the video camera 113 of physical environment in the front of head-mounted display apparatus 2.These images are transmitted to processing unit 4, and this will be described below.
In order to illustrate the assembly of head-mounted display apparatus 2, the part that show in phantom mirror holder 115 is to show element 139a, 139b, 139c of the perspective lens 116,118 and 119 that are arranged in wherein and the focal region adjustment unit 139 for Zoom lens 119.Supporting member 139c can be made up of the perspective material of such as glass or plastics and so on.In this embodiment, mirror holder 115 spectacle frame of providing convenience is as the supporting mass of each element of the system discussed further below.In other embodiments, other supporting structures can be used.The example of such structure is face cover.
Lens 119 are Zoom lens.The example of Zoom lens is liquid lens.In this example, these lens comprise the flexible face 117 of changeable shape.Such as, this flexible face can be made more to protrude, make it straighten or indent more.In this embodiment, have an X-rayed lens 116 and 118 and provide protection in order to avoid be subject to the infringement of such as dust and so on the factor in physical space and in order to avoid fall into topping up variable lens.Lens 116 and 118 can be the standard lens be used in glasses, and two lens are arbitrary or the two can comprise prescription.In other embodiments; fluoroscopic apparatus can comprise only other standards lens or only Zoom lens 119; these lens may be trapped among in mirror holder 115 by glass or plastic packets, described glass or plastics as protection in order to avoid be subject to such as dust and fall and so on the infringement of factor.The example of focal region adjustment unit 139 has been shown below in Fig. 2 B1 and 2B2, and this focal region adjustment unit 139 affects optical power or the focal length of liquid lens embodiment by affecting radius-of-curvature.The optical power of lens is defined by the inverse of its focal length, such as 1/ focal length, makes a change to affect another.In one example, lens 119 can by such as the clear permeable membrane of a version and so on make, and liquid can be the silicone oil of such as Dow-CorningDC-703 or DC-705 and so on.
Micro-display parts 173 comprise light treatment element and varifocal adjuster 135.The example of light treatment element is micro-display unit 120.Other examples comprise one or more optical element of one or more lens of such as lens combination 122 and so on and one or more reflecting elements of such as face 124a and 124b and so on.Lens combination 122 can comprise single lens or multiple lens.
Micro-display unit 120 is arranged in temple 102 or is in temple 102 inside, and it comprises image source and the image of generating virtual object.Micro-display unit 120 is optically aimed at lens combination 122 and reflecting surface 124a and 124b.Optical alignment can along optical axis 133 or the light path 133 comprising one or more optical axis.Micro-display unit 120 by the lens combination 122 of bootable image light by the image projection of dummy object on reflecting element 124a (such as mirror or other surfaces), the light of virtual image is directed to part reflecting element 124b by this reflecting element 124a, this part reflecting element 124b by virtual image view 143 and nature or reality and direct view 142 combined.The combination of each view is directed in the eyes 140 of user.
Varifocal adjuster 135 changes the optical power of the displacement between the one or more smooth treatment element in the light path of micro-display parts or the element in micro-display parts.The optical power of lens is defined by the inverse of its focal length, such as 1/ focal length, makes the change in affect another.This change causes the area of visual field focusing on the image that micro-display parts 173 generate to change.
Make in an example of displacement change at micro-display parts 173, change displacement in armature 137 and guide, armature 137 supports at least one light treatment element of lens combination 122 and micro-display 120 and so in such as this example.Armature 137 helps to make the physics being aligned in each element along light path 133 move period and stablizes, to reach selected displacement or optical power.In some instances, adjuster 135 can move one or more optical element, as the lens in the lens combination 122 in armature 137.In other examples, armature can have groove or space in the region around light treatment element, makes it when not moving light treatment element in the upper slip of this element (such as micro-display 120).Another element (as lens combination 122) in armature is attached, and system 122 or the lens in it is slided together with the armature 137 of movement or moves.The magnitude of displacement range normally several millimeters (mm).In one example, this scope is 1-2mm.In other examples, armature 137 can provide the support of the focus adjustment technology of the adjustment to other physical parameters related to except displacement to lens combination 122, this is discussed in the example of Fig. 2 A to 2D below.
In one example, adjuster 135 can be the actuator of such as piezo-electric motor and so on.Also can use the other technologies for actuator, and some examples of such technology are the voice coil loudspeaker voice coils formed by coil and permanent magnet, magnetostriction element and electrostriction element.
There is the different image generating technologies that can be used for realizing micro-display 120.Such as, micro-display 120 can use transmission projection technology to realize, and wherein light source is modulated by optically active material, illuminates from behind with white light.These technology typically use that the display of the LCD type with powerful backlight and high-light-energy metric density realizes.Micro-display 120 also can use reflection technology to realize, and wherein exterior light is reflected by optically active material and modulates.According to this technology, light illumination forward by white light source or RGB source.Digital light process (DLP), liquid crystal over silicon (LCOS) and from Qualcomm company limited display technique is all the example of efficient reflection technology, because most of energy can be used for system described herein from brewed structure reflects.Additionally, micro-display 120 can use lift-off technology to realize, and wherein light is generated by this display.Such as, from the PicoP of Microvision company limited tMon the small screen that engine uses miniature minute surface rudder to be transmitted into by laser signal to take on transmissive element or be directly transmitted into eyes (such as, laser) by bundle.
Head-mounted display apparatus 2 also comprises the system of the eye position for following the tracks of user.As will be explained below, this system will follow the tracks of position and the orientation of user, make this system can determine the visual field of user.But the mankind can not discover all things before being in it.On the contrary, the eyes of user will aim at the subset of environment.Therefore, in one embodiment, this system by the technology of eye position that comprises for following the tracks of user so that refinement is to the measurement in the user visual field.Such as, head-mounted display apparatus 2 comprises eye tracker component 134 (see Figure 1B), and this eye tracker component 134 will comprise eye tracking illumination equipment 134A and eye tracking camera 134B (see Fig. 3).In one embodiment, eye tracking illumination source 134A comprises one or more infrared (IR) transmitter, and these infrared transmitters launch IR light to eyes.Eye tracking camera 134B comprises the camera of the IR light that one or more sensing reflects.
By detecting the known imaging technique of the reflection of cornea, the position of pupil can be identified.Such as, see be presented on July 22nd, 2008 people such as Kranz, name is called the United States Patent (USP) 7 of " Head mounted eye trackingand display system (wear-type eye tracking and display system) ", 401,920, this patent is incorporated herein by reference.Such technology can locate the center of eyes relative to the position of following the tracks of camera.Generally speaking, eye tracking relates to the image of acquisition eyes and uses computer vision technique to determine that pupil is in intra position.In one embodiment, the position of following the tracks of eyes is just enough, because eyes as one man move usually.But it is possible for following the tracks of every eyes individually.
In one embodiment, use with 4 of rectangular arrangement infrared (IR) LED and 4 IR photoelectric detectors, makes each angle place of the lens at head-mounted display apparatus 2 there is an IRLED and IR photoelectric detector by this system.Light from LED leaves from eye reflections.The amount of the infrared light detected by each place in 4 IR photoelectric detectors is to determine pupil direction.That is, in eyes, the white of the eye will determine the light quantity left from eye reflections for this specific light photodetector relative to the amount of pupil.Therefore, the tolerance of amount that will have the white of the eye in eyes or pupil of photoelectric detector.From 4 samplings, this system can determine the direction of eyes.
Another replacement scheme uses 4 infrared LEDs like that as discussed below, but only use an infrared imaging device in the side edge of the lens of head-mounted display apparatus 2.This imaging device will use little mirror and/or lens (flake), make this imaging device can carry out imaging from picture frame to the visible eyes up to 75%.Then, this imaging device is by sensing image and use computer vision to find out pupil direction, just as discussed below.Therefore, although Figure 1B shows parts with an IR transmitter, the structure of Figure 1B can be adjusted to has 4 IR transmitters and/or 4 IR sensors.Also the IR transmitter greater or less than 4 and/or the IR sensor greater or less than 4 can be used.
Another embodiment for following the tracks of eyes direction is followed the tracks of based on electric charge.The program is based on following observation: retina carries measurable positive charge and cornea has negative charge.Sensor installs (near earphone 130) to detect the electromotive force of eyes when rotating and effectively to read the ongoing action of eyes in real time by the ear of user.Also other can be used for following the tracks of the embodiment of eyes.
Control circuit 136 provides support the various electronic installations of other assemblies of head-mounted display apparatus 2.The more details of control circuit 136 are providing below with reference to Fig. 3.Be in temple 102 inner or be arranged on temple 102 place have earphone 130, inertial sensor 132 and temperature sensor 138.In one embodiment, inertial sensor 132 comprises three axle magnetometer 132A, three-axis gyroscope 132B and triaxial accelerometer 132C (see Fig. 3).Inertial sensor for sense head-mounted display apparatus 2 position, orientation, accelerate suddenly.
Figure 1B illustrate only the half of head-mounted display apparatus 2.Complete head-mounted display apparatus will comprise another group perspective lens 116 and 118, another Zoom lens 119, another micro-display 120, another lens combination 122, camera 113, eye tracker component 134, earphone 130 and temperature sensor 138 towards room.
Fig. 1 C is the top view of a part for another embodiment of head-mounted display apparatus, and it comprises the Zoom lens being positioned as being had an X-rayed by user.In this example, Zoom lens 119 is liquid lenss.In this embodiment, image is directed in light-guide optical element 112 by reflecting element 124.Light from micro-display 120 is sent to the eyes 140 of the user wearing head-mounted display apparatus 2 by light-guide optical element 112.Light-guide optical element 112 also allows such eyes light being transmitted to user from the front of head-mounted display apparatus 2 by light-guide optical element 112 as indicated by arrow 142, thus except reception is from the direct view of reality also allowing user to have the space in the front of head-mounted display apparatus 2 except the virtual image of micro-display 120.Therefore, the wall of light-guide optical element 112 is perspectives.
Light-guide optical element 112 comprises reflecting surface 124.Light from micro-display 120 passes lens combination 122 and is incident on reflecting surface 124.Reflecting surface 124 reflects the incident light from micro-display 120, in planar substrate light being trapped in by internal reflection comprise light-guide optical element 112.After the some reflections on surface leaving substrate, the light wave of catching arrives the array in selective reflecting face 126.Note, in five surfaces, only have a surface to be marked as 126 to prevent accompanying drawing too crowded.Reflecting surface 126 is by from substrate outgoing and the light wave be incident on these reflectings surface is coupled to the eyes 140 of user.Due to different light rays will propagate with different angles and bullet from the inside of substrate, therefore these different light will hit each reflecting surface 126 with different angles.Therefore, different light rays reflects by the different reflectings surface in described reflecting surface from substrate.About which light by by which surface 126 from the selection that substrate reflection goes out be by select surface 126 proper angle design.The more details of light-guide optical element can be U.S. Patent Application Publication No. 2008/0285140 disclosed in 20 days November in 2008, sequence number 12/214, find in " Substrate-Guided Optical Devices (optical device of substrate guiding) " of 366, the full content of this application is incorporated herein by reference.In one embodiment, every eye will have its oneself light-guide optical element 112.When head-mounted display apparatus has two light-guide optical element, every eye can have its oneself micro-display 120, and this micro-display 120 can show identical image or show different images in two eyes in two eyes.In another embodiment, the light-guide optical element reflected light in two eyes can be there is.
In this example, lens 119 all have flexible film 117a, 117b in both sides.As discussed further in the example of Fig. 2 B3, focal region adjustment unit 139a, 139b can have reservoir and can be used as pump to fill from lens 119 and to remove liquid.
Fig. 1 C illustrate only the half of head-mounted display apparatus 2.Complete head-mounted display apparatus will comprise another Zoom lens 119, another light-guide optical element 112, another micro-display 120, another lens combination 122, camera 113, eye tracker component 134, earphone 130 and temperature sensor 138 towards room.
Fig. 2 A to 2D shows the different embodiments of micro-display parts.Before the characteristic that each embodiment is discussed, provide the discussion to changing focal length.As mentioned above, the configuration of the light treatment element of micro-display parts 173 creates focal length or virtual objects appearance focal region in the picture.Change the focal region that this configuration can change dummy object image.The focal region determined by light treatment element can based on equation 1/S 1+ 1/S 2=1/f determines and changes.
Symbol f represents the focal length of lens, as the lens combination 122 in micro-display parts 173.Lens combination 122 has node and back side node above.If light is arbitrary to be guided forward two nodes relative to the given angle of optical axis, then light by with the equal angles relative to optical axis from another node outgoing.In one example, the back side node of lens combination 122 is by between the micro-display 120 that is in himself and Fig. 1 C or Figure 1B.S can be expressed as from back side node to the distance of micro-display 120 2.Node is in several millimeters of lens combination 122 usually above.Target location is the position of virtual image in the three-dimensional model of user's physical space that will be generated by micro-display 120.(about the more details of model of creation, see below to the discussion of Fig. 9-11A).S can be expressed as from node above to the distance of the target location of virtual image 1.Because image is the virtual image of the same side appearing at lens with micro-display 120, so sign convention illustrates S 1there is negative value.
If the focal length of lens is fixing, then change S 1and S 2virtual objects is focused on different depths.Such as, initial position can make S 1be arranged to unlimited distance, and make S 2equal the focal length of lens combination 122.Assuming that lens combination 122 has the focal length of 10mm, consider that virtual objects will be placed in the example at about 1 foot or 300mm place in the user visual field.S 1approximately that-300mm, f are 10mm and S now 2the current initial position 10mm being arranged on focal length, thus the back side node and micro-display 122 10mm apart that mean lens combination 122.Based on 1/ (-300)+1/S 2=1/10 (unit of all items is millimeter) determines new distance between lens 122 and micro-display 120 or new displacement.Consequently S 2be approximately 9.67mm.
In one example, processing unit 4 can calculate S when making focal distance f fixing 1and S 2shift value, and cause control circuit 136 to make variable adjuster driver 237 (see Fig. 3) send drive singal to allow variable virtual focus adjuster 135 such as along light path 133 mobile lens system 122.In other embodiments, be alternative in or be additional to mobile lens system 122, micro-display unit 120 can be moved.
In other embodiments, the displacement being alternative in or being additional to along light path 133 changes, and also can change the focal length of at least one lens in lens combination 122.Some embodiments of micro-display parts have been shown in Fig. 2 A to 2D.The particular number of shown lens is only example.The lens according to same principle operation of other numbers and configuration can be used.In addition, as mentioned above, fit such lens to be used in micro-display parts to the discussion of adjustable liquid lens and make real world object be in focus place for dummy object being placed on focus place and being used as perspective Zoom lens in the display of expansion reality.
Fig. 2 A is the example of the rotatable lens combination of a part for micro-display for use as near-to-eye.Each in lens 122a to 122d has different focal lengths, and is supported in the dish supporting mass 160 that can be rotated by variable virtual focus adjuster 135.Processing unit 4 is determined focal region and is selected one of focal length lenses to obtain this focal region.As is shown with reference to figure 3, the variable adjuster driver 237 of control circuit 136 sends at least one control signal to rotate this dish to variable virtual focus adjuster 135, and selected lens are aimed at the light path 133 of these parts.
Fig. 2 B1 and Fig. 2 B2 is that the people such as Hongwen are at " Tunable-focus liquid lens controlledusing a servo motor (using the focus adjustable liquid lens of Serve Motor Control) " (OPTICSEXPRESS, on September 4th, 2006, No.18 the 14th volume 8031-8036 page) shown in the example of the liquid lens 158 showing different curvature radius.These liquid lenss can be used as a part for micro-display parts or see-through display lens.The focal length of lens can change by changing radius-of-curvature.Relation between radius of curvature R and focal distance f is by f=R/n liquid-1 is given.The refractive index of the liquid of fluid or lens is n liquid.
This embodiment comprises the supporting mass 157 of such as sealing ring and so on, its have as a part or be connected to its flexible outside film 152, in one embodiment for rubber diaphragm.Outer membrane 152 contacts with the reservoir of fluid 156.Lens coating 150 is positioned at the top of the flexible side of liquid lens 158 or forms this flexible side, and this liquid lens 158 can be received or to reservoir 156 releasing liquid from reservoir 156 by passage 159.In quoted example, flexible lens coating 150 is elastic membranes of such as dimethyl silicone polymer (PDMS) elastic membrane and so on.Glass plate 154 after being in liquid unit provides supporting.The extruding of film 152 and release cause the water of this amount in reservoir 156 to enter and leave liquid lens 158 by passage 159, thus because amount of liquid changes, elastic membrane 150 are protruded and elastic membrane 150 is relaxed.The change of amount of liquid causes the radius-of-curvature of lens coating 150 change and cause the focal length of liquid lens 158 to change thus.The relation that radius-of-curvature and capacity change between Δ V can be expressed as follows:
ΔV＝(1/3)π(2R 2-r 0 2-2R√R 2-r 0 2)(2R+√R 2-r 0 2)
Wherein r 0it is the radius of lens opening.
In the example of micro-display parts 173, when lens 122 are Zoom lens, armature 137 can provide the supporting structure 157 or do not have with glass plate 154 and the flexible film part 152 for variable virtual focus adjuster 135, and this variable virtual focus adjuster 135 is controlled as extruding as shown in Fig. 2 B2 and discharging (see Fig. 2 B1) by control circuit 136.Similarly, be similar to liquid lens 158 and its flexible face 117 is similar in the example of film 150 at perspective variable lens 119, supporting member 139c is similar to the supporting structure 157 or do not have with glass plate 154.Each in side support body 139a, 139b is similar to sidewall 157.Side support body 139a, 139b one or both of can comprise reservoir 156 and flexible outside film 152, and this flexible outside film 152 can be extruded to reservoir 156 and discharge under the control of the driver of control circuit 136.In other embodiments, passage 159 can be opened and closed with rearrange liquids amount.In addition, flexible outside film 152 can be alternative in and use pump.
Fig. 2 B1 and 2B2 provides the example of the optical power being adjusted focus variable liquid lens by machinery adjustment.Also the mode of other rearrange liquids lens can be used.Such as, electricity consumption moistening (electro-wetting) can also be made to change the optical power of liquid lens.The US2008/0117289 that name see people such as Schowengerdt is called " Variable Fixation Viewing Distance Scanned Light Displays (variable watch attentively check the wide display of range sweep) ".
Fig. 2 B3 is another example of focal region adjustment unit, and it may be used for as a part for micro-display parts or the liquid lens as perspective Zoom lens.Lens 158 are arranged as the Zoom lens 119 in Fig. 1 C, and wherein the both sides of lens all have flexible film 150a and 150b, such as 117a and 117b.Focal region adjustment unit 139a and 139b is each can comprise supporting mass 157a, 157b, reservoir 156a, 156b, passage 159a, 159b and outer flexible membrane 152a, 152b, and described outer flexible membrane 152a, 152b can be extruded and release by the actuator of such as piezo actuator or motor and so on or motor under the control of focal region unit drive 239.In other embodiments, passage 159a with 159b also can be opened and closed and work to control the amount of liquid in lens 119 together with pump.
Fig. 2 C is the example of the birefringent lens system of a part for micro-display parts for use as near-to-eye.Birefringent material is anisotropic or orientation-dependent.Illustratively construct, when light is described as light, light is resolved into ordinary ray and extraordinary light by birefringent lens.For anisotropic single axle or optical axis, different refractive indexes and therefore different focal lengths can be there is because of a, different polarization vertical with this axle parallel from this axle.In the figure 2 example, lens 122a and 122b is the lens be made up of the birefringent material of the different polarization had indicated by arrow.In this example of two lens, 4 different refractive indexes can be made a reservation for or focal length for you to choose.Each different focal length can be associated from different focal area and to select for processing unit 4.Polarizability combination can be: the vertical polarization of lens 122a and 122b shown in Fig. 2 C; The vertical polarization contrary with the polarizability shown in Fig. 3 C; Two lens have identical polarizability in one direction; And two lens have identical polarizability on another polarizability direction.In one embodiment, variable virtual focus adjuster can apply voltage to affect selected polarizability to each lens.In another embodiment, physical stress can be applied to change the polarizability of lens.
Fig. 2 D is the example of the lens combination inserted of a part for use as micro-display parts.In this embodiment, each in multiple lens 122 is attached to the corresponding arm 123 being attached to armature 137.One or more optical elements 122 of its such as lens or lens combination 122 and so on are moved to the position of certain displacement place in the light path 133 of micro-display parts by each arm 123 under the control of variable virtual focus adjuster 135.Such as, if use the predetermined displacement for the focal region pre-set, then each lens 122 can be set to separate certain distance with its neighbours, such as separate 0.1 millimeter (mm).Uneven interval and adjustable displacement can also be used.Alternately, the focal length of each institute insertion element can be selected to affect desired virtual image distance.
Adjust above in each example of the focal length of lens, the displacement along light path 133 can also be performed.
The process of microprocessor components and focal region adjustment unit can perform the visual angle of every eyes for corresponding eyes, makes virtual image appear in the present convergence district of user, such as, in the single vision region of Panum confluence area, the i.e. mankind.
Fig. 3 is the block diagram of each assembly depicting head-mounted display apparatus 2.Fig. 4 is the block diagram of each assembly describing processing unit 4.Depict the assembly of head-mounted display apparatus 2 in Fig. 3, this head-mounted display apparatus 2 is for being provided in user to the virtual image focused in the view of real world.Additionally, the head-mounted display apparatus assembly of Fig. 3 comprises the multiple sensors following the tracks of various situation.The instruction that head-mounted display apparatus 2 will receive from processing unit 4 about virtual image, and sensor information is provided back to processing unit 4.Depict the assembly of processing unit 4 in Fig. 4, this processing unit 4 will receive heat transfer agent from head-mounted display apparatus 2 and from maincenter computing equipment 12 (see Fig. 1).Based on this information, processing unit 4 will be determined wherein and when provide focusing virtual image also correspondingly instruction to be sent to the head-mounted display apparatus of Fig. 3 to user.
Note, some (such as towards the camera 113 of physical environment, eye tracking camera 134B, variable virtual focus adjuster 135, focal region adjustment unit 139, micro-display 120, eye tracking illumination 134A, earphone 130 and temperature sensor 138) in the assembly of Fig. 3 illustrate with shade, to indicate each existence two in these equipment, one of them is for the left side of head-mounted display apparatus 2, a right side for head-mounted display apparatus 2.Fig. 3 illustrates the control circuit 200 communicated with electric power management circuit 202.Control circuit 200 comprises processor 210, carries out the Memory Controller 212, camera interface 216, camera buffer zone 218, display driver 220, display format device 222, timing generator 226, the display translation interface 228 that communicate and show input interface 230 with storer 214 (such as D-RAM).In one embodiment, all component of control circuit 220 communicates each other via the dedicated line of one or more bus.In another embodiment, each assembly of control circuit 200 communicates with processor 210.Camera interface 216 is provided to two interfaces towards the camera 113 of physical environment, and is stored in from the image received by the camera towards physical environment in camera buffer zone 218.Display driver 220 will drive micro-display 120.Display format device 222 can provide the information relevant with the virtual image be displayed on micro-display 120 to one or more processors of one or more computer systems (such as 4,12,210) of the process of the real system of this expansion of execution.Timing generator 226 is used to provide timing data to this system.Display translation 228 is the buffer zones for image to be supplied to processing unit 4 from the camera 113 towards physical environment.Display input 230 is buffer zones of the image for receiving the virtual image that such as will show on micro-display 120 and so on.Display translation 228 communicates with the band interface 232 as the interface to processing unit 4 with display input 230.
Electric power management circuit 202 comprises voltage regulator 234, eye tracking illumination driver 236, variable adjuster driver 237, focal region unit drive 239, audio frequency DAC and amplifier 238, microphone preamplifier and audio ADC 240, temperature sensor interface 242 and clock generator 244.Voltage regulator 234 receives electric energy by band interface 232 from processing unit 4, and this electric energy is supplied to other assemblies of head-mounted display apparatus 2.Eye tracking illumination driver 236 is as described above for eye tracking illumination 134A provides IR light source.Audio frequency DAC and amplifier 238 are from earphone 130 audio reception information.Microphone preamplifier and audio ADC 240 provide the interface of microphone 110.Temperature sensor interface 242 is the interfaces for temperature sensor 138.Power Management Unit 202 also provides electric energy to three axle magnetometer 132A, three-axis gyroscope 132B and three axis accelerometer 132C and connects unrecoverable data from it.
Variable adjuster driver 237 provides the control signal of such as drive current or driving voltage and so on to reach the displacement for the focal region calculated by processing unit 4 or maincenter computing system 12 or the software that performs in the two with one or more elements of mobile micro-display parts to adjuster 135.Inswept certain limit displacement and in the embodiment of the therefore focal region of inswept certain limit, variable adjuster driver 237 is from timing generator 226 or alternately receive timing signal from clock generator 244, to operate with programmed speed or frequency.
In machinery adjustment example, focal region unit drive 239 provides the control signal of such as driver current or driving voltage and so on to carry out one or more elements of mobile unit 139 to change the optical power of Zoom lens 119 based on the adjusted value calculated at processing unit 4 or maincenter computing machine 12 or the software that runs in the two to focal region adjustment unit 139.Such as, comprise reservoir 156 and can be extruded in the drive singal from focal region unit drive 239 or discharge to the flexible film 152 of side support body one of 139a, 139b of the passage 159 of the liquid in lens 119 by the actuator response of such as piezo actuator and so on.
Fig. 4 is the block diagram of each assembly describing processing unit 4.Fig. 4 illustrates the control circuit 304 communicated with electric power management circuit 306.Control circuit 304 comprises: CPU (central processing unit) (CPU) 320; Graphics Processing Unit (GPU) 322; High-speed cache 324; RAM 326; The Memory Controller 328 that communicates is carried out with storer 330 (such as D-RAM); The flash controller 332 that communicates is carried out with flash memory 334 (or non-volatile memories of other types); The display translation buffer zone 336 communicated is carried out by band interface 302 and band interface 232 and head-mounted display apparatus 2; The display input block 338 communicated is carried out via band interface 302 and band interface 232 and head-mounted display apparatus 2; The microphone interface 340 that communicates is carried out, for being connected to the PCI express interface of Wireless Telecom Equipment 346 with the external speaker connector 342 for being connected to microphone; And USB port 348.In one embodiment, wireless communication components 346 can comprise the .USB port such as communication facilities, Bluetooth communication equipment, infrared communication device enabling Wi-Fi and may be used for processing unit 4 to be docked to maincenter computing equipment 12, to charge in data or Bootload to processing unit 4 and to processing unit 4.In one embodiment, CPU 320 and GPU 322 being for determining wherein, in the visual field of user, when and how inserting the main load equipment of virtual image.More details is provided below.
Electric power management circuit 306 comprises clock generator 360, analog to digital converter 362, battery charger 364, voltage regulator 366, head mounted display power supply 376 and carries out with temperature sensor 374 temperature sensor interface 372 (it is positioned on the wrist strap (wrist band) of processing unit 4) that communicates.Ac to dc converter 362 is connected to charging socket 370 to receive AC power supplies also for this system produces DC power supply.Voltage regulator 366 with for providing the battery 368 of electric energy to communicate to this system.Battery charger 364 is used to charge (by voltage regulator 366) when receiving electric energy from charging jacks 370 to battery 368.HMD power interface 376 provides electric energy to head-mounted display apparatus 2.
Virtual image is inserted in the visual field of user by being configured to by said system, makes this virtual image be focusing or out of focus naturally In the view of user.In various embodiments, the environment be inserted into based on this image is adjusted to and matches with suitable orientation, size and shape by virtual image.In one embodiment, head-mounted display apparatus 2, processing unit 4 and maincenter computing equipment 12 work together, because wherein, when and how each equipment comprise the subset for obtaining the sensor for determining the data inserting virtual image.In one embodiment, determine that wherein, how and when the calculating of inserting virtual image performed by maincenter computing equipment 12.In another embodiment, these calculating are performed by processing unit 4.In another embodiment, some in these calculating are performed by maincenter computing equipment 12, and other calculating are performed by processing unit 4.In other embodiments, these calculating can be performed by head-mounted display apparatus 2.
In one exemplary embodiment, maincenter computing equipment 12 by the model of the environment residing for establishment user, and follows the tracks of multiple mobile objects in this context.In addition, maincenter computing equipment 12 follows the tracks of the visual field of head-mounted display apparatus 2 by the position and orientation of following the tracks of head-mounted display apparatus 2.This model and trace information are supplied to processing unit 4 by from maincenter computing equipment 12.The sensor information obtained by head-mounted display apparatus 2 is transmitted to processing unit 4.Then, processing unit 4 uses it come the visual field of refining user from other sensor informations that head-mounted display apparatus 2 receives and to provide about how to head-mounted display apparatus 2, wherein and when insert the instruction of virtual image.
Fig. 5 shows the exemplary embodiment of the maincenter computing system 12 with capture device.In one embodiment, capture device 20A and 20B is identical structure, and therefore, Fig. 5 illustrate only capture device 20A.
According to an exemplary embodiment, the any suitable technology that capture device 20A can be configured to by comprising such as flight time, structured light, stereo-picture etc. catches the video with depth information comprising depth image, and this depth image can comprise depth value.According to an embodiment, capture device 20A depth information can be organized into " Z layer " or can be vertical with the Z axis extended from depth camera along its sight line layer.
As shown in Figure 5, capture device 20A can comprise photomoduel 423.According to an exemplary embodiment, photomoduel 423 can be or can comprise the depth camera of the depth image that can catch scene.Depth image can comprise two dimension (2-D) pixel region of caught scene, each pixel wherein in 2-D pixel region can represent depth value, the object in such as caught scene and the camera distance such as in units of centimetre, millimeter etc. apart.
Photomoduel 23 can comprise infrared (IR) optical assembly 425 that can be used for the depth image catching scene, three-dimensional (3D) camera 426 and RGB (visual pattern) camera 428.Such as, in ToF analysis, then the IR optical assembly 425 of capture device 20A can by infrared light emission in scene, and can use sensor (comprising unshowned sensor in certain embodiments), such as use 3D camera 426 and/or RGB camera 428 to detect the backward scattered light in surface from the one or more target scene and object.In certain embodiments, pulsed infrared light can be used, make it possible to time of measuring between outgoing light pulse and corresponding incident light pulse and use it for the physical distance determined from capture device 20A to the target scene or the ad-hoc location on object.Additionally, in other exemplary embodiments, the phase place of the phase place of outgoing light wave and incident light wave can be compared and determine phase shift.Then this phase in-migration can be used to determine the physical distance of the ad-hoc location from capture device to target or on object.
According to another exemplary embodiment, ToF analysis can be used, with the physical distance by indirectly determining via the various technical Analysis folded light beams intensity in time comprising such as shutter light pulse imaging and so on from capture device 20A to the ad-hoc location target or object.
In a further exemplary embodiment, capture device 20A can use structured light to catch depth information.In such analysis, patterning light (that is, being shown as the light of the known pattern of such as lattice, candy strip or different pattern and so on) can be projected in scene via such as IR optical assembly 424.Time on the surface of the one or more target fallen in scene or object, responsively, pattern deformable.This distortion of pattern can be caught by such as 3D camera 426 and/or RGB camera 428 (and/or other sensors), then can be analyzed with the physical distance determining the ad-hoc location from capture device to target or on object.In some embodiments, IR optical assembly 425 is opened with camera 425 and 426 points, makes it possible to use triangulation to determine and camera 425 and 426 distance apart.In some embodiments, capture device 20A will comprise the special I R sensor of sensing IR light or have the sensor of IR light filter.
According to another embodiment, capture device 20A can comprise two or more cameras separated physically, and these cameras can from different angle views scenes to obtain visual stereoscopic data, and these visual stereoscopic data can be resolved to generate depth information.Also the depth image sensor of other types can be used to create depth image.
Capture device 20A can also comprise microphone 430, and described microphone 430 comprises can receive sound and the transducer or the sensor that convert thereof into electric signal.Microphone 430 can be used for receiving the sound signal that also can be supplied to maincenter computing system 12.
In an example embodiment, capture device 20A also can comprise and can carry out with image camera component 423 processor 432 that communicates.Processor 432 can comprise the standard processor, application specific processor, microprocessor etc. of executable instruction, these instructions such as comprise for receiving depth image, generating suitable data layout (such as, frame) and data being sent to the instruction of maincenter computing system 12.
Capture device 20A also can comprise storer 434, and this storer 434 can store the instruction performed by processor 432, the image caught by 3D camera and/or RGB camera or picture frame or any other suitable information, image etc.According to an exemplary embodiment, storer 434 can comprise random access memory (RAM), ROM (read-only memory) (ROM), high-speed cache, flash memory, hard disk or any other suitable memory module.As shown in Figure 5, in one embodiment, storer 434 can be the independent assembly carrying out with image capture assemblies 423 and processor 432 communicating.According to another embodiment, memory assembly 434 can be integrated in processor 432 and/or image capture assemblies 422.
Capture device 20A with 20B is communicated with maincenter computing system 12 by communication link 436.Communication link 436 can be comprise the wired connection of such as USB connection, live wire connection, the connection of Ethernet cable and so on and/or the wireless connections of such as wireless 802.11b, 802.11g, 802.11a or 802.11n connection and so on.According to an embodiment, maincenter computing system 12 can provide by communication link 436 clock that can be used for determining such as when to catch scene to capture device 20A.Additionally, the depth information caught by such as 3D camera 426 and/or RGB camera 428 and vision (such as RGB) image are supplied to maincenter computing system 12 by communication link 436 by capture device 20A.In one embodiment, depth image and visual pattern transmit with the speed of 30 frames per second, but can use other frame rate.Maincenter computing system 12 then can model of creation and use a model, depth information and the image that catches such as control such as to play or word processing program etc. application and/or make incarnation or the upper character animation of screen.
Maincenter computing system 12 comprises depth image process and skeleton tracking module 450, one or more people that the depth camera Function detection that this module uses depth image to follow the tracks of the equipment 20A that can be captured arrives.Depth image process and skeleton tracking module 450 provide trace information to application 452, and this application can be video-game, full-scale application, communications applications or other software application etc.Voice data and visual image data are also provided to application 452 and depth image process and skeleton tracking module 450.Trace information, voice data and visual image data are supplied to recognizer engine 454 by application 452.In another embodiment, recognizer engine 454 directly receives trace information from depth image process and skeleton tracking module 450, and directly from capture device 20A and 20B audio reception data and visual image data.
Recognizer engine 454 and filtrator 460,462,464 ..., 466 set be associated, each filtrator comprises the information of posture that anyone or the object that detect about equipment 20A or 20B that can be captured perform, action or situation.Such as, from capture device 20A data can by filtrator 460,462,464 ..., 466 to process, to identify a user or when one group of user has performed one or more posture or other actions.These postures can be associated with the various controls of application 452, object or situation.Therefore, recognizer engine 454 and filtrator one can be used from the movement of explanation and tracking object (comprising people) by maincenter computing system 12.
Capture device 20A and 20B provides RGB image (or visual pattern of extended formatting or color space) and depth image to maincenter computing system 12.Depth image can be multiple pixels observed, wherein each pixel observed has the depth value observed.Such as, depth image can comprise two dimension (2D) pixel region of caught scene, and each pixel wherein in 2D pixel region can have depth value, the object in such as caught scene and capture device distance apart.The movement that maincenter computing system 12 will use RGB image and depth image to follow the tracks of user or object.Such as, system will use depth image to follow the tracks of the skeleton of people.Can make in many ways with the skeleton by using depth image to follow the tracks of people.The U.S. Patent application 12/603 using depth image to follow the tracks of the suitable example of of skeleton to submit on October 21st, 2009 people such as Craig, there is provided in 437 " Pose Tracking Pipeline (Attitude Tracking streamlines) " (applying for hereinafter referred to as ' 437), the full content of this application is incorporated herein by reference.The process of ' 437 applications comprises: obtain depth image; Carry out down-sampled to data; Remove and/or smoothing high variance noise data; Identify and remove background; And by each different parts distributing to health in foreground pixel.Based on these steps, system will make a models fitting to these data and create skeleton.The connection that this skeleton will comprise between one group of joint and these joints.Also the additive method for following the tracks of can be used.Suitable tracking technique is also disclosed in following four U.S. Patent applications, the full content of described patent is all incorporated herein by reference: on May 29th, 2009 submit to U.S. Patent application 12/475,308 " Device for Identifyingand Tracking Multiple Humans Over Time (for identifying and follow the tracks of the equipment of multiple mankind in time) "; In the U.S. Patent application 12/696,282 " Visual Based IdentityTracking (identity of view-based access control model is followed the tracks of) " that on January 29th, 2010 submits to; U.S. Patent application 12/641,788 " Motion Detection Using Depth Images (using the motion of depth image to detect) " is submitted on Dec 18th, 2009; And in the U.S. Patent application 12/575,388 " Human TrackingSystem (human tracking system) " of submission on October 7th, 2009.
Recognizer engine 454 comprise multiple filtrator 460,462,464 ..., 466 determine posture or action.Filtrator comprises definition posture, action or situation and this posture, action or the parameter of situation or the information of metadata.Such as, comprise a hand and can be implemented as the posture of a hand from health behind through the information of preaxial motion comprising expression user behind through the throwing of preaxial motion from health, because this motion will be caught by depth camera.Then can be this posture setup parameter.When posture be throw time, parameter can be that the distance (absolute, or relative to the overall size of user) that must advance of threshold velocity, this hand that this hand must reach and recognizer engine are to the degree of confidence grading that there occurs this posture.These parameters for posture can change in time between each application, between each context of single application or in a context of an application.
Filtrator can be modular or interchangeable.In one embodiment, filtrator has multiple input (each in these inputs has a type) and multiple output (each in these outputs has a type).First filtrator can be replaced with the second filtrator had with the input and output of the first filtrator equal number and type and not change any other aspect of recognizer exchange architecture.Such as, the first filtrator for driving may be had, this first filtrator using skeleton data as inputting and exporting the occurent degree of confidence of the posture be associated with this filtrator and steering angle.When this first driving filtrator is replaced in hope with the second driving filtrator (this may be because second drives filtrator more efficient and need less process resource), can make like this by replacing the first filtrator of the second filtrator simply, as long as the second filtrator has same input and output---an input of skeleton data type and two outputs of confidence categories and angular type.
To the input of filtrator can comprise such as formed about the joint data of the joint position of user, the bone that intersects at joint angle, from contents such as the rgb color data of scene and the rate of changes in a certain respect of user.Output from filtrator can comprise the degree of confidence of such as just making given posture, the speed of making posture movements and the content such as time of making posture movements.
Recognizer engine 454 can have the base recognizer engine providing function to filtrator.In one embodiment, the function that recognizer engine 454 realizes comprises: the input in time (input-over-time) following the tracks of posture and other inputs identified is filed; (system of wherein institute's modeling is assumed that the current state of Markovian process-wherein encapsulates any past state information for determining state in the future to hidden Markov model embodiment, therefore need not safeguard that process-this process of any other past state information has unknown parameter for this purpose, and hiding parameter is determined from observable data); And solve other functions of particular instance of gesture recognition.
Filtrator 460,462,464 ..., 466 load on recognizer engine 454 and realize, and can utilize recognizer engine 454 be supplied to all filtrator 460,462,464 ..., 466 service.In one embodiment, recognizer engine 454 receive data to determine these data whether meet any filtrator 460,462,464 ..., 466 requirement.Due to these services of such as resolving input and so on provided be by recognizer engine 454 disposable provide but not by each filtrator 460,462,464 ..., 466 to provide, therefore such service only need be processed once within a period of time instead of this time period to each filter process once, because this reducing the process determined needed for posture.
The filtrator 460 that application 452 can use recognizer engine 454 to provide, 462,464 ..., 466, or it can provide its oneself, the filtrator be inserted in recognizer engine 454.In one embodiment, all filtrators have the general-purpose interface enabling this insertion characteristic.In addition, all filtrators can utilize parameter, and following single posture instrument therefore can be used to diagnose and regulate whole filter system.
About the U.S. Patent application 12/422 that the more information of recognizer engine 454 can be submitted on April 13rd, 2009, find in 661 " Gesture Recognizer System Architecture (gesture recognizer system architecture) ", this application is incorporated herein by reference in their entirety.About identifying the U.S. Patent application 12/391,150 " Standard Gestures (standard gestures) " that the more information of posture can be submitted on February 23rd, 2009; And find in the U.S. Patent application 12/474,655 " Gesture Tool (posture instrument) " of submission on May 29th, 2009, the full contents of these two applications are all incorporated herein by reference.
Fig. 6 shows the exemplary embodiment that can be used for the computing system realizing maincenter computing system 12.As shown in Figure 6, multimedia console 500 has the CPU (central processing unit) (CPU) 502 containing on-chip cache 501, second level cache 504 and flash rom (ROM (read-only memory)) 506.Therefore on-chip cache 502 and second level cache 504 temporary storaging data also reduce number of memory access cycles, improve processing speed and handling capacity thus.CPU 501 can be provided as has more than one core, and has additional 1 grade and 2 grades of high-speed caches 502 and 504 thus.Flash rom 506 can be stored in when multimedia console 500 is energized at the executable code that bootup process initial phase loads.
Graphics Processing Unit (GPU) 508 and video encoder/video codec (encoder/decoder) 514 are formed and are used at a high speed and the video processing pipeline of high graphics process.Data are transported from Graphics Processing Unit 508 to video encoder/video codec 514 via bus.Video processing pipeline exports data to A/V (audio/video) port 540, for transferring to TV or other displays.Memory Controller 510 is connected to GPU 508 to facilitate the various types of storer 512 of processor access, such as but be not limited to RAM (random access memory).
Multimedia console 500 comprises the I/O controller 520, System Management Controller 522, audio treatment unit 523, network interface controller 524, a USB master controller 526, the 2nd USB controller 528 and the front panel I/O subassembly 530 that preferably realize in module 518.USB controller 526 and 528 is used as the main frame of peripheral controllers 542 (1)-542 (2), wireless adapter 548 and external memory equipment 546 (such as flash memory, external CD/DVD ROM driver, removable medium etc.).Network interface 524 and/or wireless adapter 548 provide to network (such as, the Internet, home network etc.) access, and can be any one in the various different wired or wireless adapter assembly comprising Ethernet card, modulator-demodular unit, bluetooth module, cable modem etc.
There is provided system storage 543 to the application data loaded during being stored in bootup process.There is provided media drive 544, and it can comprise DVD/CD driver, blu-ray drive, hard disk drive or other removable media drives etc.Media drive 144 can be positioned at inside or the outside of multimedia console 500.Application data can be accessed via media drive 544, to be performed by multimedia console 500, playback etc.Media drive 544 connects buses such as (such as IEEE 1394) via such as Serial ATA bus or other high speeds and is connected to I/O controller 520.
System Management Controller 522 provides the various service functions relating to the availability guaranteeing multimedia console 500.Audio treatment unit 523 and audio codec 532 form the audio processing pipeline with the correspondence of high fidelity and stereo process.Voice data transmits between audio treatment unit 523 and audio codec 532 via communication link.Data are outputted to A/V port 540 for external audio user or the equipment reproduction with audio capability by audio processing pipeline.
The function of the power knob 550 that the support of front panel I/O subassembly 530 is exposed on the outside surface of multimedia console 100 and ejector button 552 and any LED (light emitting diode) or other indicators.System power supply module 536 is to the assembly power supply of multimedia console 100.Fan 538 cools the circuit in multimedia console 500.
Other assemblies various in CPU 501, GPU 508, Memory Controller 510 and multimedia console 500 are via one or more bus interconnection, and bus comprises serial and parallel bus, memory bus, peripheral bus and to use in various bus architecture any one processor or local bus.Exemplarily, these frameworks can comprise peripheral parts interconnected (PCI) bus, PCI-Express bus etc.
When multimedia console 500 is energized, application data can be loaded into storer 512 and/or high-speed cache 502,504 from system storage 543 and perform at CPU 501.Application can be presented on the graphic user interface of the Consumer's Experience providing consistent when navigating to different media types available on multimedia console 500.In operation, the application comprised in media drive 544 and/or other media can start from media drive 544 or play, to provide additional function to multimedia console 500.
Multimedia console 500 is by being connected to televisor or other displays simply and operating as autonomous system using this system.In this stand-alone mode, multimedia console 500 allows one or more user and this system interaction, sees a film or listen to the music.But, along with by network interface 524 or wireless adapter 548 can broadband connection integrated, the participant that multimedia console 500 also can be used as in more macroreticular community operates.Additionally, multimedia console 500 can be communicated with processing unit 4 by wireless adapter 548.
When multimedia console 500 is energized, the hardware resource that can retain set amount does system use for multimedia console operating system.These resources can comprise the reservation of storer, CPU and GPU cycle, the network bandwidth etc.Because these resources retain when System guides, so the resource retained is non-existent from the angle of application.Specifically, storer retains preferably enough large, starts kernel, concurrent system application and driver to comprise.CPU reservation is preferably constant, and the CPU consumption retained if make is not used by system application, then idle thread will consume any untapped cycle.
Retain for GPU, show the lightweight messages (such as, pop-up window) generated by system application, described display is by using GPU to interrupt scheduling code so that pop-up window is rendered as coverage diagram.Amount of memory needed for coverage diagram depends on overlay area size, and the coverage diagram preferably proportional convergent-divergent with screen resolution.When concurrent system application uses full user interface, preferably use the resolution independent of application resolution.Scaler (scaler) can be used for arranging this resolution, thus eliminates changing frequency and causing the demand of TV re-synchronization.
After multimedia console 500 guides and system resource is retained, execution concurrence system should be used to provide systemic-function.Systemic-function is encapsulated in the group system application performed in above-mentioned retained system resource.Operating system nucleus mark is the thread of system application thread and non-gaming application thread.System application is preferably scheduled as in the schedule time and runs on CPU 501 with predetermined time interval, to provide consistent system resource view for applying.Carry out dispatching is in order to the cache disruption caused by the game application run on control desk is minimized.
Optional input equipment (such as, controller 542 (1) and 542 (2)) is by game application and system Application share.Input equipment is not reservation of resource, but switches to make it have the focus of equipment separately between system application and game application.The switching of application manager preferably control inputs stream, and without the need to knowing the knowledge of game application, and the status information that driver maintenance regarding focus switches.Capture device 20A and 20B can be come for control desk 500 defines additional input equipment by USB controller 526 or other interfaces.In other embodiments, maincenter computing system 12 can use other hardware structures to realize.A kind of hardware structure is not had to be required.
Shown in Fig. 3,4,5 and 6, exemplary computer system comprises the example of computer-readable recording medium.Such medium can comprise the volatibility and non-volatile, removable and irremovable medium that realize for any method or technology that store the information such as such as computer-readable instruction, data structure, program module or other data.Computer-readable storage medium comprises, but be not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage, memory stick or storage card, tape cassete, tape, disk storage or other magnetic storage apparatus, maybe can be used for storing information needed and can by other medium any of computer access.Some examples of computer-readable recording medium in accompanying drawing comprise the storer 214 of Fig. 3, the flash memory 334 of Fig. 4, storer 330, RAM 326 and high-speed cache 324, the ROM 506 of the storer 434 of Fig. 5 and Fig. 6, high-speed cache 502,504, storer 512, system storage 543, memory cell 546 and media drive 544.
Figure 1A depicts the head-mounted display apparatus 2 and processing unit 4 (being referred to as mobile display device) that communicate with a maincenter treatment facility 12 (being called maincenter).In another embodiment, multiple mobile display device can communicate with single maincenter.Each mobile display device will use radio communication to communicate with maincenter as described above.In such embodiments it is contemplated that to be of value in the information of all mobile display devices many all will be calculated at maincenter place and store and send each mobile display device to.Such as, this model is supplied to all mobile display devices communicated with this maincenter by the model of build environment by maincenter.Additionally, maincenter can follow the tracks of position and the orientation of the mobile object in mobile display device and room, and then gives each mobile display device by this information transmission.
In another embodiment, virtual and focus that is real content can be changed into for user is that the multi-user system focused on can comprise multiple maincenter, and wherein each maincenter comprises one or more mobile display device.These maincenters can directly or by the Internet (or other networks) communicate with one another.Such as, Fig. 7 shows maincenter 560,562 and 564.Maincenter 560 directly communicates with maincenter 562.Maincenter 560 is communicated with maincenter 564 by the Internet.Maincenter 560 communicates with mobile display device 570,572 574.Maincenter 562 communicates with mobile display device 578,580 582.Maincenter 564 communicates with mobile display device 584,586 588.Each mobile display device is as discussed above by its corresponding maincenter communication of radio communication.If these maincenters are in common environment, then each maincenter can provide a part for the model of this environment, or a maincenter can create this model for other maincenters.Each maincenter is by the subset of following the tracks of mobile object and this information and other maincenters are shared, other maincenters described and then share this information by with suitable mobile display device.Sensor information for mobile display device will be provided to its corresponding maincenter, and then share with other maincenters for final shared with other mobile display devices.Therefore, the information shared between maincenter can comprise skeleton tracking, the information about model, various application state and other tracking.The information transmitted between maincenter and corresponding mobile display device thereof comprises: the trace information of mobile object, the state of world model and physical update, geometry and texture information, Audio and Video and other information for performing operation described herein.
Fig. 8 depicts the process flow diagram of an embodiment for the process focus in the display of expansion reality improved, and wherein this process is performed by assembly discussed above.In step 602, configure this system.Such as, applying (application 452 of such as Fig. 5) can be instruction by this system configuration: particular virtual image (it represents dummy object) will be inserted into the specified location in the three-dimensional model of scene.Consider following example: fill vacant room to change this vacant room into virtual reality with dummy object.In another example, application maincenter computing system 12 run will indicate: the part as video-game or other processes is inserted in this scene by specific virtual image (it represents dummy object).
In step 604, this system is by the volume-based model in the space residing for establishment head-mounted display apparatus 2.Such as in one embodiment, maincenter computing equipment 12 will use the three-dimensional model creating environment residing for head-mounted display apparatus 2 or space from the depth image of one or more depth camera.In step 606, this model is divided into one or more object.Such as, if maincenter computing equipment 12 creates the three-dimensional model in room, then this room probably has multiple object inside.The example that can be in the object in room comprises: people, chair, desk, couch etc.Step 606 comprises: determine object different from each other.In step 608, this system will identify these objects.Such as, maincenter computing equipment 12 can identify: certain objects is desk and another object is chair.
At the step 610a of Fig. 8, system determines the visual field of user based on the model of user's space.That is, this system is determined: user checks which part in this environment or space.In one embodiment, step 610a is the cooperative work of use maincenter computing equipment 12, processing unit 4 and head-mounted display apparatus 2.In an illustrative embodiments, maincenter computer equipment 12 will follow the tracks of user and head-mounted display apparatus 2 to provide tentatively determining of the position of head-mounted display device 2 and orientation.Sensor on head-mounted display apparatus 2 will be used for the determined orientation of refinement.Such as, above-mentioned inertial sensor 34 may be used for the orientation of refinement head-mounted display apparatus 2.Additionally, above-mentioned eye tracking process can be used specifically to check with user the subset (being separately called the user focal region in the visual field or degree of depth focus) that part is corresponding to what identify the initial determined visual field.Below with reference to Figure 14,15 and 16, more details are described.
In step 610b, this system of software such as performed in processing unit 4 and so on determines the present convergence district of user in the visual field of this user.As below in Figure 15 and 16 by discussing further, the eye tracking process based on the data caught for every eyes by eye tracking camera 134 can provide the present convergence district of user.Such as, when there being data indicating user face, the concentrated focus that may be used in triangle mensuration focusing curve, horopter between pupil, can calculate focal region, Panum confluence area from this focus.Panum confluence area is the single vision region of the binocular stereo vision that human eye uses.
In step 611, focal region adjustment unit 139 under the control of processing unit 4 by control circuit 136 being positioned as being adjusted to by the Zoom lens 119 of at least one eye perspective focusing on current user focus district.Below with reference to Figure 12 A and 12B, more details are described.
As shown in step 611, the assembly that the focal length of Zoom lens is shown equipment 2 is automatically adjusted to and focuses in current user focus district.User need not change to take action when he or she checks part this user and changes the focus of Zoom lens.
In step 612, micro-display parts 173 are in real world focal length place by being shown as by one or more dummy object by control circuit 136 under the control of processing unit 4 user in the visual field of user's space model.
That is, this system depth of focus place that user checks in the visual field of user while user is undertaken checking by head-mounted display apparatus 2 display virtual image.Dummy object can be stationary object or mobile object.
In step 614, under software control, processing unit 4 optionally can carry out vision enhancement to the object in the user visual field individually or with maincenter computing equipment 12 collaboratively.Such as, vision enhancement can be carried out with the dummy object in the user visual field to real world object, to strengthen the perception of user to this object.With reference to Figure 19, the embodiment utilizing virtual image real world object to be carried out to the process of such enhancing is discussed below.
In step 616, the user of head-mounted display apparatus 2 will come with the application operated on maincenter computing equipment 12 (or another computing equipment) mutual based on dummy object shown in head-mounted display apparatus 2.Each by what describe in step 604-614 in more detail below.Additionally, each in those steps in these steps and accompanying drawing below can use nearly eye display device 2 along with user and change his or her focal region when changing his or her viewpoint and perform continuously or repeat.Such as, upgrade three-dimensional model like that as discussed below, along with user moves in surrounding or moves his or her eyes and determine the user visual field and focal region.Make these adjustment with user or the object of catching up with movement in space.
Fig. 9 depicts the process flow diagram of an embodiment of the process of the three-dimensional model for creating space.Such as, the process of Fig. 9 is an illustrative embodiments of the step 604 of Fig. 8.In step 640, maincenter computing system 12 receives one or more depth images at multiple visual angles in the space residing for head-mounted display apparatus 2.Such as, maincenter computing equipment 12 can obtain depth image from multiple depth camera, or obtains multiple depth image by the camera making camera sensing different directions or use have following lens from same camera: these lens allow to build the full view in the space of model.In step 642, combine the depth data from each depth image based on common coordinate system.Such as, if this system receives depth image from multiple camera, then two images are correlated with to have common coordinate system (such as making image come into line) by this system.
Figure 10 depicts the process flow diagram of an embodiment of the process for the model in space being divided into object.Such as, the process of Figure 10 is an illustrative embodiments of the step 606 of Fig. 8.In the step 680 of Figure 10, this system will receive one or more depth image from one or more depth camera as discussed above.Alternately, this system can access its one or more depth images received.In step 682, this system will receive one or more visual pattern from camera as described above.Alternately, this system can access the one or more visual patterns received.In step 684, maincenter computing system 12 will detect one or more people based on depth image and/or visual pattern.Such as, this system will identify one or more skeleton.In step 686, the edge that maincenter computing equipment 12 will detect based on depth image and/or visual pattern in this model.In step 688, the edge detected by use is identified object different from each other by maincenter computing equipment 12.Such as, assuming that: these edges are the borders between object.Nearly eye display device 2 as below for Figure 19 discuss provide and utilize virtual image to see better in the embodiment of real world object to help user the enhancing that real world object carries out, processing unit 4 can send message to maincenter computing equipment 12 and carry out vision enhancement for its generating virtual image to real world object for the marginal date of selected real world object to send.In another embodiment, maincenter computing equipment 12 generates the virtual image of the vision enhancement had real world object, and is sent to by this virtual image processing unit 4 to show this image to cause micro-display unit 120.In step 690, the model process upgrading use Fig. 9 created is to illustrate: which part of this model is associated from different objects.
Figure 11 is the process flow diagram of an embodiment of the process described for identifying object.Such as, the process of Figure 11 is an illustrative embodiments of the step 608 of Fig. 8.In step 710, identified people is mated with user identity by maincenter computing equipment 12.Such as, this system can have user profiles, and described user profiles has the visual pattern that can match with the image of detected object.Alternately, user profiles can describe the feature of the people can mated based on depth image or visual pattern.In another embodiment, user can to log in system and maincenter computing equipment 12 can use landfall process to identify specific user and to follow the tracks of this user in mutual whole process described herein.In step 712, maincenter computing equipment 12 will access shape database.In step 714, the multiple object in model mates with the shape in database by maincenter computing equipment.In step 716, outstanding those shapes unmatched are displayed it to user's (such as use monitor 16).In step 718, maincenter computing equipment 12 will receive user's input of each (or its subset) identified in given prominence to shape.Such as, user can use keyboard, mouse, the input of phonetic entry or other types indicates: what each shape do not identified is.In step 720, upgrade shape database based on the user's input in step 718.In step 722, upgraded further by the metadata of adding each object and be created and the environmental model be updated in step 606 in step 604.This metadata identifies this object.Such as, this metadata can indicate: certain objects be in polish table, someone, green corium couch etc. around.
Figure 11 A depicts the process flow diagram of an embodiment of the process for upgrading the model created by the process of Fig. 9 in response to mobile object (people of such as movement or the object of other types).In step 728, this system determination object is moving.Such as, system will receive depth image constantly.If depth image changes in time, then object is moving.If mobile object do not detected, then continuation is received depth image and continues to find mobile object by this system.
If there is mobile object, then in step 730, this system will identify the object of movement.Frame difference or various any tracking technique can be used to identify mobile object, and identified object is relevant to one of object that the step 608 at Fig. 8 identifies.Some objects will change shape when mobile.Such as, the mankind in its walking or may change shape when running.In step 732, identify and the new shape of storing mobile object.In step 734, the environmental model created before upgrading based on the new position of mobile object and shape.The process of Figure 11 A can be performed by the processing unit 4 of maincenter computing equipment 12.
Figure 12 A depicts the process flow diagram of the embodiment for Zoom lens being adjusted to the process in current user focus district.Under software control, processing unit 4 determines the focal length from the eyes of user to the determined focus current user focus district in step 750 individually or with maincenter computing system 12 collaboratively.As above and below discuss, can from eye tracking data determination focus.In one example, can come from the starting point throw light close with the retina of every eyes based on the meet measurement of terminal angulation of part of the position of every eyes and every eye and the light from every eyes.This terminal may be selected focus.In another example, this focus can be determined from based on the contextual deduction process with the position of account, the object of scene and performed application (such as 452).Can also use and locate simultaneously and map (SLAM) technology.In other examples, one or more focus determination technology can be used in combination.
In step 752, in any case processing unit 4 is Zoom lens 119, is generally each lens of every eyes but selects adjusted value at least one lens 119 (such as simple eye HMD).Selected adjusted value is for the focal length approaching determined focal length.
Figure 12 B depicts the process flow diagram of the embodiment for the process for zoom capabilities adjustment Zoom lens.In step 760, processing unit 4 accept request zoom level user input.This user input can be caught by microphone 110 as audio frequency, or to be caught by depth camera 20A and 20B as posture and processed by maincenter computing equipment 12.In other embodiments, can determine that user inputs or orders by inputting agreement for user based on the electromotive force on nictation or other eyes traverse measurement eye muscle at least in part.
This user data can be caught by microphone 110 as audio frequency, or to be caught by depth camera 20A and 20B as posture and processed by maincenter computing equipment 12.In step 762, processing unit 4 or maincenter computing equipment 12 or the two determine focal length based on zoom level and present convergence district collaboratively.Then in step 764, be that Zoom lens selects adjusted value for the focal length approaching focal length, and focal region adjustment unit 139 adjust Zoom lens in step 766 based on selected adjusted value.
Zoom feature is selected under the degree that user can allow in the size of Zoom lens 119, protrusion and recessed scope.The example of zoom feature is the focusing power surmounting normal capacity, see the ability of 20 feet of objects located with such as focusing on, and other people only can see 10 feet of objects located with twenty-twenty vision.In one embodiment, twenty-twenty vision can be 20/20 or not have presbyopic 6/6 eyesight.Zoom feature is also seen than when front focal length is farther or specific range that is nearer or its multiple by being.
The type of dummy object and the position in the user visual field thereof are determined based on default parameter, user's input or the combination of the two by applying 452.Such as, user can have selected this real-world objects of coffee table in room, and wherein he runs application 452 to look is megalith.The target location of virtual megalith is by relevant to coffee table position in the three-dimensional model.In another example, the virtual dolphin that will can be moved about in room surrounding by user's selection.Dolphin can be realized by the trajectory path of dolphin object at the fantasy sport of room surrounding, and wherein the target location of dolphin is updated in each display frame.Even if user watches megalith attentively, dolphin usually still probably enters and leaves focal region and the visual field of user.When user moves his or her eyes or head, the user visual field and present convergence district are also used these mobile updates.One or more dummy object can be arranged in user focal region and the user visual field at any given time.
Figure 13 describes for showing being checked that the user of near-to-eye is in the process flow diagram of an embodiment of the process of the dummy object at focus place when checking.Such as, the process of Figure 13 is an illustrative embodiments of the step 612 of Fig. 8.This system determines in step 952 any target location that whether there is dummy object in the present viewing field user.The software performed in one or more computer system or processing unit 4 of such as maincenter computing equipment 12 and so on will identify the target location in the visual field.In one embodiment, maincenter computing equipment 12 will provide this model to processing unit 4.As a part for step 952, processing unit 4 is determined by the model of environment for use and to the position of user and the knowledge of orientation: whether the target location of any dummy object is in the visual field of user.
If there is not dummy object in the present viewing field of user, then the process in step 964 turns back to other steps of the process embodiments of the embodiment performed in such as step 8 or Figure 19 and so on.In step 954, identify in the user visual field at maincenter computer system 12, processing unit 4 or the software that performs in the two each dummy object be in current user focus district based on dummy object target location in a model.
In step 956, each the identified dummy object that be inserted in User of processing unit 4 pairs of images carries out convergent-divergent (scale) and orientation.To the convergent-divergent of dummy object and directed by based on its target location in the user visual field.
In step 958, processing unit 4, control circuit 136 or the two share process and place with the focal region by changing micro-display parts 173 and be eachly identified as the dummy object be in current user focus district.Optionally, in step 960, to be in the user visual field but each dummy object be in outside user's present convergence district according to manual depth's field technology being applied to its target location with present convergence district distance apart.The example of manual depth's field technology is artificial fuzzy's technology.
Artificial fuzzy can realize in the following way: simulate according to focal region distance applications depth field tinter apart or other Gaussian blur filter the object be in outside focus.This technology can perform by maincenter computing machine 12, processing unit 4 or software that the two performs whole or in part.For ease of describing, with reference to processing unit 4.From the depth value of a part for the target location as dummy object, determined the focal length of the object in image by processing unit 4, this processing unit 4 is also determined: which pixel of such as surrounding on the display element 112 of the display element of light-guide optical element 112 and so on will be mapped to the dummy object in image.Based on this focal length, by this image and Gaussian function convolution being applied one or more Weighted Gauss fuzzy filter to cover at least two dimension, making to be applied to and will be subject to more blurring effect with the focus of this image or blinkpunkt at a distance of the conversion of pixel far away.In one example, Gaussian blur filter serves as the low-pass filter removing high-frequency information.
In step 962, micro-display 120 display comprises the virtual image of each identified dummy object.In one example, processing unit 4 sends instruction for the virtual image showing each dummy object comprised in the user visual field on micro-display 120 to the display driver 220 of control circuit 136.Then, the virtual image received from micro-display 120 to project on reflecting element 124a or 124b and projects to the eyes of user as in Fig. 1 C by lens combination 122, or checks for user as projected in Figure 1B or 1D on reflecting element 124 and project in light-guide optical element 112.In one embodiment, just pixel is divided into by the display (such as light-guide optical element 112) that user is used for carrying out checking in head-mounted display apparatus.Step 962 can comprise: determine which pixel corresponds to target location, and these pixels will comprise the virtual image of each identified dummy object in step 962 display.The treatment step of Figure 13 can perform continuously during the operation of system, make the user visual field and user focal region along with user moves his or her head and being updated, and dummy object correspondingly can be shown as shift-in naturally and shift out the focus of user.
Figure 16 depicts the process flow diagram of an embodiment of following process: for determining the process in the user visual field, and this process is the illustrative embodiments of the step 610a of Fig. 8; And for determining the process of user focal region, this process is the illustrative embodiments of the step 610b of Fig. 8.The process of Figure 16 relies on information from maincenter computing equipment 12 and above-mentioned eye tracking technology.Figure 14 depicts the process flow diagram of the embodiment being performed the process to provide the trace information be used in the process of Figure 16 by maincenter computing system.Figure 15 depicts the process flow diagram of an embodiment of the process for following the tracks of eyes, and wherein the result of this process is come for the process of Figure 16.
In the step 810 of Figure 14, maincenter computing equipment 12 will follow the tracks of the position of user.Such as, maincenter computing equipment 12 will use one or more depth image and one or more visual pattern to follow the tracks of user's (such as using skeleton tracking).One or more depth image and one or more visual pattern can be used to the orientation of the position and head-mounted display apparatus 2 of determining head-mounted display apparatus 2 in step 812.In step 814, send the position of user and head-mounted display apparatus 2 and orientation to processing unit 4 from maincenter computing equipment 12.In step 816, at processing unit 4, place receives this position and orientation information.The treatment step of Figure 14 can perform continuously during the operation of system, and user is followed the tracks of continuously.
Figure 15 describes for using above-mentioned technology to follow the tracks of the process flow diagram of an embodiment of eyes.In step 860, illumination eyes.Such as, infrared light can be used from eye tracking illumination 134A to the eyes that throw light on.In step 862, one or more eye tracking camera 134B is used to detect reflection from eyes.In step 864, this reflectance data is sent to processing unit 4 from head-mounted display apparatus 2.In step 866, processing unit 4 will determine the position of eyes as described above based on reflectance data.In step 868, processing unit 4 also by determine based on reflectance data that eyes of user checks depth of focus position or focal region.The treatment step of Figure 15 can perform continuously during the operation of system, and the eyes of user are followed the tracks of continuously, thus is provided for the data of following the tracks of current user focus district.
Figure 16 depicts the process flow diagram of an embodiment of the process of the focal region (the step 610b of such as Fig. 8) of the visual field (the step 610b of such as Fig. 8) for determining user and user.In step 902, processing unit 4 will access up-to-date position and orientation information that therefrom pivot joint receives.The process of Figure 14 can as the arrow from step 814 to step 810 described perform continuously, therefore, processing unit 4 periodically will receive position through upgrading and orientation information from maincenter computing equipment 12.But processing unit 4 frequently draws virtual image compared with needing to receive through upgrading information with it from maincenter computing equipment 12.Therefore, processing unit 4 relies on the information (it is such as from headset equipment 2) of local sensing to provide the renewal of orientation between the sampling from maincenter computing equipment 12 by needing.In step 904, processing unit 4 will from three-axis gyroscope 132B visit data.In step 906, processing unit 4 will from three axis accelerometer 132C visit data.In step 908, processing unit 4 will from three axle magnetometer 132A visit datas.In step 910, processing unit 4 will carry out refinement (or otherwise upgrade) from the position of maincenter computing equipment 12 and orientation data by the data from this gyroscope, accelerometer and magnetometer.In step 912, processing unit 4 determines the potential visual field by based on the position of head-mounted display apparatus and orientation.
In step 914, processing unit 4 is by eye position information up-to-date for access.In step 916, processing unit 4 will carry out a part of being watched by user for Confirming model as the subset in the potential visual field based on eye position.Such as, user can towards wall, and therefore the visual field of head mounted display can comprise along wall Anywhere.But if the eyes of user point to the right, then the conclusion of making is by step 916, and the visual field of user is only the right-hand component of wall.At the end of step 916, processing unit 4 has determined the visual field of user by head mounted display 2.Processing unit 4 can identify the target location of dummy object in this visual field.In step 918, processing unit 4 determines the current user focus district in this model part based on eye position.Processing unit 4 can identify the dummy object target location be in the model in current user focus district.The treatment step of Figure 16 can perform continuously during the operation of system, make the user visual field and user focal region along with user moves his or her head and being continuously updated, and dummy object correspondingly can be shown as shift-in naturally and shift out the focus of user.
Figure 17 A describes for the process flow diagram by making at least one Lens shift of micro-display parts 173 change an embodiment of the process of the focal region of these parts.This embodiment can be used for realizing the step 958 in Figure 13.For illustrative context, with reference to the micro-display parts 173 of reference Figure 1B and 1C description before.Micro-display parts 173 are included in the micro-display unit 120 aimed at lens combination 122 in light path 133, and image light is directed to reflecting element 124 or reflector element 124a, 124b from micro-display unit 120 and is directed to eyes of user or is directed in another optical element 112 by this lens combination 122.Micro-display parts 173 also comprise variable virtual focus adjuster 135, and this variable virtual focus adjuster 135 is for physically moving one of light treatment element to obtain selected or determined focal region.
Before discussion Fig. 2 A-2D, the pass of micro-display parts 173 displacement and focal length is following equalities: 1/S 1+ 1/S 2=1/f.In step 980, processing unit 4 determines the shift value S before lens combination 122 between node and the target location of dummy object 1.Additionally, in step 982, processing unit 4 determines the shift value S between the back side node of micro-display 120 and lens combination 2to obtain the focal distance f of lens combination based on this equation.Processing unit 4 causes the processor of control circuit 136 to make variable adjuster driver 237 apply at least one drive singal with at least one lens of physically mobile lens system to generate determined shift value S to variable virtual focus adjuster 135 in step 984 1and S 2.Except the micro-display parts 173 shown in Figure 1B and 1C, another embodiment is the micro-display parts 173 of the lens combination the inserted example using Fig. 2 D.This moves and is: the displacement that the arm 123 and being moved by the arm 123 of these lens as then discharged lens in original place is determined is to be locked in lens in light path 133.Additionally, the focal length of institute's insertion lens can affect obtained S 1the value of 1.
Figure 17 B is the process flow diagram that the polarizability described at least one lens by changing micro-display parts 173 changes an embodiment of the process of the focal region of these parts.This embodiment may be used for realizing the step 958 in Figure 13, and is suitable for using together with the embodiment of micro-display 173 parts such as shown in Fig. 2 C and so on.In this embodiment, the light path of this lens combination between micro-display 120 and reflecting element 124 (Fig. 1 C), 124a (Figure 1B) comprises at least one birefringent lens.In step 986, processing unit 4 is based on the target location of dummy object and equation 1/S 1+ 1/S 2=1/f selects S 1shift value.In step 988, variable adjuster driver 237 applies at least one drive singal and changes the polarizability of at least one birefringent lens described to change the focal distance f of birefringent lens to generate selected S to cause variable-focus adjuster 135 1value.Because each birefringent lens has two the discrete focal lengths corresponding with two polarization axles, the therefore selection that will provide 4 discrete focal lengths of the combination of two such lens.Therefore, under software control, the processing unit 4 of control circuit 136 or processor 210 select immediate usable focus to approach the value of f.For added each birefringent lens, the number of discrete focal length doubles.
Figure 17 C is the process flow diagram that the radius-of-curvature described at least one liquid lens by changing micro-display parts 173 changes an embodiment of the process of the focal region of these parts.This embodiment may be used for realizing the step 958 in Figure 13, and is suitable for using together with the embodiment of the micro-display parts 173 using such as Fig. 2 B1 with 2B2 and at least one liquid shown in 2B3 and so on or fluid lens in its lens combination 122.In step 990, processing unit 4 is based on the target location of dummy object and equation 1/S 1+ 1/S 2=1/f selects S 1shift value.In step 992, variable adjuster driver 237 applies at least one drive singal makes the Fluid Volume in fluid or liquid lens change to cause variable-focus adjuster 135, thus causes its radius-of-curvature to change to change its focal distance f to generate selected S 1value.
As above in the embodiment of Figure 13 mention, for being in the user visual field but dummy object outside the focal region being in user, can using artificial fuzzy technology.In other embodiments, a series of images at different focal region place can be generated.By moving through the focus of certain limit or focal region and the image showing each focal region place, user can be made to see by the image of the different focal region image construction of multilayer.When user readjusts his or her focus, user will select one of these regions, and the dummy object in all the other regions will by obfuscation naturally.The focal region of inswept certain limit can be carried out with set rate or frequency.This carries out fast enough, and mankind's instantaneous picture is converged will make its all looking exist all simultaneously.To reduce the needs of manual depth's field technology of such as artificial fuzzy and so on, but playing up load may significantly increase.
In one embodiment, the movement through the focal region of certain limit can perform in the following way: the displacement between the light treatment element changing microprocessor components 173 with given pace or the optical power of light treatment element in this parts.This speed can be at least up to per second 30 frame speed (fps), but can be higher rate in certain embodiments, such as 60,120 or 180Hz.Be shifted along optical axis with two-forty thus provide the lens of the image at different focal region place sometimes referred to as vibration lens or vibration lens.In some instances, image source 120 instead of lens combination 122 are moved, but principle is identical.
Figure 18 A is the process flow diagram described for generating an embodiment of the process of the dummy object image in different focal region in expansion display display, and this process may be used for realizing the step 612 in Fig. 8.In Figure 18 A, in step 1004, maincenter computing equipment 12 or processing unit 4 or the two determine as in step 952 under software control: any target location that whether there is dummy object in the present viewing field of user.Be similar to step 964, if there is not dummy object in the present viewing field of user, then the process in step 1004 turns back to other steps of the process embodiments performing embodiment and so in such as step 8 or Figure 19.
As in step 956, convergent-divergent and orientation can be carried out to each identified dummy object in step 1012 based on image in the target location of the dummy object be inserted in User in the user visual field by processing unit 4.
In step 1016, start the sweep speed time period by the timing generator 226 of control circuit or clock generator 244.In step 1018, initialization counter, to experience the focal region of the some within the scope of this during section in sweep time.In some instances, focal region is predetermined.At each time step of sweep speed time period, the focal region of the element of adjustment micro-display parts 173, and show image in its sweep time or time step to user for each focal region in step 1022.In step 1024, select next focal region by count-up counter, and repeat the process of step 1020 to 1024, until counter indicates the scanning of this scope to complete.Sweep time, section terminated in step 1028.In other examples, the End of Frame for showing can interrupt the scanning through this sweep limit, and another scanning is from next frame.
In one embodiment, can reduce in the following way and play up load: the subset playing up focal region; And use to come which focal region of optimum choice to the tracking of user focal region and play up.In other examples, eye tracking data does not provide enough degree of accuracy to determine the degree of depth of the focal position that user checks.Infer that logic can infer the object that user focuses on.Once select object as focus object, just can use the three-dimensional model of current scene or map and determine and focus object distance apart.
Figure 18 B shows for showing being checked that the user of expansion reality display is in another embodiment of the process of the dummy object at focus place when checking, this process may be used for realizing the step 612 in Fig. 8.Figure 18 B is the process flow diagram described for generating an embodiment of the process of the dummy object image in different focal region in the display of expansion reality.In Figure 18 B, in step 1004, maincenter computing equipment 12 or processing unit 4 or the two determine as in step 952 under software control: any target location that whether there is dummy object in the present viewing field of user.Be similar to step 964, if there is not dummy object in the present viewing field of user, then the process in step 1004 turns back to other steps of the process embodiments performing embodiment and so in such as step 8 or Figure 19.
If there is at least one virtual objects, in the visual field of user, there is target location, then in step 1008, as in step 954, to identify each dummy object be in current user focus district in the user visual field based on dummy object its target location in the model in step 1010 at maincenter computer system 12, processing unit 4 or the software that performs in the two.As in step 956, convergent-divergent and orientation are carried out to each identified dummy object by step 1012 based on image in the target location of the dummy object be inserted in User in the user visual field by processing unit 4.
In step 1014, processing unit 4 selects the focal region comprising the certain limit in current user focus district.Processing unit 4 can carry out the scope in selective focus district based on the standard of the context such as performing application (such as 452) and so on.Application can use having the dummy object of predetermined path of movement and triggering the selection of the event that it occurs.When the model of object is updated along with the movement of object, processing unit 4 receives these according to the discussion of Fig. 9 to 14A and upgrades.Between each renewal, about with the position of account and the sensing data of orientation, processing unit 4 can use determines which dummy object he or she was probably focusing at that time.Processing unit 4 can select the track of dummy object by multiple focal regions of process based on the three-dimensional model of scene.Therefore, an example standards is each focal region comprised residing for dummy object.In addition, can also select following focal region: in this region, the track of mobile virtual object will be in predetermined time frame.In one example, frame can be until the next update of model data of exact position of instruction dummy object predetermined time.
The initial focal region point of the focal region of this scope inswept can be the point close to infinite point in the user visual field of eyes of user.Reference position can be used.In step 1016, start the sweep speed time period by the timing generator 226 of control circuit or clock generator 244.In step 1018, initialization counter, to experience the focal region of the some within the scope of this during section in sweep time.In some instances, focal region is predetermined.At each time step of section sweep time, the focal region of the element of adjustment micro-display parts 173, and show image in its sweep time or time step to user for each focal region in step 1022.In step 1024, select next focal region by count-up counter, and repeat the process of step 1020 to 1024, until counter indicates the scanning of this scope to complete.Sweep time, section terminated in step 1028.In other examples, the End of Frame for showing can interrupt the scanning through this sweep limit, and another scanning is from next frame.
As previously discussed, focusing on restriction may cause user clearly can not see reality in some focal region or dummy object.Such as, presbyopia may suffer from presbyopic user and clearly sees that the ability of object is limited in the scope being not less than about 1.5 feet by more than 50 years old.The perception of user to scene can also be improved to vision enhancement that is virtual and real world object.Vision enhancement can be carried out to dummy object, and can use and real world object followed the tracks of and the virtual image of vision enhancement.
Enhancing standard can by processing unit 4, maincenter computing equipment 12 or the two be for determining: which real world object in the user visual field meets the requirements for enhancing.A factor can be that real world object represents another person.Another factor can be that real world object meets motion criteria, and such as it moves certain distance or its speed or acceleration meet threshold value.Such as, in war game, real world object can be shell.And in war game example, the type of object can make it meet the requirements for enhancing.If real world object is such as gun, then it can be highlighted or be colored as red to attract the notice of the user had lower than twenty-twenty vision.
Figure 19 depicts the process flow diagram of an embodiment of the process for carrying out vision enhancement to real world object with the virtual image in the user visual field.This process can be used for the step 614 realizing Fig. 8.In step 1050, processing unit 4 identifies the real world object of the satisfied enhancing standard in the user visual field, and carrys out selective enhancement technology in step 1052 based on enhancing standard.Such as, those tracks that can be applied to by outstanding real world object make the edge of the real world object accelerated strengthen.In another embodiment, the focal length place that can have better focusing power place when real world object is still in outside focus user follows the tracks of the clear fictitious outline at the edge of this real world object.More simply strengthening in the view sections that may be displayed on residing for interested real world object of such as virtual box or circle and so on.Additionally, color can be used to carry out augmented reality object with virtual covering.Such as, in night vision mode, in virtual covering, different colors can be used for interested real world object.In step 1054, processing unit selects the real world object view data used by selected enhancing technology.One example can be the marginal date detected by maincenter computing equipment 12 in the step 686 of Figure 10.
Processing unit 4 can ask these data with in step 1056 for chosen technique generates the virtual image of real world object, or maincenter computing equipment 12 can under the request of processing unit 4 generating virtual image.In step 1058, display virtual image follows the tracks of real world object with the three-dimensional model based on the user visual field.
For dummy object, the process being similar to Figure 19 also can be used to carry out vision enhancement to dummy object.Independent virtual image can follow the tracks of dummy object, or the view data of dummy object can be updated to and comprises this enhancing.
1. an expansion reality system for the focus through improving of object being provided, comprising:
Perspective display device (2), this perspective display device (2) comprises the Zoom lens (119) being positioned as being had an X-rayed by user;
Be attached to the micro-display parts (173) of this perspective display device, these micro-display parts (173) show at least one eyes for generating virtual image;
Storer (330,214), this storer (330,214) is for storing software and data;
Processor (320,322,210), this processor (320,322,210) is for determining current user focus district under software control, and this processor has the access of this storer and can be coupled to these micro-display parts communicatedly;
Focal region adjustment unit (139), this focal region adjustment unit (139) for adjusting this Zoom lens in current user focus district under the control of this processor; And
This processor causes this micro-display one or more dummy object to be presented at their real world focal length places in the user visual field by controlling this focal region adjustment unit under software control.
This Zoom lens is liquid lens (150,158); And
Wherein this focal region adjustment unit by adjustment (754,992) described liquid lens radius-of-curvature to this Zoom lens focus on by the Focussing of these lens for being in current user focus district.
(750) focal length to the focus in focal region determined by this processor;
This processor is that Zoom lens selects (752) adjusted value for the focal length approaching this focal length; And
This focal region adjustment unit adjusts (754) this Zoom lens based on selected adjusted value.
4. an expansion reality system for the focus through improving of object being provided, comprising:
Processor (320,322,210), this processor (320,322,210) for determining focal length based on zoom feature and current user focus district under software control, this processor has the access of this storer and can be coupled to these micro-display parts communicatedly; And
Focal region adjustment unit (139), this focal region adjustment unit (139) is for focusing on about determined focal length place by this Zoom lens.
5. system as claimed in claim 4, is characterized in that, for determining that the processor of focal length also comprises based on zoom feature and current user focus district under software control:
For receiving the processor of user's input of (760) request zoom feature;
For determining the processor of (762) focal length based on asked zoom feature and present convergence district;
For for the focal length being approximately this focal length for this Zoom lens selects the processor of (764) adjusted value; And
For this focal region adjustment unit based on selected adjusted value adjustment (766) this Zoom lens.
6. system as claimed in claim 4, is characterized in that:
This focal region adjustment unit by adjustment (176,992) described liquid lens radius-of-curvature to this Zoom lens focus on by the Focussing of these lens for being approximately the determined focal length of this zoom feature.
7. in expansion reality system for providing the method for focus through improving of object, comprising:
Determine the visual field of (610a) user in the three-dimensional model in space comprising real world object;
Determine (610b) current user focus district;
Automatically Zoom lens is adjusted (611) for focusing in current user focus district at least one eyes, this Zoom lens is positioned as being had an X-rayed by described at least one eyes;
By dummy object display (612) at the real world focal length place of this dummy object in the user visual field; And
Vision enhancement (614) is carried out to the image of one of the object in the user visual field.
8. method as claimed in claim 7, is characterized in that, is automatically adjusted to by Zoom lens to focus in current user focus district also to comprise at least one eyes:
Adjustment (922) this Zoom lens radius-of-curvature with by the Focussing of described lens in current user focus district.
9. method as claimed in claim 7, is characterized in that, dummy object is presented at the real world focal length place of this dummy object in the user visual field and also comprises:
Station location marker in the model based on dummy object goes out (954) and is in each dummy object in current user focus district;
Place (958) by the focal region changing micro-display parts and be identified as each dummy object be in current user focus district; And
Display (962) comprises the image of each dummy object in current user focus district.
10. method as claimed in claim 7, is characterized in that, carries out vision enhancement also comprise and carry out vision enhancement by following action to the real world object in the user visual field the image of one of the object in the user visual field:
Identify the real world object of the satisfied enhancing standard in (1050) user visual field;
Technology is strengthened based on this enhancing Standard Selection (1052);
Select the real world object view data that (1054) are used by selected enhancing technology;
Generate the virtual image that (1056) realize selected enhancing technology; And
(1058) this virtual image is followed the tracks of to the display of this real world object based on this three-dimensional model.
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