JP2010038707A - Motion tracker device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motion tracker device capable of reliably identifying each optical marker without causing the optical marker to have identification information or to emit light one by one in turn. <P>SOLUTION: The motion tracker device 1 includes: an object angular velocity detection sensor 4 detecting an object angular velocity acting on an object 10 in a short time; an object acceleration detection sensor 5 detecting an object acceleration acting on the object 10 in a short time; a first coordinate system angular movement calculation part 23 calculating an angular movement of a first coordinate system; a first coordinate system position movement calculation part 27 calculating a position movement of the first coordinate system; and an optical marker estimation part 26 estimating a predicted movement position of the optical marker on the basis of optical marker location information, the angular movement of the first coordinate system, and the position movement of the first coordinate system. An optical marker location information calculation part 24 identifies three or more optical markers 7 individually on the basis of the predicted movement positions of the optical markers. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to an optical motion tracker device (hereinafter also referred to as an MT device), and more particularly to an optical MT device having a function of detecting a current position and a current angle of an optical marker. The present invention relates to a head motion tracker device (hereinafter, the current head position and head angle) for detecting the current position and current angle of a helmet with a head-mounted display device used in, for example, game machines and vehicles (hereinafter, the current head position and head angle). , Also referred to as an HMT device).
Here, the optical HMT device is a device in which a helmet equipped with an optical marker such as a reflector or a light emitter is attached to the head, and the position of the optical marker is measured with a camera device capable of stereoscopic viewing. It means a device that tracks the movement of the head.

  A technique for accurately measuring the current position and current angle of an object that changes from moment to moment is used in various fields. For example, in a game machine, an image is displayed by using a helmet with a head-mounted display device in order to realize virtual reality (VR). At this time, it is necessary to change the image in accordance with the current position and the current angle of the head mounted display-equipped helmet. Therefore, the HMT device is used to measure the current position and the current angle of the head-mounted helmet with a display device (target object).

  Also, in the rescue operation by the rescue flying boat, in order not to lose sight of the found rescue target, by locking when the aiming image displayed by the helmet with head mounted display device corresponds to the rescue target, Calculating the position of the locked rescue target has been done. At this time, in order to calculate the position of the rescue target, in addition to the latitude, longitude, altitude, and attitude of the flying object (moving object), the pilot's head angle and head with respect to the relative coordinate system set for the flying object The position is being measured. At this time, the HMT device is used.

As an HMT device used for a helmet with a head-mounted display device, an apparatus that optically measures the current position and current angle of the helmet with a head-mounted display device is disclosed (for example, see Patent Document 1). ). Specifically, an optical HMT device is disclosed in which a plurality of reflectors are attached to a helmet with a head-mounted display device, and reflected light when light is emitted from a light source is monitored by a camera device. There is also an optical HMT device in which light emitters are attached to a plurality of locations so as to be separated from each other (see, for example, Patent Document 2). Specifically, on the outer peripheral surface of the helmet with a head-mounted display device, LEDs (light-emitting diodes) that are light emitters as optical marker groups are attached to three locations so as to be separated from each other, and the head-mounted display device The relative positional relationship of the three LEDs in the attached helmet is stored in advance in the HMT device. And by photographing these three LEDs simultaneously with the first camera and the second camera (camera device) that can be stereoscopically viewed and fixed in place, the so-called triangulation principle is applied to the camera device. The relative positional relationship of the three LEDs is measured. Thereby, the current position and the current angle of the helmet with a head-mounted display device with respect to the camera device are specified.
JP-T 9-506194 Japanese Patent Application No. 2006-284442

  In order to measure the relative positional relationship of the three LEDs with respect to the camera device in the optical HMT device as described above, it is necessary to identify each of the three LEDs. Therefore, three LEDs that can be individually identified are attached to the head-mounted helmet with a display device. For example, on the outer peripheral surface of the helmet with a head-mounted display device, LEDs that emit infrared light of different wavelengths are attached so as to be separated from each other, and the three LEDs in the helmet with the head-mounted display device are Each position is stored in advance in the HMT apparatus. Then, the current position of each of the three LEDs with respect to the camera device is measured while identifying each of the three LEDs by the wavelength difference.

However, when three LEDs that can be identified are attached, when one LED fails, etc., one failed LED is replaced with one new LED, and one new LED is replaced. LED identification information (for example, wavelength information) has to be stored in the HMT device anew. Therefore, every time it is replaced with a new LED, it takes time to store the identification information of the new LED in the HMT device.
In addition, it is conceivable to identify three LEDs that do not have identification information by lighting them one by one, but they must be turned on one by one. It is difficult to monitor the movement of a helmet with a head mounted display device.

Therefore, the present applicant has identification information on the LEDs 57a, 57b, 57c when identifying the current positions of the three LEDs 57a, 57b, 57c attached to the head mounted display-equipped helmet 50 and the like. The present inventors have found a method that can identify the current positions of the LEDs 57a, 57b, and 57c without lighting them one by one or lighting them one by one.
Specifically, first, in a state where the shooting direction of the first camera and the shooting direction of the second camera are determined, the first image shot by the first camera and the second camera are predicted by prediction based on epipolar geometry. A set of common LED images with the captured second image was recognized.
If the LED image in the first image can be associated with the LED image in the second image, the direction angle α from the first camera is determined by the position of the LED image in the first image and the second image. And the direction angle β from the second camera, and using the distance d ₁ between the first camera and the second camera, the position of the LED relative to the camera device is calculated by a so-called triangulation method. (See FIG. 3).

Since it is not yet possible to recognize which of the LEDs attached to the head-mounted display-equipped helmet with the position of each LED calculated in this way, for example, time t ₁ , t ₂ in order When played back, as shown in FIG. 10, the time _{t 1,} LED57a, 57b, stores the position of each of 57c, stored respective LED57a, 57 b, a constant around the position of 57c size By setting the predicted movement ranges Da, Db, and Dc that are spherical, the LEDs existing in the predicted movement ranges Da, Db, and Dc at time t ₂ are replaced with the expected movement ranges Da, Db set at time t _1. , Dc was identified as the same LED.

  However, as shown in FIG. 11, when the moving speed of the helmet 50 with a head-mounted display device is high, the LED may not exist in the expected movement ranges Da, Db, and Dc. Further, when the predicted movement ranges Da, Db, and Dc to be set are increased, two LEDs may exist at the same time in the predicted movement ranges Da, Db, and Dc. That is, it may be impossible to identify the LEDs existing in the predicted movement ranges Da, Db, Dc as being the same as the LEDs corresponding to the predicted movement ranges Da, Db, Dc.

  Therefore, the present invention provides the optical marker with identification information when identifying the current position of each of the three or more optical markers such as LEDs attached to an object such as a head-mounted display-equipped helmet. Another object of the present invention is to provide a motion tracker device that can reliably identify each optical marker without lighting them one by one.

  The motion tracker device of the present invention, which has been made to solve the above-mentioned problems, includes an object having a first coordinate system set, and three or more identical species positioned on the first coordinate system and attached to the object. And a second coordinate system is set, a camera device that detects the light beam from the optical marker by stereoscopic vision, and three or more optical markers in the second coordinate system based on the detected light beam Based on the optical marker position information, an optical marker position information calculation unit that calculates optical marker position information including each current position, an optical marker storage unit that stores the optical marker position information, and the second coordinate system A motion tracker device comprising a relative information calculation unit for calculating relative information including a current position and a current angle of an object, and positioning in the first coordinate system An object angular velocity detection sensor for detecting an object angular velocity acting on the object and acting on the object in a shorter time than a light detection interval time in the camera device, and positioned in the first coordinate system. The object acceleration detection sensor for detecting the object acceleration acting on the object and acting on the object in a shorter time than the light detection interval time in the camera device, and the object angular velocity based on the object angular velocity, A first coordinate system angular movement amount calculation unit that calculates an angular movement amount of the first coordinate system, and a first coordinate system position movement amount calculation that calculates a position movement amount of the first coordinate system based on the object acceleration. And the predicted movement position of the optical marker in the second coordinate system based on the optical marker position information stored in the optical marker storage unit, the angle movement amount of the first coordinate system, and the position movement amount of the first coordinate system. And an optical marker estimation unit that estimates a, the optical marker position information calculating unit, based on the expected movement position of the optical markers, and the three or more optical markers to identify respectively.

Here, the “angle movement amount” refers to a movement amount in the roll direction (rotation with respect to the X axis), the elevation direction (rotation with respect to the Y axis), and the azimuth direction (rotation with respect to the Z axis).
The “position movement amount” refers to a movement amount in the X-axis direction, the Y-axis direction, and the Z-axis direction.
In addition, the “object angular velocity detection sensor” has three axes (X axis, Y axis, Z axis) defined in the sensor itself, and detects an angular velocity based on these three axes in a short time (for example, 4 msec). For example, a gyro sensor or the like is used.
In addition, the “object acceleration detection sensor” is defined by three axes (X axis, Y axis, Z axis) in the sensor itself, and acceleration in a triaxial direction with reference to the three axes is short-time (for example, 4 msec) that can be detected, for example, an acceleration sensor or the like is used.
The “light detection interval time at the camera device” refers to an interval time (for example, 16 msec) between photographing by the camera device.

According to the motion tracker device of the present invention, time t _1, t 2 _'(just before t _2), when the flows in t ₂ and forward, each of the positions of three or more optical markers stored in the time t ₁ When, _'and the object angular velocity acting on the object until, from the time t ₁ time t _2' from the time t ₁ time t ₂ by using the object acceleration acting on the object before, the first coordinate system By calculating the angular movement amount and the position movement amount of the first coordinate system, the predicted movement position of the optical marker at time t _{2 ′} is estimated. Then, for example, by setting the estimated movement range is spherical around the expected movement position of each optical marker estimated, an optical marker present in the expected range of movement in time t _2, the time t _{2 '} The optical marker corresponding to the set expected movement range is identified as the same one.

  As described above, according to the motion tracker device of the present invention, since the expected movement position of the optical marker estimated by the object angular velocity and the object acceleration is set, the optical tracker can be used even when the object movement speed is high. It is possible to prevent the marker from being lost.

(Means and effects for solving other problems)
In the above invention, the first coordinate system position movement amount calculation unit may calculate the movement speed of the origin of the first coordinate system based on at least two optical marker position information stored in the optical marker storage unit. It may be calculated and the position movement amount of the first coordinate system may be calculated based on the moving speed of the origin of the first coordinate system and the object acceleration.
In the above invention, the optical marker position information calculation unit identifies each of the three or more optical markers by setting an expected movement range of the optical marker based on an expected movement position of the optical marker. You may make it do.
In the above invention, the expected movement range of the optical marker may be a sphere centered on the expected movement position of each optical marker.

In the invention described above, the position movement amount of the optical marker is calculated based on the angle movement amount of the first coordinate system and the position movement amount of the first coordinate system. You may make it provide the estimated moving range determination part which determines a magnitude | size.
According to the present invention, _'the object angular velocity acting on the object until, from the time t ₁ time t _2' from the time t ₁ time t ₂ by the object acceleration acting on the object by the first coordinate By calculating the angle movement amount of the system and the position movement amount of the first coordinate system, the position movement amount of the optical marker from time t ₁ to time t _{2 ′} is calculated. Accordingly, the size of the predicted movement range centered on the predicted movement position of one optical marker is increased, for example, when the position movement amount of the optical marker is long, while the position movement amount of the optical marker is short. In some cases it can be made smaller. Therefore, even when the moving speed of the object is fast, it is further prevented that the optical marker does not exist in the expected moving range, and when the moving speed of the object is slow, two or more optical markers are present in the expected moving range. It is possible to prevent the presence at the same time.

  Further, in the above invention, the object is a helmet to be mounted on a passenger's head, and the camera device is attached to a moving body on which the passenger is boarded, and is attached to the moving body. A moving body angular velocity detection sensor that detects a moving body angular velocity acting on the moving body at the same time as the object angular velocity detection sensor; and a moving body acceleration attached to the moving body and acting on the moving body, A moving body acceleration detection sensor that detects the object acceleration degree detection sensor at the same time, and the first coordinate system angular movement amount calculation unit calculates the first coordinate based on the object angular velocity and the moving body angular velocity. The first coordinate system position movement amount calculation unit may calculate the position movement amount of the first coordinate system based on the object acceleration and the moving body acceleration. Good

Here, the “moving body angular velocity detection sensor” is similar to the object angular velocity detection sensor, in which three axes are defined in the sensor itself, and the angular velocity based on these three axes is detected in a short time (for example, 4 msec). For example, a gyro sensor or the like is used. Note that the above-described object angular velocity sensor detects movement information obtained by combining the movement of the object and the movement of the object when the object moves in the moving object. Detects only the movement of the moving object.
The “moving body acceleration detection sensor” is similar to the object acceleration detection sensor. Three axes are defined in the sensor itself, and acceleration in the three-axis direction with reference to the three axes is performed for a short time (for example, 4 msec). ), For example, an acceleration sensor or the like is used. Note that the object acceleration sensor described above detects movement information obtained by combining the movement of the object and the movement of the object when the object moves in the moving object. Detects only the movement of the moving object.

According to the present invention, the object angular velocity detection sensor detects movement information obtained by combining the movement of the passenger's head and the movement of the moving body in the moving body. Since only the information on the movement of the body is detected, it is possible to calculate only the information on the movement of the head of the occupant excluding the movement of the moving body using the object angular velocity and the moving body angular velocity.
Furthermore, the object acceleration detection sensor detects movement information in the moving body by combining the movement of the passenger's head and the movement of the moving body, but only the movement of the moving body is detected by the moving body acceleration detection sensor. Therefore, it is possible to calculate only the movement of the passenger's head excluding the movement of the moving body using the object acceleration and the moving body acceleration.
As a result, for example, even if the passenger is on the moving body, the predicted movement position of the optical marker can be set, so that even if the moving speed of the object is fast, the optical marker is prevented from being lost. Can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described below, and it goes without saying that various aspects are included without departing from the spirit of the present invention.

(Embodiment 1)
FIG. 1 is a diagram showing a schematic configuration of an HMT device according to an embodiment of the present invention, and FIG. 2 is a plan view of the helmet with a head-mounted display device shown in FIG.
The HMT device 1 includes the player's 3 head position (X _h , Y _h , Z _h ) and head angle (RL _h , EL _h ), relative to the second coordinate system (XYZ coordinate system) set in the camera device 2. Relative information including AZ _h ) is calculated. That is, the position and angle of the first coordinate system (X′Y′Z ′ coordinate system) set in the helmet 10 with a head mounted display device worn by the player 3 in the XYZ coordinate system are calculated.
The angle RL _h is an angle in the roll direction (rotation with respect to the X axis), the angle EL _h is an angle in the elevation direction (rotation with respect to the Y axis), and the angle AZ _h is an azimuth direction (with respect to the Z axis). Angle of rotation).

The HMT device 1 includes a head mounted display-equipped helmet 10 attached to the player's 3 head, a camera device 2 attached to a game machine 30, and a control unit 20 configured by a computer. The
The helmet 10 with a head-mounted display device functions as a display device (not shown), a combiner 8 that guides the player 3 by reflecting image display light emitted from the display device, and an optical marker. A group of LEDs 7, a three-axis gyro sensor (object angular velocity detection sensor) 4, and an acceleration sensor (object acceleration detection sensor) 5. In addition, the player 3 wearing the helmet 10 with a head-mounted display device can visually recognize the display image by the display and the front actual thing of the combiner 8.

  Here, the first coordinate system (X′Y′Z ′ coordinate system) is predetermined for the head mounted helmet 10 itself, and the three-axis gyro sensor 4 and the acceleration sensor 5 are defined as X It is precisely aligned with the 'Y'Z' coordinate system and is positioned and attached to the X'Y'Z 'coordinate system. In the initial state, the X′Y′Z ′ coordinate system is aligned with a second coordinate system (XYZ coordinate system) described later by the player 3 (adjustment of the axis deviation). As a method of aligning the X′Y′Z ′ coordinate system and the XYZ coordinate system in the initial state, a widely used general method (for example, a game in which a helmet 10 with a head-mounted display device is mounted) is used. Or the like by instructing the person 3 to face in a specific direction).

LED group 7, as shown in FIG. 2, LED 7a of three emitting infrared light of the same wavelength (or three or more numbers), 7b, 7c are as separating each other at a distance _{d 2,} It is positioned and attached to the first coordinate system (X′Y′Z ′ coordinate system). That is, the coordinate positions of the LEDs 7a, 7b, 7c in the X′Y′Z ′ coordinate system are (X ′ _DISa , Y ′ _DISa , Z ′ _DISa ), (X ′ _DISb , Y ′ _DISb , Z ′ _DISb ), ( X ′ _DISc , Y ′ _DISc , Z ′ _DISc ). However, since the LEDs 7a, 7b, and 7c emit infrared light having the same wavelength, only the camera device 2 described later captures each LED that has been photographed by the LED attached to the helmet 10 with a head-mounted display device. Which one corresponds to each other cannot be recognized.

The triaxial gyro sensor 4 detects angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ) acting on the helmet 10 with a head mounted display device in a short time (for example, 4 msec). Since the triaxial gyro sensor 4 is aligned with the first coordinate system (X′Y′Z ′ coordinate system), the roll direction (rotation with respect to the X ′ axis) and the elevation direction (rotation with respect to the Y ′ axis). ), Object angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ) in the azimuth direction (rotation with respect to the Z ′ axis) are detected. Further, the three-axis gyro sensor 4 is attached to the origin of the X′Y′Z ′ coordinate system, but when attached to a position other than the origin of the X′Y′Z ′ coordinate system, the X′Y 'Z' in order to obtain an angular velocity at the position of the origin of the coordinate system in the general calculation method or the like or to multiply the offset matrix M0 conversion, the object velocity _{(V 'RL, V' EL} , V 'AZ) and Will do.

The acceleration sensor 5 detects acceleration (α ′ _x , α ′ _y , α ′ _z ) acting on the head mounted helmet 10 with a display device in a short time (for example, 4 msec). Since the acceleration sensor 5 is aligned with the first coordinate system (X′Y′Z ′ coordinate system), the object acceleration (α ′) in the X ′ axis direction, the Y ′ axis direction, and the Z ′ axis direction. _x , α ′ _y , α ′ _z ) are detected.

The game machine 30 includes a seat 30 a on which the player 3 is seated and the camera device 2.
The camera device 2 includes a first camera 2a and a second camera 2b. The first camera 2a and the second camera 2b, so as to separate a predetermined distance d ₁ capable photographing direction is different and stereoscopic, and is fixed to the ceiling.
Here, as shown in FIG. 3, the position of the LED 7a with respect to the camera device 2 (2a, 2b) is obtained by extracting the position of the LED 7a image displayed in the image photographed by the camera device 2, and further by the first camera. The direction angle α from 2a and the direction angle β from the second camera 2b are extracted, and the distance d ₁ between the first camera 2a and the second camera 2b is used to calculate by the triangulation method. Can do. The positions of the LEDs 7b and 7c, which are other optical markers, with respect to the camera device 2 are similarly calculated.

The second coordinate system (XYZ), which is a coordinate system that is fixed to the camera device 2 and moves together with the camera device 2 so that the positions of the LEDs 7a, 7b, and 7c at this time can be expressed in spatial coordinates. Coordinate system). A specific origin position of the XYZ coordinate system and description of the XYZ axis directions will be described later. LED7a the XYZ coordinate system, 7b, 7c coordinate position _can be expressed as _{(X LED1, Y LED1, Z} LED1), (X LED2, Y LED2, Z LED2), (X LED3, Y LED3, Z LED3). Thus, three LED7a to the camera apparatus 2, 7b, 7c coordinate position _{(X LED1, Y LED1, Z} LED1), (X LED2, Y LED2, Z LED2), (X LED3, Y LED3, Z LED3) Are identified and specified, the position (X _h , Y _h , Z _h ) and angle (X _h , Y _h , Z _h ) and angle of the helmet 10 with head mounted display device to which the LEDs 7a, 7b, 7c are positioned and attached. RL _h , EL _h , AZ _h ) can be expressed using the position and angle of the first coordinate system (X′Y′Z ′ coordinate system) in the XYZ coordinate system. The angle RL _h is an angle in the roll direction (rotation with respect to the X axis), the angle EL _h is an angle in the elevation direction (rotation with respect to the Y axis), and the angle AZ _h is an azimuth direction (with respect to the Z axis). Angle of rotation). Further, the positions (X _h , Y _h , Z _h ) of the helmet 10 with a head-mounted display device are coordinate positions of the origin of the X′Y′Z ′ coordinate system.

  As shown in FIG. 1, the control unit 20 is configured by a computer including a CPU 21, a memory 41, and the like, and performs various controls and arithmetic processes. The processing executed by the CPU 21 will be described separately for each functional block. The motion tracker driving unit 28, the first coordinate system angle movement amount calculation unit 23, the first coordinate system position movement amount calculation unit 27, and the relative information calculation will be described. Unit 22, optical marker position information calculation unit 24, optical marker estimation unit 26, and video display unit 25. FIG. 4 is a time chart for explaining the flow executed by the control unit 20.

The memory 41 has an area for storing various data necessary for the control unit 20 to execute processing, and a second coordinate system storage area for storing a second coordinate system (XYZ coordinate system). 43, the time storage area 42, and the first coordinate system (X'Y'Z 'coordinate system) are stored, and the positions of the three LEDs 7a, 7b, 7c in the X'Y'Z' coordinate system ( X ′ _DIS , Y ′ _DIS , Z ′ _DIS ) as initial data, and the positions (Xn) of the three LEDs 7a, 7b, 7c at time t _n in the XYZ coordinate system Optical marker storage area 44 for sequentially storing optical marker position information including _LED , Y _LED , Z _LED ), and an expected movement range storage area 45 for storing the size of the expected movement range having a diameter d ₂ as a sphere. Have

Here, the second coordinate system (XYZ coordinate system) can arbitrarily determine the origin and the direction of each coordinate axis. In this embodiment, as shown in FIG. 3, the first camera 2a and the second camera 2b The second coordinate system is stored such that the midpoint is the origin, the forward direction is the X-axis direction, the forward direction is the Y-axis direction, and the X-axis direction and the Y-axis direction are the Z-axis direction. An area 43 is preset.
The time storage area 44, LED 7a camera device 2, 7b, and time _{t n} which 7c is updated each time it is detected, the object velocity _{(V 'RL, V' EL} , V 'AZ) and the object The time s _n updated every time the acceleration (α ′ _x , α ′ _y , α ′ _z ) is detected is stored. However, the times t _n and s _n here are not based on real time, but a motion tracker driving unit 28, a first coordinate system angular movement calculation unit 23, and a first coordinate system position movement calculation unit described later. 27 executes a program (see FIGS. 8 and 9) for calculating image data, angular movement amounts (RL _DEP , EL _DEP , AZ _DEP ) and position movement amounts (ΔX _l , ΔY _l , ΔZ _l ). The values of the processing number counters t _n and s _n are handled as “time”.

Motion tracker driver 28 outputs the command signal for lighting the LED group 7, performs control to detect the image data of the light emitted from the LED group 7 in the camera apparatus 2 every time t _n. However, since the LEDs 7a, 7b, and 7c emit infrared light having the same wavelength, the first image captured by the first camera 2a and the second image captured by the second camera 2b are predicted based on the epipolar geometry. Although it is possible to recognize a set of common LED images between two images, it is possible to determine which of the LEDs attached to the helmet 10 with a head-mounted display device corresponds to. Can not. Therefore, each LED is identified by an optical marker position information calculation unit 24, which will be described later.

The first coordinate system angular movement calculating unit 23 integrates the object angular velocities (V _RL ′, V _EL ′, V _AZ ′) detected from the time t _n to the time t _n + s ₂ detected by the three-axis gyro sensor 4. By calculating, control is performed to calculate the amount of angular movement (RL _DEP , EL _DEP , AZ _DEP ) of the first coordinate system (X′Y′Z ′ coordinate system) from time t _n to time t _n + s _2. .
First, X′Y′Z stored at time t _n is calculated by integrating the object angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ) detected at time s ₀ by the three-axis gyro sensor 4. 'Amount of angular movement (RL _s0 , EL _s0 , AZ _s0 ) from the angle (RL _h , EL _h , AZ _h ) of the coordinate system is calculated. Next, X′Y ′ at time t _n + s ₀ is calculated by integrating the object angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ) detected by the three-axis gyro sensor 4 at time s _1. The amount of angular movement (RL _s1 , EL _s1 , AZ _s1 ) from the angle of the Z ′ coordinate system is calculated. The angle movement amount is calculated in this way, and the angle movement amounts calculated from time s _{0 to} s ₂ are summed, and the angle of the X′Y′Z ′ coordinate system from time t to time t _n + s _{2 is} calculated. The movement amount (RL _DEP , EL _DEP , AZ _DEP ) is calculated.

The first coordinate system position movement amount calculating section 27, object acceleration from time detected by the acceleration sensor 5 t _n to time _{t n + s 2 (α '} x, α' y, α 'z) twice integrating By calculating, control is performed to calculate the amount of position movement (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the first coordinate system (X′Y′Z ′ coordinate system) from time t _n to time t _{n +} s _2. .
Object acceleration from time _{t n} to time _{t n + s 2 (α '} x, α' y, α 'z) using, X'Y'Z from time _{t n} to time _t n + _{s 2'} coordinate system In order to calculate the position movement amount (ΔX ₁ , ΔY ₁ , ΔZ ₁ ), the object acceleration (α ′ _x , α ′ _y , α ′ _z ) is integrated twice, so that X at time t _n is calculated. The moving speed (initial speed) of the 'Y'Z' coordinate system is required. Accordingly, the position of the origin of the X′Y′Z ′ coordinate system at the time t _n−1 and the position of the origin of the X′Y′Z ′ coordinate system at the time t _n are subtracted, and the difference is calculated as the time. By dividing by t _n −t _n−1 , the moving speed (V ′ _x , V ′ _y , V ′ _z ) of the origin is calculated. As a result, the movement speed (V _x ′, V _y ′, V _z ′) of the origin is used as the movement speed of the X′Y′Z ′ coordinate system at time t _n .
Then, using the moving speed (V ′ _x , V ′ _y , V ′ _z ) of the X′Y′Z ′ coordinate system, the object acceleration (α ′ _x , α) detected by the acceleration sensor 5 at time s ₀ is detected. ' _y , α' _z ) is integrated twice to obtain a position movement amount (ΔX from the position (X _h , Y _h , Z _h ) of the X′Y′Z ′ coordinate system stored at time t _{n. s0} , _ΔYs0 , _ΔZs0 ). Next, 'moving speed of the coordinate system _{(V'X'Y'Z x, V '} y, V' z) using a time detected by the acceleration sensor 5 _{s 1} object acceleration (alpha _'x, α ′ _y , α ′ _z ) are integrated twice to obtain the position movement amounts (ΔX _s1 , ΔY _s1 , ΔZ _s1 ) from the position of the X′Y′Z ′ coordinate system at time t _n + s _0. calculate. The position movement amount is calculated in this way, and the position movement amounts calculated during the times s _{0 to} s ₂ are summed, and the X′Y′Z ′ coordinate system from the time t _n to the time t _n + s ₂ is added. The amount of position movement (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) is calculated.

Angle movement amount of the optical markers estimation unit 26, an optical marker position information of the time _{t n,} a first coordinate system from the time _{t n} to time _t n + _{s 2} (X'Y'Z 'coordinate system) _(RL DEP, EL _DEP , AZ _DEP ), the second coordinate system (XYZ coordinates) based on the amount of position movement (ΔX _l , ΔY _l , ΔZ _l ) of the X′Y′Z ′ coordinate system from time t _n to time t _{n +} s ₂ Control for estimating the expected movement positions 17a, 17b, and 17c of the LEDs 7a, 7b, and 7c in the system) is performed.
In _order to calculate the position movement amount (ΔX, ΔY, ΔZ) of the LED 7a from the time t _n to the time t _{n +} s ₂ in the XYZ coordinate system, the X′Y′Z ′ coordinate system uses the angular movement amount (RL _DEP , EL The position movement amount (ΔX _r , ΔY _r , ΔZ _r ) of the LED 7 a generated by moving with _DEP , AZ _DEP ) and the position movement amount (ΔX _l , ΔY _l , ΔZ _l ) of the X′Y′Z ′ coordinate system. It is necessary to calculate the position movement amount (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the LED 7a that is generated by moving at.
First, the X′Y′Z ′ coordinate system is moved by the angular movement amount (RL _DEP , EL _DEP , AZ _DEP ), so that the position movement amount (ΔX _r , ΔY _r , ΔZ _r ) of the LED 7 a in the XYZ coordinate system is changed. A calculation method will be described. By substituting the amount of angular movement (RL _DEP , EL _DEP , AZ _DEP ) of the X′Y′Z ′ coordinate system from time t _n to time t _{n +} s ₂ into the following equation (1), the time from time t _n to time The position movement amount (ΔX _r , ΔY _r , ΔZ _r ) of the LED 7a up to t _{n +} s ₂ is calculated.

Next, by moving the X′Y′Z ′ coordinate system by the position movement amounts (ΔX ₁ , ΔY ₁ , ΔZ ₁ ), the position movement amounts (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the LED 7a in the XYZ coordinate system. A method for calculating the value will be described. At this time, position movement amount of X'Y'Z 'coordinate system from the time _{t n} to time _{t n + s 2 (ΔX l} , ΔY l, ΔZ l) is from it the time _{t n} to time _t n + _{s 2} This is the position movement amount (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the LED 7a.
Then, if the position movement amount (ΔX _r , ΔY _r , ΔZ _r ) of the LED 7 a and the position movement amount (ΔX _l , ΔY _l , ΔZ _l ) of the LED 7 a can be calculated, XYZ can be calculated by the following equation (2). position of LED 7a time _{t n} in a coordinate system _{(X LED, Y LED, Z} LED) , the position movement amount of _{LED7a (ΔX r, ΔY r,} ΔZ r) and the position movement amount of LED7a (ΔX _l, ΔY _l, ΔZ ₁ ) is added to estimate the expected movement position 17a (X _DEP , Y _DEP , Z _DEP ) of the LED 7a at time t _{n +} s ₂ (see FIG. 5).

For the LEDs 7b and 7c, the estimated movement positions 17b and 17c of the LEDs 7b and 7c at the time t _{n + s2} are similarly estimated.

The optical marker position information calculation unit 24 uses the predicted movement positions Da, Db of the LEDs 7a, 7b, 7c using the predicted movement positions 17a, 17b, 17c of the LEDs 7a, 7b, 7c at time t _n + s _2. , carried out by setting the Dc, using the image data of the time _{t n + 1, LED7a, 7b} , the respective control for calculating the optical marker position information of the time _{t n + 1} that includes the current position of 7c.
First, as shown in FIG. 6, the estimated movement positions 17 a, 17 b, and 17 c of the LEDs 7 a, 7 b, and 7 c at the time t _n + s ₂ estimated by the optical marker estimation unit 26 are centered, and d ₂ is the diameter. The spherical expected movement ranges Da, Db, and Dc are set in the second coordinate system (XYZ coordinate system). Thus, at time t _{n + 1} , the LEDs existing in the expected movement ranges Da, Db, Dc are the same as the LEDs corresponding to the expected movement ranges Da, Db, Dc set at time t _n + s _2. Identify. For example, as shown in FIG. 7, at time t _{n + 1} , the LED 7 a existing in the expected movement range Da is identified as the same LED 7 a corresponding to the expected movement range Da set at time t _n + s _2. . Similarly, the LED 7b existing in the expected movement range Db is assumed to be the same as the LED 7b, and the LED 7c existing in the expected movement range Dc is identified as the same as the LED 7c. In this manner, the optical marker position information at time t _{n + 1} including the current positions of the LEDs 7a, 7b, and 7c is calculated.

Based on the optical marker position information at time t _{n + 1} , the relative information calculation unit 22 determines the head position (X _h , Y _h , Z _h ) and head angle of the player 3 in the second coordinate system (XYZ coordinate system). Control to calculate relative information including (RL _h , EL _h , AZ _h ) is performed.
Specifically, the head where the LEDs 7a, 7b, 7c are fixed is obtained by obtaining the optical marker position information at time t _{n + 1} which is the current coordinate position of each of the three LEDs 7a, 7b, 7c in the XYZ coordinate system. The current position (X _h , Y _h , Z _h ) and current angle (RL _h , EL _h , AZ _h ) of the helmet 10 with a part-mounted display device are calculated.
The video display unit 25 performs control for emitting video display light from the display based on the relative information. Thereby, the player 3 can visually recognize the display image by a display.

Next, the measurement operation for measuring the head position (X _h , Y _h , Z _h ) and head angle (RL _h , EL _h , AZ _h ) of the player 3 in the XYZ coordinate system by the HMT device 1 will be described. To do. 8 and 9 are flowcharts for explaining the measurement operation by the HMT apparatus 1.
First, in the process of step S101, an instruction is given so that the head of the player 3 wearing the helmet 10 with a head-mounted display device is in the initial position. That is, the X′Y′Z ′ coordinate system is aligned with the XYZ coordinate system by the player 3.
Next, in the process of step S102, it is stored in the _t n = _{t 0} and time storage area 42 as the time _{t n.}

Next, in the process of step S <b> 103, the motion tracker driving unit 28 causes the camera device 2 to detect the image data of the LED group 7. Since the coordinate position (X ′ _DIS , Y ′ _DIS , Z ′ _DIS ) of the LED group 7 in the X′Y′Z ′ coordinate system is stored in the first coordinate system storage area 46 as initial data, the time t optical marker position information of _0, LED 7a using the initial data, 7b, 7c is by being identified respectively, LED 7a, 7b, the respective optical marker position information of the time _{t 0} including the current position is an optical marker memories 7c It will be stored in area 44.
Next, in the process of step S104, the time s _n is stored in the time storage area 42 as s _n = s ₀ .

Next, in the process of step S105, the three-axis gyro sensor 4 detects the object angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ).
Further, in the process of step S106, the acceleration sensor 5 detects the object acceleration (α ′ _x , α ′ _y , α ′ _z ).

Next, in the process of step S107, it is determined whether or not s _n > s ₁ is satisfied. _If it is determined that s _n > s ₁ is not satisfied, s _n = s _{n + 1} is stored in the time storage area 44 in the process of step S108, and the process returns to steps S105 and S106. That is, the processes in steps S105 to S108 are repeated until it is determined that s _n > s ₁ is satisfied.
On the other _hand, it s n> when it is determined that satisfy _{s 1,} in the processing of step S109, the first coordinate system the angle shift amount calculating part 23, 3 detected time axis gyroscope 4 _{t n} time _t n + _{s 2} object velocity up to _{(V 'RL, V' EL} , V 'AZ) by integral operation using, X'Y'Z from time _{t n} to time _t n + _{s 2'} angular movement amount of the coordinate system (RL _DEP , EL _DEP , AZ _DEP ) are calculated.

Next, in the process in step S110, the first coordinate system position movement amount calculating section 27, object acceleration from time detected by the acceleration sensor 5 _{t n} to time _{t n + s 2 (α '} x, α' y , Α ′ _z ) are calculated twice to calculate the position movement amounts (ΔX _l , ΔY _l , ΔZ _l ) of the X′Y′Z ′ coordinate system from time t _n to time t _{n +} s _2. .
Next, in the process of step S111, the optical markers estimation unit 26, an optical marker position information of the time _{t n,} the angle shift amount of X'Y'Z 'coordinate system from the time _{t n} to time _t n + _{s 2} (RL _DEP , EL _DEP , AZ _DEP ), based on the amount of movement (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the X′Y′Z ′ coordinate system from time t _n to time t _{n +} s ₂ , in the XYZ coordinate system Estimated movement positions 17a, 17b, and 17c of the LEDs 7a, 7b, and 7c are estimated.

Next, in the process of step S112, the optical marker position information calculation unit 24 uses the predicted movement positions 17a, 17b, and 17c of the LEDs 7a, 7b, and 7c at the time t _n + s ₂ to use the LEDs 7a, 7b, and 7c. Are set in the XYZ coordinate system.
Next, in the process of step S113, t _n = t _{n + 1} is stored in the time storage area 42.
Next, in the process of step S <b> 114, the motion tracker driving unit 28 causes the camera device 2 to detect the image data of the LED group 7.

Next, in the processing of step S115, the optical marker position information calculation unit 24 uses the image data at time t _{n + 1} to replace the LEDs existing in the expected movement ranges Da, Db, Dc with the set expected movement range Da, By identifying that the LED is the same as the LED corresponding to Db and Dc, the optical marker position information at time t _{n + 1} including the current position of each of the LEDs 7a, 7b and 7c is calculated. At this time, optical marker position information at time t _{n + 1} is stored in the optical marker storage area 44.
Next, in the process of step S116, the relative head information calculation unit 22 based on the optical marker position information at time t _{n + 1} , the current position of the player 3's head in the XYZ coordinate system (X _h , Y _h , Z _h ) and the current angle (RL _h , EL _h , AZ _h ) are calculated.

  Next, in the process of step S117, it is determined whether or not to end the emission of the video display light. When the emission of the image display light is terminated, this flowchart is terminated. On the other hand, when it is determined not to end the emission of the image display light, the process returns to step S104. That is, the processing from step S104 to step S117 is repeated until it is determined that the emission of the video display light is to be terminated.

As described above, according to the HMT device 1, it is estimated based on the object angular velocity (V ′ _RL , V ′ _EL , V ′ _AZ ) and the object acceleration (α ′ _x , α ′ _y , α ′ _z ). Since the expected movement ranges Da, Db, Dc centering on the positions of the LEDs 7a, 7b, 7c are set, even when the movement speed of the helmet 10 with a head-mounted display device is fast, the expected movement ranges Da, Db, Dc LED 7a, 7b, 7c can be prevented from being lost.

(Embodiment 2)
FIG. 12 is a diagram showing a schematic configuration of an HMT apparatus according to another embodiment of the present invention.
The HMT device 61 includes a head position (X _h , Y _h , Z _h ) and a head angle (RL _h , EL _h , AZ) of the pilot 63 with respect to the second coordinate system (XYZ coordinate system) set in the camera device 2. _The relative information including _h ) is calculated. That is, the position and angle of the first coordinate system (X′Y′Z ′ coordinate system) set in the helmet 10 with a head mounted display device worn by the pilot 63 in the XYZ coordinate system are calculated. In addition, about the thing similar to Embodiment 1 mentioned above, the same code | symbol is attached | subjected and description shall be abbreviate | omitted.

  The HMT device 61 includes a head mounted display-equipped helmet 10 attached to the pilot 63 head, the camera device 2 attached to the flying object 62, and a three-axis gyro sensor (moving) attached to the flying object 62. A body angular velocity detection sensor) 64, an acceleration sensor (moving body acceleration detection sensor) 65 attached to the flying body 62, and a control unit 20 configured by a computer.

The triaxial gyro sensor (moving body angular velocity detection sensor) 64 detects angular velocities (V _RL , V _EL , V _AZ ) acting on the flying object 62 in a short time (for example, 4 msec). That is, since the pilot 63 is on the flying body 62 and the flying body 62 is also moving, the object angular velocities (V ′ _RL , V ′ _EL , V ′ _AZ ) are the same as those of the helmet 10 with a head mounted display device. Although it includes not only the angular velocity but also the angular velocity of the flying object 62, the three-axis gyro sensor 64 detects the angular velocity acting only on the flying object 62 at the same time as the three-axis gyro sensor 4. The triaxial gyro sensor 64 is aligned with the second coordinate system (XYZ coordinate system).

The acceleration sensor (moving body acceleration detection sensor) 65 detects acceleration (α _x , α _y , α _z ) acting on the flying object 62 in a short time (for example, 4 msec). That is, since the pilot 63 is on the flying body 62 and the flying body 62 is also moving, the object acceleration (α ′ _x , α ′ _y , α ′ _z ) is the same as that of the helmet 10 with a head mounted display device. Although not only the acceleration but also the acceleration of the flying object 62 is included, the acceleration sensor 65 detects the acceleration acting only on the flying object 62 at the same time as the acceleration sensor 4. The acceleration sensor 65 is aligned with the second coordinate system (XYZ coordinate system).

As shown in FIG. 12, the control unit 20 is composed of a computer including a CPU 21, a memory 41, and the like, and performs various controls and arithmetic processes. The process of CPU21 performs, will be described separately for each functional block, a motion tracker driver 28, the object velocity _{(V 'RL, V' EL} , V 'AZ) and the moving object angular velocity _{(V RL, V EL,} V _AZ ) and the first coordinate system angular movement amount calculation unit 68 for calculating the angular movement amounts (RL _DEP , EL _DEP , AZ _DEP ) of the XYZ coordinate system, and the object acceleration (α ′ _x , α ′ _y , Α ′ _z ) and the moving body acceleration (α _x , α _y , α _z ), the first coordinate system position movement amount for calculating the position movement amount (ΔX _l , ΔY _l , ΔZ _l ) of the XYZ coordinate system Calculation unit 67, relative information calculation unit 22, optical marker position information calculation unit 24, optical marker estimation unit 26, video display unit 25, and expected movement that determines the sizes of the predicted movement ranges Da, Db, and Dc And a range determining unit 66.
Further, the predicted movement range storage area 45 stores a table in which the positional movement amounts of the LEDs 7a, 7b, and 7c are associated with the predicted movement ranges Da, Db, and Dc.

The first coordinate system the angle shift amount calculating part 68, the object velocity from the time _{t n,} which is detected by the triaxial gyro sensor 4 to time _{t n + s 2 (V '} RL, V' EL, V 'AZ) and, By integrating the difference from the object angular velocity (V _RL , V _EL , V _AZ ) from time t _n to time t _n + s ₂ detected by the three-axis gyro sensor 64, time t _n to time t _n Control is performed to calculate the angular movement amounts (RL _DEP , EL _DEP , AZ _DEP ) of the first coordinate system (XYZ coordinate system) up to + s ₂ .

The first coordinate system position movement amount calculating section 67, object acceleration from time t _n, which is detected by the acceleration sensor 5 to the time _{t n + s 2 (α '} x, α' y, α 'z) and the acceleration sensor mobile acceleration from time _{t n,} which is detected at 65 to time _{t n + s 2 (α x} , α y, α z) by twice integrating calculates the difference between the time from the time _{t n t} n + _{s 2} Control is performed to calculate the position movement amounts (ΔX ₁ , ΔY ₁ , ΔZ ₁ ) of the first coordinate system (X′Y′Z ′ coordinate system) up to.

Expected movement range determining unit 66, the expected movement position 17a, 17b, 17c and LED7a based on the optical marker position information of the time _{t n,} 7b, expected movement ranges Da by calculating the position movement amount of 7c, Db, Dc Control to determine the size of.
For example, the size of the expected movement range Da centered on the expected movement position 17a of the LED 7a is increased when the position movement amount of the LED 7a is long, while it is decreased when the position movement amount of the LED 7a is short. Further, the size of the expected movement range Da centered on the expected movement position 17b of the LED 7b is increased when the position movement amount of the LED 7b is long, and is decreased when the position movement amount of the LED 7b is short. Furthermore, the size of the expected movement range Dc centered on the expected movement position 17c of the LED 7c is increased when the position movement amount of the LED 7c is long, while it is decreased when the position movement amount of the LED 7c is short.

The optical marker position information calculation unit 24 includes the predicted movement positions 17a, 17b, and 17c of the LEDs 7a, 7b, and 7c at the time t _n + s ₂ and the predicted movement range Da determined by the predicted movement range determination unit 66. By setting the expected movement ranges Da, Db, and Dc of the LEDs 7a, 7b, and 7c using the sizes of Db and Dc, the image data at the time tn _{+ 1} is used to set the respective movements of the LEDs 7a, 7b, and 7c. Control is performed to calculate optical marker position information at time t _{n + 1} including the current position.

As described above, according to the HMT device 61, the three-axis gyro sensor 4 detects movement information in the flying object 62 in which the movement of the head of the pilot 63 and the movement of the flying object 62 are combined. , the information only the motion of the aircraft 62 is detected by the triaxial gyro sensor 64, the object velocity _{(V 'RL, V' EL} , V 'AZ) and the moving object angular velocity _{(V RL, V EL, V} AZ ) Can be used to calculate only the head movement of the pilot 63 excluding the movement of the flying object 62.
Further, the acceleration sensor 5 detects movement information obtained by combining the movement of the head of the pilot 63 and the movement of the flying body 62 in the flying body 62, but only the movement of the flying body 62 is detected by the acceleration sensor 65. Since the information is detected, the motion of the flying object 62 is excluded using the object acceleration (V ′ _RL , V ′ _EL , V ′ _AZ ) and the moving object acceleration (V _RL , V _EL , V _AZ ). Only the movement of the head of the pilot 63 can be calculated.
Thereby, even if the pilot 63 is on the flying object 62, the estimated movement ranges Da, Db, Dc centered on the estimated movement positions 17a, 17b, 17c of the estimated LEDs 7a, 7b, 7c can be set. Therefore, even when the moving speed of the head of the pilot 63 is fast, it is possible to prevent the LEDs 7a, 7b, and 7c from disappearing in the expected moving ranges Da, Db, and Dc.

  Further, the expected movement range determination unit 66 increases the size of the expected movement range Da around the expected movement position LED 17a of the LED 7a when the position movement amount of the LED 7a is long, while the position movement amount of the LED 7a is larger. If it is short, make it small. Therefore, even when the moving speed of the helmet 10 with a head-mounted display device is high, the LEDs 7a, 7b, and 7c are prevented from being present in the expected movement ranges Da, Db, and Dc, and the head-mounted display device is prevented. When the movement speed of the attached helmet 10 is slow, it is possible to further prevent two or more LEDs 7a, 7b, and 7c from being simultaneously present in the expected movement ranges Da, Db, and Dc.

  The HMT device of the present invention is used, for example, as a device that detects the current position and the current angle of a helmet with a head-mounted display device used in game machines, vehicles, and the like.

It is a figure which shows schematic structure of the HMT apparatus which is one Embodiment of this invention. It is a top view of the helmet with a head-mounted display device shown in FIG. It is a figure for demonstrating the setting of a 2nd coordinate system. It is a time chart for demonstrating the flow which a control part performs. It is a figure for demonstrating a movement of the helmet with a head mounting | wearing type display apparatus. It is a figure for demonstrating a movement of the helmet with a head mounting | wearing type display apparatus. It is a figure for demonstrating a movement of the helmet with a head mounting | wearing type display apparatus. It is a flowchart for demonstrating the measurement operation | movement by a HMT apparatus. It is a flowchart for demonstrating the measurement operation | movement by a HMT apparatus. It is a figure for demonstrating the movement of the conventional helmet with a head-mounted display apparatus. It is a figure for demonstrating the movement of the conventional helmet with a head-mounted display apparatus. It is a figure which shows schematic structure of the HMT apparatus which is other one Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Head motion tracker apparatus 2 Camera apparatus 3 Player 4 3-axis gyro sensor (object angular velocity detection sensor)
5 Acceleration sensor (object acceleration detection sensor)
7 LED group (optical marker group)
10 Helmet with head mounted display (object)
DESCRIPTION OF SYMBOLS 22 Relative information calculation part 23 1st coordinate system angle movement amount calculation part 24 Optical marker position information calculation part 26 Optical marker estimation part 27 1st coordinate system position movement amount calculation part 44 Optical marker storage area

Claims (6)

An object with a first coordinate system, and
Three or more optical markers of the same type positioned in the first coordinate system and attached to the object;
A second coordinate system is set, and a camera device that detects a light beam from the optical marker in a stereoscopic view;
An optical marker position information calculating unit that calculates optical marker position information including current positions of three or more optical markers in the second coordinate system based on the detected light beam;
An optical marker storage unit for storing the optical marker position information;
A motion tracker device comprising: a relative information calculation unit that calculates relative information including a current position and a current angle of an object in the second coordinate system based on the optical marker position information;
An object angular velocity detection sensor which is positioned in the first coordinate system and attached to the object and detects the object angular velocity acting on the object in a shorter time than the detection interval time of the light beam in the camera device;
An object acceleration detection sensor which is positioned in the first coordinate system and attached to the object and detects the object acceleration acting on the object in a shorter time than the light detection interval time in the camera device;
A first coordinate system angular movement amount calculation unit that calculates an angular movement amount of the first coordinate system based on the object angular velocity;
A first coordinate system position movement amount calculation unit that calculates a position movement amount of the first coordinate system based on the object acceleration;
Based on the optical marker position information stored in the optical marker storage unit, the angle movement amount of the first coordinate system, and the position movement amount of the first coordinate system, an estimated movement position of the optical marker in the second coordinate system is estimated. An optical marker estimation unit,
The motion tracker device, wherein the optical marker position information calculation unit identifies each of the three or more optical markers based on an expected movement position of the optical marker. The first coordinate system position movement amount calculation unit calculates a movement speed of the origin of the first coordinate system based on at least two optical marker position information stored in the optical marker storage unit,
The motion tracker device according to claim 1, wherein a position movement amount of the first coordinate system is calculated based on a moving speed of the origin of the first coordinate system and an object acceleration.   The optical marker position information calculation unit identifies each of the three or more optical markers by setting an expected movement range of the optical marker based on an expected movement position of the optical marker. The motion tracker device according to claim 1 or 2.   The motion tracker device according to claim 3, wherein the predicted movement range of the optical marker is a sphere centered on the predicted movement position of each optical marker.   Expected movement for determining the size of the expected movement range of the optical marker by calculating the position movement amount of the optical marker based on the angular movement amount of the first coordinate system and the position movement amount of the first coordinate system. The motion tracker device according to claim 3, further comprising a range determination unit. The object is a helmet to be worn on a passenger's head; and
The camera device is attached to a moving body on which the passenger is boarded,
A moving body angular velocity detection sensor that is attached to the moving body and detects a moving body angular velocity acting on the moving body at the same time as the object angular velocity detection sensor;
A moving body acceleration detection sensor that is attached to the moving body and detects a moving body acceleration acting on the moving body at the same time as the object acceleration degree detection sensor;
The first coordinate system angular movement amount calculation unit calculates the angular movement amount of the first coordinate system based on the object angular velocity and the moving body angular velocity,
The first coordinate system position movement amount calculation unit calculates a position movement amount of the first coordinate system based on the object acceleration and the moving body acceleration. The motion tracker device according to any one of the above.

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