JP4599858B2 - Image display device - Google Patents

Description

  The present invention relates to an image display device that allows a viewer to visually recognize a display target by a virtual image by projecting light onto the retina of the viewer, and in particular, displays the image of the viewer to the viewer. The present invention relates to a technology that takes control into consideration.

  There is already known an image display device that causes a viewer to visually recognize a display target by a virtual image by projecting light onto the retina of the viewer (see, for example, Patent Document 1).

  In general, this type of image display apparatus includes: (a) an emission unit that emits light (for example, a light source); and (b) a modulation unit that modulates light (for example, an intensity modulation unit, a wavefront modulation unit, and the like); (C) a display unit that displays a display target (content) as a virtual image in the image display region, and (d) a control unit that controls the emission unit and the modulation unit so that the image is displayed in the image display region. Composed.

  One type of this type of image display apparatus is a head-mounted type in which the display unit is used by being mounted on the head of an observer, and one conventional technique is disclosed in Patent Document 1.

  When this head-mounted image display device is designed to display an image with reference to the position of the display unit, the observer can display an image display area (observation) regardless of the operation of the observer. The image is observed at the same position within the head. That is, the observer observes the image in a state where the image is fixed on the display unit, that is, in a state where the display position of the image is fixed in the visual field of the observer.

  When this image display device is a see-through type, an observer can superimpose an image on the actual outside world and observe it together. If this image display device is designed so that the image is observed in a state of being fixed in the observer's field of view as described above, the movement of the observer (for example, movement of the body, movement of the head) Regardless, the image is fixed in the observer's field of view. For this reason, an observer who recognizes that an image is supposed to be fixed and observed in the actual outside world may feel unnaturalness with respect to an image that is immovably displayed in the field of view instead of in the actual outside world.

On the other hand, in the image display device described in Patent Document 1, based on the relative positional relationship between the observer's head and the actual outside world, the image is displayed so that the image is fixed and observed in the actual outside world.
JP-A-8-21975

  The inventor conducted research on the relationship between the operation of the observer and the display of images to the observer for the above-described head-mounted image display apparatus. As a result, it is possible to control the display of the image to the observer by detecting the movement of the observer relative to the position of the observer and referring to the detected movement of the observer. I realized that there was.

  Against the background of the above-described knowledge, the present invention provides an image display device that allows a viewer to visually recognize a display target by a virtual image by projecting light onto the retina of the viewer. It is made as a subject to propose a new technique for controlling in consideration of a person's operation.

In order to solve the problem, according to one aspect of the present invention, an image display device that causes a viewer to visually recognize a display target by a virtual image by projecting light onto the retina of the viewer,
An emission part for emitting light;
A modulator for modulating the light;
A display unit that displays the image representing the display object as a virtual image on a display area by emitting the modulated light onto an observer's retina through an emission port, and is attached to the observer's head. Used and
A control unit that controls the emission unit and the modulation unit so that the image is displayed in the image display area, and detects the motion of the observer relative to the position of the viewer, and the detection In accordance with the performed operation, performing display control that is at least one of on / off of display of the image and change of the display position;
The position and orientation of the head that is the detected part of the human body that is the observer, and the reference part that is a part that can be displaced relative to the head among the plurality of parts that constitute the human body A detecting unit for detecting a relative relationship with a predetermined reference coordinate system,
Including
In order to display the image in the image display area, the control unit includes: (a) a definition coordinate system used for defining the display target; and (b) an image displayed in the image display area. Using a coordinate system for display that defines the above and fixed to the display unit,
The control unit further displays definition data defining the display target on the definition coordinate system and displays the image on the display coordinate system so that the detected relative relationship is reflected. Converted into data, based on the converted display data, to control the emission unit and the modulation unit,
The reference coordinate system is also the definition coordinate system, or different from both the definition coordinate system and the display coordinate system,
The reference coordinate system is provided by an image display device specified by position information of two points associated with the same part of the human body and direction information of gravity acting on one point associated with the same part. Is done.
The following aspects are obtained by the present invention. Each aspect is divided into sections, each section is given a number, and is described in a form that cites other section numbers as necessary. This is to facilitate understanding of some of the technical features that the present invention can employ and combinations thereof, and the technical features that can be employed by the present invention and combinations thereof are limited to the following embodiments. Should not be interpreted. That is, it should be construed that it is not impeded to appropriately extract and employ the technical features described in the present specification as technical features of the present invention although they are not described in the following embodiments.

  Further, describing each section in the form of quoting the numbers of the other sections does not necessarily prevent the technical features described in each section from being separated from the technical features described in the other sections. It should not be construed as meaning, but it should be construed that the technical features described in each section can be appropriately made independent depending on the nature.

(1) An image display device that causes a viewer to visually recognize a display target by a virtual image by projecting light onto the retina of the viewer,
An emission part for emitting light;
A modulator for modulating the light;
A display unit that displays the image representing the display object as a virtual image on a display area by emitting the modulated light onto an observer's retina through an emission port, and is attached to the observer's head. Used and
A control unit that controls the emission unit and the modulation unit so that the image is displayed in the image display area, and detects the motion of the observer relative to the position of the viewer, and the detection An image display apparatus including: performing display control which is at least one of on / off of display of the image and change of the display position in accordance with the performed operation.

  When the observer uses an image display device that projects the light onto the retina of the observer so that the observer can visually recognize the display target by a virtual image, for example, the observer If you want to temporarily stop the display of the image, prevent the viewer's field of view from being disturbed by the image displayed in the image display area, or set the display position in a desired relationship with the observer's movement. You may want to move it.

  In order to satisfy those desires, for example, the image displayed in the image display area is temporarily deleted, or the display image is fixed to a part of the observer's body (for example, the waist) with respect to the image display position. It is possible to make it seem like it was done. Furthermore, it is also possible to change from the normal position (for example, the center position) where the image is normally displayed in the image display area to the retracted position (for example, a position close to the edge of the image display area) from the normal position. It is.

  Therefore, the image display device, for example, a command for temporarily stopping (off) the display of the image (or a command for restarting (turning on) the display of the temporarily stopped image), or A command for changing the display position of the image from the normal position to the retracted position (or a command for returning the temporarily changed display position to the normal position) is manually input by the observer to the image display device. In order to make it possible, it is possible to provide an operation unit to be manually operated by an observer.

  In the case of using an image display device equipped with this operation unit, if the image display device detects manual operation of the operation unit by an observer, in response to that, the display of the image is turned on / off and the display thereof At least one of position change is performed.

  However, in this case, the observer is forced to use his / her hand to operate the operation unit. Therefore, in this case, in order for the observer to observe the image while performing another manual operation, the observer must temporarily interrupt the manual operation. Furthermore, if the position of the operation unit changes, the target position at which the observer moves his / her hand to operate the operation unit also changes accordingly. As a result, for example, when attempting to manually operate the operation unit, the position of the operation unit must be searched visually or tactilely and moved toward the position before the manual operation. It must be cumbersome.

  On the other hand, in the image display device according to this section, the motion of the observer is relatively detected with reference to the position of the viewer, and image display is turned on / off according to the detected motion. And display control which is at least one of the change of the display position is performed.

  Therefore, according to this image display device, as described above, the image display device detects the viewer's desire regarding the image display (for example, on / off of image display, change of image display position). It is not indispensable to provide a simple operation unit in the image display device. Further, it is not indispensable for the observer to use the hand to operate the operation unit in order for the observer to input such a wish to the image display apparatus.

  Therefore, according to the image display apparatus according to this section, in order for the observer to input the image display request to the image display apparatus, the manual operation performed by the observer in parallel while using the image display apparatus is interrupted. It is possible to implement the image display device in a manner that does not need to be performed.

  Further, in the image display device according to this section, an operation required for the observer to input an image display request to the image display device is determined by the position of the image display device (for example, the operation unit). Position). As a result, for example, an observer searches for a specific target object (for example, a button, a switch, a dial, a touch panel, etc. in an operation unit) and inputs toward the target object in order to input a request regarding image display. Is not required to do.

  Therefore, according to the image display apparatus according to this section, it is easy to simplify or standardize the operation required for the observer in order for the observer to input the hope for image display.

  In the image display apparatus according to this section, the observer's action referred to by the image display apparatus in order to recognize the observer's desire regarding the image display is the position of the observer (reference part of the observer). It is detected relative to the reference. Therefore, the motion of the observer detected for recognizing the desire of the observer does not depend on the absolute space of the observer, that is, the relative position with respect to the actual outside world.

  Therefore, according to this image display apparatus, it becomes possible for the observer to configure the hardware for detecting the action of the observer in a self-contained manner. That is, it is possible to omit installing hardware for the detection in the actual outside world. This contributes to simplification of the hardware configuration for detecting the observer's motion.

  The “modulator” in this section refers to the intensity of each beam component and the wavefront of each beam component or combined beam, for example, when a target combined beam is formed by combining a plurality of beam components having different wavelengths. Of the curvature, at least the intensity can be modulated. It is not essential to configure the wavefront curvature to be modulated.

  An example of the “emitter” in this section is a laser light source. An example of the laser light source is a light source having a function of modulating the intensity of emitted light, such as a semiconductor laser. This light source has both a function as an “emitter” and a function as a “modulator”.

  Furthermore, “changing the display position” in this section means, for example, changing the image display position in the image display area.

(2) Further, among a plurality of parts constituting a human body that is an observer and capable of relative displacement, the detected part designated in advance as a part whose motion is to be detected is associated with the human body. A detection unit that detects a relative position with respect to a reference portion selected in advance to set the reference position, and the control unit performs the display control based on the detected relative position (1). The image display device according to the item.

  In this image display device, the display control described in the item (1) is performed based on the relative positions between a plurality of parts constituting the human body that is an observer.

  The “reference position” in this section is set, for example, as a position on a certain part of the human body, or as a position that is distant from the certain part but is geometrically related to the certain part. Is possible.

(3) The detection unit includes a first part and a second part that can be displaced relative to each other, and the first part is attached to the detected part and moves integrally with the detected part, The second part is attached to the reference part and moves integrally with the reference part, and the detection unit further includes detection means for detecting a relative position between the first part and the second part ( The image display device according to item 2).

  In this image display device, since a detection unit for detecting an observer's movement is attached to the observer, the detection unit is installed on a part installed in the actual outside world (for example, a fixed object such as a floor or a wall). Sensor).

  Therefore, according to this image display device, even if the observer moves, the movement range of the observer who can normally observe the image by the same image display device is largely restricted by the reason that the movement of the observer is detected. You do n’t have to. It is easy for the observer to enlarge the movable range while observing an image using the same image display device, and as a result, it is easy to improve the mobility of the image display device.

  The “detecting means” in this section shall detect, for example, the relative position between the first part and the second part using at least one of an electric field, a magnetic field, an electromagnetic wave, light, and a sound wave. Is possible.

(4) One of the first part and the second part is a signal generating unit that generates a detection signal for detecting the relative position, and the other is the generated detection signal. The image display device according to item (3), wherein the image display device is a receiving unit that receives an object that propagates in space.

  In this image display device, the detection unit uses a signal propagating in space, so that the first part that moves integrally with the detected part of the human body and the reference part of the human body are integrated. The relative position between the moving second part is detected. Therefore, for the detection, the first part and the second part do not need to be connected to each other by a motion mechanism such as a link mechanism or a tangible signal transmission medium such as a cable or a wire.

  Therefore, according to this image display device, the range in which the relative position between the first portion and the second portion in the detection unit can be changed is not limited in order to achieve the purpose of detecting the motion of the observer. In other words, the range in which the movement of the observer can change is not limited.

  The “detection signal” in this section is, for example, an electric field, a magnetic field, an electromagnetic wave, light, a sound wave, or the like.

(5) The control unit performs the display control based on the detected relative position when an observer's operation satisfies a setting condition, according to any one of (1) to (4). Image display device.

  An example of the “setting condition” in this section is a condition related to the orientation of the observer's head, and the head faces in a direction that deviates from the direction in which the observer faces the front (for example, the observer turns sideways). See or whisper). Another example is a condition related to the movement of the observer's hand, which is lifting the hand to a certain position. In the image display device according to this section, in order to determine whether or not the display control is necessary, an operation in which the observer shifts the line of sight from a normal direction (for example, the eyeball is rotated or the head is rotated). It is not essential to design for the observer.

  In the image display device according to this section, for example, the setting condition includes a first setting condition and a second setting condition.

  When the observer's operation satisfies the first setting condition, the image display is switched from the on state to the off state to temporarily stop the image display, and the image display position is changed from the normal position to the retracted position. At least one of moving to

  On the other hand, when the observer's action satisfies the second setting condition, the image display is switched from the off state to the on state to resume the image display and to perform stable display even during head movement. For example, it is possible to display the display image as if the position of the display image is fixed to a part of the observer's body (for example, the waist). Furthermore, it is also possible to implement in a mode in which at least one of returning the image display position from the retracted position to the normal position is performed.

(6) The detected part is set on at least the head of the observer's head, arm, and foot, and the reference part is set on the waist of the observer (2) to (5) The image display device according to any one of items 1 to 3.

  Among a plurality of parts constituting the human body that is the observer, there are, for example, a head, an arm part, and a foot part as a part where the observer can give a relatively remarkable position change. However, as a part whose position is relatively stable, for example, there is a waist. In addition, the head is a part that moves with the eyes of the observer.

  Based on such knowledge, in the apparatus according to this section, the detected part is set to at least the head of the observer's head, arm, and foot, and the reference part is the waist of the observer Set to

(7) The control unit controls the emission unit and the modulation unit so that an observer observes the image at a position determined on the basis of the reference part (2) to (6). The image display device according to any one of the items.

  In general, when the image display device displays an image with reference to the position of the display unit in the image display device, the observer's head and the display unit are Since the position does not change, the observer observes the image at the same position in the image display area (fixed to the observer's head) regardless of the action of the observer.

  On the other hand, when the image display device is a see-through type, that is, in a format that allows the observer to superimpose an image on the actual outside world and observe it together with the image, the observer can display the display unit of the image display device. There is a possibility of performing a specific operation while intensively observing a specific object in the actual outside world while being worn on the head.

  In the course of such work, in order to make it possible to visually refer to information related to the work, it is conceivable to display the related information as an image in the image display area. In this case, when the related information is displayed, the display image is superimposed on the target object, so that the target object to be observed may be at least partially blocked by the display image.

  On the other hand, an observer may desire to observe the related information in a certain posture in which the line of sight deviates from a specific object. An example of such a certain posture is that an observer crawls deeply to see his / her waist. Another example is that the observer rotates his head to look at him diagonally in front or almost directly beside him. Yet another example is when the observer folds his arm so that the part of the arm between the wrist and elbow joints is almost horizontal in front of the upper body of the observer. The observer tilts his / her head to directly view the part.

  On the other hand, in the image display device according to this section, an image is not displayed based on the position of the display unit in the image display device, but the position of the observer, that is, the observer. An image is displayed with reference to a reference part of the human body.

  Therefore, in the image display apparatus according to this section, since the observer has performed some operation, the detected part (for example, the head) and the reference part (for example, the waist part, the arm part) of the observer. When the relative position changes, the on / off state of the image display in the image display area changes following the observer's operation. The display position also changes following the observer's movement.

  More specifically, for example, when the detected region is selected as the head and the reference region is selected as the waist, the image may be displayed only when the observer gazes at the waist. In addition, when the detected part is selected as the head and the reference part is selected as the arm part, an image can be displayed only when the observer gazes at the arm part. In any of the examples, in the image display state, that is, the on state, the image display position changes with a change in the relative position between the head and the waist or the arm.

  Furthermore, in the case of detecting the observer's movement based on the position of a stable part (for example, the waist) of the human body that is the observer, the position is stable despite the movement of the observer. Regardless of whether or not the user is moving, no relative displacement occurs between the stable part of the observer and the actual outside world.

  Therefore, it is possible to detect the movement of the observer based on such a stable part and control the display position of the image with respect to the observer based on the detected movement of the observer. Control the display position of the image to the observer (conceptually, including the virtual position when the image is not displayed in the image display area) based on the relative position of the This is equivalent in that a stable image is displayed.

  In a specific example of the image display device according to this section, the position where the image is displayed in the image display area (conceptually, including the virtual position when the image is not displayed in the image display area) is displayed by the observer. Determining according to the operation automatically leads to determining whether to display the image in the image display area according to the operation of the observer. That is, in this specific example, the determination of the image display position according to the observer's action and the determination of the on / off state of the image display according to the observer's action are independent of each other. Rather than being, they are linked.

  However, in another specific example of the image display device according to this section, when the image display position is determined according to the operation of the observer, the image is displayed in the image display area. The image is actually displayed in the image display area after waiting for another intention display (for example, including an operation of the operation unit such as a switch by the observer). In this specific example, the observer's action for determining the image display position and the observer's intention display for finally permitting the image display are independent of each other.

(8) The control unit displays (a) a definition coordinate system used for defining the display target, and (b) displays the image in the image display area, in order to display the image in the image display area. Using a display coordinate system that defines an image to be displayed and fixed to the display unit,
The control unit further detects a relative relationship between the position and orientation of the observer's head and a reference coordinate system predetermined so as to be associated with the human body, and the detected relative relationship is reflected. As described above, the definition data defining the display object on the definition coordinate system is converted into display data for displaying the image on the display coordinate system, and the emission unit is converted based on the converted display data. The image display device according to item (7), which controls the modulation section.

  In this image display device, definition data that defines a display target on the definition coordinate system so that the relative relationship between the position and orientation of the observer's head and the reference coordinate system associated with the human body is reflected. Are converted into display data for displaying an image on the display coordinate system. Based on the converted display data, the emission unit and the modulation unit are controlled.

  Therefore, according to this image display device, the position where the image is displayed in the image display area is determined in accordance with the motion related to the observer's head. Since the determined position conceptually includes a position when it is not displayed in the image display area, according to this image display device, an image is displayed in the image display area in accordance with an operation related to the observer's head. Whether or not will be decided together.

(9) The image display device according to item (8), wherein the display coordinate system is also the definition coordinate system.

  This image display apparatus is an observer reference display mode which will be described later, in order to display an image so that the observer observes the image at a position determined with reference to the position of the observer. The definition data defining the display target on the definition coordinate system is displayed in the display coordinate system so that the relative relationship between the position and orientation of the observer's head and the reference coordinate system associated with the human body is reflected. The image data is converted into display data for displaying an image.

  This image display device is a display unit reference display mode, which will be described later, instead of the observer reference display mode, and the image is displayed at a position determined based on the position of the display unit in the image display device. It is possible to execute what displays the image as it observes.

  Then, according to the image display apparatus according to this section, when executing the display unit reference display mode, any substantial coordinate transformation is performed on the definition data defining the display target on the definition coordinate system. The definition data is effectively mapped to the display coordinate system. As a result, display data for displaying an image on the display coordinate system is acquired as data equal to the definition data.

(10) The image display device according to (8), wherein the reference coordinate system is also the definition coordinate system.

  According to this image display apparatus, since the definition coordinate system and the reference coordinate system are made equivalent, the image is displayed as if it were fixed to the reference coordinate system.

  In this image display device, the original data expressed in the definition coordinate system is based on the relative relationship between the position and orientation of the observer's head and the reference coordinate system associated with the human body. Is converted into display data for displaying an image, whereby the definition data is mapped to the display coordinate system.

  By the way, for example, among a plurality of parts constituting the human body, there is a waist part as a part whose position is stable despite a change in posture of the human body. Therefore, when it is necessary to relatively detect the position and orientation of the head with reference to the human body, it is desirable to detect with respect to the position of the waist. Therefore, for example, when an image is displayed in association with the waist of the observer, whether or not the image is observed by the observer is determined based on the relative relationship between the waist and the head. Further, the position where the image is observed by the observer is determined.

  Here, both the reference coordinate system and the definition coordinate system are fixed to the waist to display the image based on the waist of the observer and to detect the position and orientation of the head based on the waist. do it. This means that the reference coordinate system is also a definition coordinate system.

(11) The image display device according to (8), wherein the reference coordinate system is different from both the definition coordinate system and the display coordinate system.

  For example, when it is necessary to display an image with respect to the arm part of the observer and to relatively detect the position of the arm part with respect to the waist, for example, the definition coordinate system is The reference coordinate system can be fixed to the waist while being fixed to the waist. This example is an example in which the reference coordinate system is a coordinate system different from both the definition coordinate system and the display coordinate system.

(12) The reference coordinate system is
A combination of position information of at least one point associated with the human body and at least two orientation information associated with the at least one point;
A combination of position information of at least two points associated with the human body and at least one orientation information associated with at least one of the at least two points;
The image display device according to (10) or (11), which is specified by any one of a combination of position information of at least three points associated with the human body.

  In order to uniquely define the coordinate system in the three-dimensional space, the coordinate values of three points that do not match each other in the three-dimensional space are specified, or the coordinate values of two points that do not match each other are defined. It is sufficient to specify a combination of one direction of the power coordinate system or a combination of the coordinate value of one point and two different directions of the coordinate system to be defined.

  In addition, in order to detect the direction associated with each point, it is possible to refer to the direction of gravity acting on each point. When the coordinate system to be defined is associated with a certain part of the human body, there is a mass at that part, so gravity always acts on the earth. The direction of the gravity is a physical quantity that can be detected relatively easily.

  Based on the knowledge described above, in the image display device according to this item, the reference coordinate system in the item (10) or (11) includes (a) position information of at least one point associated with the human body, A combination of at least two orientation information associated with at least one point; (b) position information of at least two points associated with the human body; and at least one of the at least two points. And (c) a combination of position information of at least three points associated with the human body.

  In this section, the “point associated with the human body” means not only a point located on the human body but also on an object having a generally fixed positional relationship with the human body (for example, an auxiliary device attached to the human body). It may mean the point.

  The object can be, for example, an object that is used while being held by a human hand, or an object that is used by being attached to a part of the human body other than the hand. The object is configured as a single object in which a plurality of points are commonly associated with each other, or is configured as a plurality of independent objects in which the plurality of points are individually associated with one another or with each other. It is possible.

(13) The image display device according to (10) or (11), wherein the reference coordinate system is specified by position information of three points associated with the same part of the human body.

  The “three points” in this section are, for example, three points that are arranged at regular intervals on the outer periphery of the cross section when the human torso is cut along a generally horizontal plane.

(14) The reference coordinate system is specified by position information of two points associated with the same part of the human body and direction information of gravity acting on one point associated with the same part (10 ) Or (11).

  “Two points” in this section are, for example, two points associated with the lumbar part of the human body, which are respectively associated with the left end point and the right end point of the lumbar part, the left arm part and the right arm part of the human body. Two points associated with the region between the wrist joint and the elbow joint, or two points associated with the shoulder of the human body, and the left end point of the shoulder and Each is associated with an end point on the right side.

(15) The control unit is based on an observer reference display mode in which the image is displayed so that the observer observes the image at a position determined with reference to the reference part, and the position of the display unit. Select one of a plurality of types of display modes including a display unit reference display mode for displaying the image so that the observer observes the image at a position determined in accordance with the selected display mode. The image display device according to any one of (2) to (14), which displays the image.

  In this image display device, an image display mode includes an observer reference display mode for displaying an image so that the observer observes the image at a position determined with reference to the reference region of the observer, and a display The display unit is selected from among a plurality of display modes including a display unit reference display mode for displaying an image so that the observer observes the image at a position determined with reference to the position of the unit.

  Therefore, according to this image display device, it is possible to change the display mode for displaying an image in accordance with the wishes / requests of the observer and instructions from another device, and the usability and versatility of this image display device can be improved. It becomes easy to improve.

  The “control unit” in this section can select the display mode according to, for example, an observer's command or a command signal from another device.

  The “plural types of display modes” in this section further include a real outside world reference display mode in which an image is displayed so that an observer observes the image at a position determined based on the position of the real outside world. It is possible.

(16) The image display device according to (15), wherein the control unit selects the display mode in accordance with an instruction from an observer.

  The “observer command” in this section is, for example, issued by an observer operating a specific switch, an observer performing a specific operation (except for switch operation), or issuing a specific sound. Is possible. The specific movement of the observer is, for example, the movement of the head, the movement of the limbs, the blink of the eyes, or the movement of the pupil.

(17) The image display device is a see-through type that enables an observer to superimpose an image representing the display object on the actual outside world and observe it together with the image. The image display device described in 1.

  According to this image display device, display of an image for the observer is controlled according to the operation of the observer. Therefore, by adopting the see-through type, in an environment where the image is superimposed on the real outside world and observed together with it, the observer feels unnatural in the displayed image in relation to the real outside world due to the action of the observer. It is easy to reduce the possibility of being lost.

  Furthermore, according to this image display device, according to the operation of the observer, the object (that is, the object to be watched in particular) that the observer preferentially observes is appropriately assigned to the image and a specific object in the real outside world. It is possible to switch. As a result, it becomes easy to improve the usability of the image display device.

(18) The image display device is a retinal scanning type that displays an image to an observer by scanning a light beam two-dimensionally on the observer's retina,
The modulation unit modulates the wavefront curvature radius of the light beam entering the observer's pupil from the image display region for each frame of the image to be displayed or for each partial region into which the frame is divided. The image display device according to any one of (1) to (17).

  According to this image display device, the wavefront curvature radius of the light forming the image projected on the retina of the observer is modulated for each frame of the image to be formed or for each partial region into which the frame is divided. Is done.

  Therefore, according to this image display device, it becomes easy to freely change the depth of the image or to display the image three-dimensionally.

  The “each partial area” in this section is, for example, each pixel constituting a frame, a pixel group including a plurality of adjacent pixels, and the like.

  Hereinafter, one of more specific embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram conceptually showing an image display device according to an embodiment of the present invention. This image display device is a retinal scanning display that allows a viewer to visually recognize a display target by a virtual image by projecting a light beam onto a retina of an observer's eye while scanning.

  As shown in FIG. 1, the image display device includes a display optical system 10 that scans a light beam to display an image and emits the scanned scanning light beam toward an observer's eye. . The scanning light beam reaches the retina via the pupil of the observer's eye, and as a result, the observer perceives the image.

  As shown conceptually in a block diagram in FIG. 2, the display optical system 10 includes a light source 12 that generates and emits a light beam, an intensity modulator 14, a wavefront modulator 16, a scanner 18, and a guiding unit 20. Are included in the common housing 22.

  An example of the light source 12 is a laser that generates a laser beam, and an example thereof is a semiconductor laser. The intensity modulator 14 modulates the intensity (luminance) of the light beam incident from the light source 12, and an example thereof performs intensity modulation using the acoustooptic effect. The wavefront modulator 16 modulates the wavefront curvature of the light beam incident from the intensity modulator 14. An example of the wavefront modulator 16 performs wavefront modulation using a condensing lens or a reflecting mirror arranged on the optical axis of a light beam so that the position or curvature is variable.

  The scanner 18 scans the light beam incident from the wavefront modulator 16 two-dimensionally. An example of the scanner 18 is a combination of a micro mirror that utilizes the resonance of a vibrator by a vibrator for horizontal scanning and a galvanometer mirror for vertical scanning.

  The guiding unit 20 is a part that guides the light beam emitted from the scanner 18 onto the retina of the observer. An example of the guide unit 20 is a relay optical system, and another example is an optical system that simply transmits the light beam. The light beam emitted from the guiding portion 20 reaches the observer's retina through an emission port 24 formed in the housing 22. The emission port 24 is filled with a transparent body in order to prevent foreign matter from entering the housing 22.

  The display optical system 10 is used by being mounted on the observer's head. That is, this image display apparatus is a head mount type.

  As is clear from the above description, in the present embodiment, the light source 12 constitutes an example of the “emitter” in the item (1), and the intensity modulator 14 and the wavefront modulator 16 are each “modulation” in the same term. The guide unit 20 and the emission port 24 cooperate with each other to form an example of the “display unit” in the same section.

  In addition, when the light source 12 has its own intensity modulation function like a semiconductor laser, it is not essential to provide the intensity modulator 14 independent of the light source 12.

  In addition, the wavefront modulator 16 is not required when it is not necessary to change the depth of the image to be displayed for each frame of the image or for each pixel.

  In addition, in the present embodiment, not only the guide unit 20 and the emission port 24 but also the light source 12, the intensity modulator 14, the wavefront modulator 16, and the scanner 18 are mounted on the observer's head. 12 and the intensity modulator 14 are attached to a portion of the observer other than the head, for example, the waist, and the light beam emitted from the intensity modulator 14 passes through a flexible optical transmission medium (for example, an optical fiber). It is possible to implement the present invention in a mode transmitted to the head mounting unit 40.

  As shown in FIG. 1, the display optical system 10 is housed in a common housing 36 together with the interface unit 30, the magnetic field receiving unit 32, and the signal processing circuit 34 in this embodiment. In the present embodiment, the display optical system 10, the interface unit 30, the magnetic field receiving unit 32, and the signal processing circuit 34 together constitute a head mounting unit 40.

  FIG. 3 is a perspective view showing an example in which the head mounting portion 40 is mounted on the observer's head. In this example, the head mounting portion 40 is mounted on the head using a belt 42 so that the mounting position of the head mounting portion 40 does not shift.

  As shown in FIG. 1, in the head mounting unit 40, the display optical system 10 and the magnetic field receiving unit 32 are connected in parallel to the interface unit 30. The magnetic field receiver 32 is a sensor that detects the strength of the magnetic field. The magnetic field receiving unit 32 is connected to the interface unit 30 via the signal processing circuit 34. An example of the signal processing circuit 34 is a converter that converts a magnetic field strength signal output as an analog signal from the magnetic field receiving unit 32 and representing a received magnetic field strength into a digital signal (for example, magnetic field strength data). is there.

  As shown in FIG. 1, the image display device further includes a waist mounting portion 50. The waist mounting part 50 is used by being mounted on the waist of the observer. FIG. 3 is a perspective view showing an example of a mode in which the waist mounting portion 50 is mounted on the observer's waist. In this example, the waist attachment portion 50 is attached to the waist using a belt 52 so that the attachment position of the waist attachment portion 50 is not shifted.

  As shown in FIG. 1, the waist mounting portion 50 is configured to include a computer 66 having a CPU 60, a RAM / ROM 62, and a bus 64 that connects them to each other. Various programs including a position detection program described later are stored in advance in the ROM portion of the RAM / ROM 62.

  As shown in FIG. 1, the bus 64 further includes a magnetic field generation unit 68, a display data conversion circuit 70, an operation unit 72, and an image information memory 74 through corresponding signal processing circuits 78, 80, 82, and 84, respectively. It is connected. One example of each signal processing circuit 78, 80, 82, 84 is a converter that converts a signal format between an analog signal and a digital signal, and another example is a buffer that temporarily stores a signal or data. is there.

  As shown in FIG. 1, the waist mounting part 50 further includes an interface unit 90. The interface unit 90 is electrically connected to the interface unit 30 of the head-mounted unit 40 via a flexible signal transmission medium 94 (see FIG. 3). The interface unit 90 has a bus 64 and a display data conversion circuit 70 connected in parallel to each other.

  The bus 64 of the waist mounting part 50 is connected to the magnetic field receiving part 32 through the interface part 90, the signal transmission medium 94, the interface part 30, and the signal processing circuit 34 in that order, so that the magnetic field strength signal is transmitted from the magnetic field receiving part 32. Can be captured by the computer 66. The position detection program is executed by the computer 66 with respect to the captured magnetic field strength signal, so that the position and orientation of the head are detected with reference to the waist.

  The magnetic field generation unit 68 is provided in the waist mounting unit 50 in order to detect the relative relationship of the head to the waist with the magnetic field receiving unit 32 in the head mounting unit 40.

  In the present embodiment, as shown in FIG. 4, the magnetic field generation unit 68, the magnetic field reception unit 32, and the part of the computer 66 that executes the position detection program cooperate with each other, thereby A relative relationship detection unit 98 that relatively detects the direction (exactly, the position and orientation of the head mounting unit 40) with reference to the waist (exactly, with reference to the position of the waist mounting unit 50) is configured. is doing. The relative relationship detection unit 98 determines the position and orientation of the head by using a method common to or similar to a magnetic tracking method adopted by a magnetic tracking device already known as a position tracker or a position / orientation tracker. Is detected relative to

  An example of such a magnetic tracking method is U.S. Pat. No. 4,849,692, and the title of the invention is “in the presence of metal in the presence of metal by using a magnetic field by direct current. It is disclosed in what is “an apparatus for quantitatively measuring the relative position and orientation of an object”.

  In order to implement the magnetic tracking method, as shown in FIG. 4, the magnetic field generator 68 includes a generating composite coil in which three generating coils (X, Y, Z) orthogonal to each other are combined. Yes. Similarly, the magnetic field receiver 32 includes a receiving composite coil in which three receiving coils (U, V, W) orthogonal to each other are combined.

  In the magnetic field generating unit 68, the generating composite coil is built in the waist mounting unit 50. The installation direction of the generating composite coil is defined, for example, such that the positive direction of the Y axis faces the front of the observer, and the positive direction of the Z axis faces vertically upward. Such a definition can also be applied to the reception composite coil in the magnetic field receiver 32.

  In addition, it is possible to arrange the above-described three generating coils on generally the same plane that traverses the waist mounting portion 50. Further, it is desirable that the three generating coils are installed so as to be separated from each other as much as possible. However, it is not indispensable to dispose them at regular intervals. For example, two of the three generating coils can be arranged at the left end and the right end of the waist, and the remaining one can be arranged at the center position of the both ends. The arrangement described above can be similarly applied to the three receiving coils in the magnetic field receiving unit 32.

  In the present embodiment, since the magnetic fields from the three generating coils belonging to the generating composite coil are received by the three receiving coils belonging to the receiving composite coil, a total of 9 from these three receiving coils. The individual magnetic field strength data is output. On the other hand, in order to specify which of the three generating coils the magnetic field received by each receiving coil is, for example, a time division method or a frequency division method can be adopted. is there. Based on the magnetic field strength data, the position detection program is executed by the computer 66 in order to detect the position and orientation of the head relative to the waist.

  FIG. 5 conceptually shows a flowchart of the position detection program. This position detection program is repeatedly executed after the computer 66 is powered on.

  When executing this position detection program each time, first, in step S1 (hereinafter simply referred to as “S1”, the same applies to other steps), the magnetic field generation unit 68 is instructed to generate a magnetic field. Outputs a signal to In response to this, the magnetic field generator 68 generates a magnetic field from the corresponding generating coil. For example, the magnetic field generation unit 68 generates a magnetic field from three generation coils by a time division method.

  Next, in S <b> 2, a magnetic field strength signal is taken from the magnetic field receiving unit 32. The magnetic field strength signal is a signal representing the strength of the magnetic field received by each receiving coil, and is fetched from the magnetic field receiving unit 32 in association with each receiving coil.

  Subsequently, in S <b> 3, the position and orientation of the head mounting part 40 are relatively detected based on the waist mounting part 50 based on the captured magnetic field strength signal. Specifically, the position and orientation of the head mounting part 40 are, for example, the position of one point that represents the above-described composite coil for generation (the position in the X direction, the position in the Y direction, and the position in the Z direction) and the point. Are detected based on respective detection results (one position information and at least two direction information) for at least two directions (for example, the X direction and the Y direction) associated with. The detection result is stored in the RAM / ROM 62.

  This completes one execution of the position detection program.

  As is clear from the above description, in the present embodiment, the magnetic field receiving unit 32, the magnetic field generating unit 68, and the portion of the computer 66 that executes the position detection program cooperate with each other in the above item (2). An example of the “detection part” is configured, the head part is an example of the “detected part” in the above item (2), and the waist part is an example of the “reference part” in the same term.

  Furthermore, in the present embodiment, the magnetic field receiving unit 32 constitutes an example of the “first part” in the item (3), and the magnetic field generating unit 68 constitutes an example of the “second part” in the item, The portion of 66 that executes the position detection program constitutes an example of the “detection means” in the same section.

  Furthermore, in the present embodiment, the magnetic field generator 68 constitutes an example of the “signal generator” in the item (4), and the magnetic field receiver 32 constitutes an example of the “receiver” in the item, The signal generated by the magnetic field generation unit 68 to generate a magnetic field in FIG. 1 constitutes an example of the “detection signal” in the same section.

  In the present embodiment, in order to display a display target (content) as an image to an observer, three types of coordinate systems are conceptually used. That is, the definition coordinate system used to define the display object, the display coordinate system used to define the image displayed in the image display area, and the position and orientation of the head (more precisely, And a reference coordinate system used for detecting the position and orientation of the head-mounted unit 40.

  In the present embodiment, as shown in FIG. 6, the display coordinate system is fixed to the head mounting portion 40, while the reference coordinate system is fixed to the waist mounting portion 50. As a result, the position and orientation of the head are detected with reference to the waist mounting part 50, and an image is displayed in the image display area with reference to the waist mounting part 50.

  Specifically, the position and orientation of the head mounting part 40 are detected with reference to the waist mounting part 50, and the display position of the image is determined with reference to the waist mounting part 50 based on the detection result. As a result, the observer can observe the image only when the head is tilted so as to gaze at his / her waist, and in that case, the display position of the image is the waist mounting portion 50 and the head mounting. It changes according to the relative relationship with the part 40.

  More specifically, when an observer tilts his head so as to gaze his / her waist, an image appears in the observer's field of view, while when the observer turns to the front, The image disappears. Moreover, in a posture where the observer tilts his / her head so that he / she looks at his / her waist, if the head is tilted slightly, the image moves in the viewer's field of view accordingly, and the image is fixed to the waist. If the head is excessively tilted, the image disappears from the observer's field of view.

  Here, the several coordinate systems described above will be described in more detail. The reference coordinate system is used as a reference for detecting the position and orientation of the head mounting unit 40 with reference to the waist mounting unit 50. Coordinate system. At the same time, this reference coordinate system determines whether or not to display an image in the image display area with reference to the waist mounting portion 50 (that is, whether to turn on or off the display of the image) and displays it. In some cases, it is also a coordinate system used to determine its display position.

  On the other hand, the display coordinate system is a coordinate system used for displaying an image in the image display area with reference to the head-mounted unit 40.

  As shown in FIG. 6, the reference coordinate system is an XYZ coordinate system fixed to the waist mounting part 50. The position of this reference coordinate system is uniquely determined for the current observer by the position and orientation of the generating composite coils X, Y, and Z in the magnetic field generator 68.

  On the other hand, as shown in FIG. 6, the display coordinate system is an xyz coordinate system fixed to the head mounting unit 40. The position of this display coordinate system is uniquely determined for the current observer by the position and orientation of the reception composite coils U, V, and W in the magnetic field receiver 32.

  That is, in the present embodiment, the reference coordinate system is specified by the positions and orientations of the generating composite coils X, Y, and Z incorporated in the waist mounting portion 50. Similarly, the display coordinate system is specified by the positions and orientations of the reception composite coils U, V, W built in the head mounting unit 40.

  However, these coordinate system identification methods are merely examples. For example, the reference coordinate system includes two points representing the waist mounting portion 50, that is, two arrangement positions for two generating coils, and 2 It is possible to implement the present invention in a manner specified by the direction of gravity acting on a third point that matches or does not match any of the points.

  Similarly, whether the display coordinate system matches two points representing the head-mounted unit 40, that is, two arrangement positions of the two receiving coils and one of these two points. Alternatively, it is possible to implement the present invention in a manner specified by the direction of gravity acting on the third point that does not coincide with either.

  In any aspect, the direction of gravity acting on a specific point is detected using a gravity sensor that directly detects gravity, for example, a spherical conductor and an inner peripheral surface on which the conductor rolls. It is possible to detect using a combination of a rotating body having a structure in which the action direction of gravity moves integrally with the detected object to be detected.

  In the latter example, the rotating body is arranged in a state where a plurality of contact points are insulated from each other on the inner peripheral surface thereof, and when the conductor rolls on the inner peripheral surface, at each rolling position, , At least two of the plurality of contact points are connected to each other by a conductor. Which of the plurality of contact points is in contact with the conductor at the same time is determined by detecting the electrical resistance, capacitance, etc. of all pairs of the plurality of contact points. It is possible to specify. If the position of the conductor on the inner peripheral surface of the rotating body is known in this way, the orientation of the rotating body and the object to be detected is provided that the position of the center of the rotating body is known (for example, does not change). I understand.

  In this embodiment, two types of modes for displaying images to the observer are prepared. That is, a waist attachment unit reference display mode for displaying an image so that an observer observes the image at a position determined with reference to the waist attachment unit 50, and a position determined with reference to the head attachment unit 40 And a head-mounted unit reference display mode for displaying the image so that the observer observes the image. Here, the waist-mounted-part reference display mode is a mode in which an image is displayed based on the reference part after selecting the observer's waist as the reference part.

  That is, in the present embodiment, the waist is an example of the “reference part” in the item (2) or (15), and the waist attachment part reference display mode is the “observer reference display mode” in the item (15). This is an example, and the head-mounted unit reference display mode is an example of the “display unit reference display mode” in the same section. Furthermore, during a series of image display, assuming that the position of the observer's waist does not change with respect to the actual outside world and other parts change, the waist mounting part reference display mode is an example of the actual outside world reference display mode. But it will be.

  As described above, in the present embodiment, there are a plurality of display modes, and it is necessary to select one to be executed. An operation unit 72 is provided to perform the selection in accordance with the operation of the observer.

  Further, in the present embodiment, definition data that defines a display target is stored in the image information memory 74. The definition data is created so as to represent the display object on the definition coordinate system.

  When the head-mounted unit reference display mode is executed, the definition data is effectively mapped to the display coordinate system without performing any substantial coordinate transformation on the definition data. As a result, display data for displaying an image on the display coordinate system is acquired as data equal to the definition data. That is, it is this head-mounted part reference display mode that the display coordinate system and the definition coordinate system are equal.

  On the other hand, when the waist mounting portion reference display mode is executed, substantial coordinate transformation is performed on the definition data based on the position and orientation of the head mounting portion 40 with respect to the waist mounting portion 50. Thereby, display data is created.

  When executing the waist mounting part reference display mode, the definition data is effectively mapped to the reference coordinate system without performing substantial coordinate transformation on the definition data defining the display target on the definition coordinate system. Is done. After that, the definition data is converted into display data for displaying an image on the display coordinate system based on the relative relationship between the position and orientation of the observer's head and the reference coordinate system, thereby displaying the definition data. Mapped to the coordinate system.

  To briefly explain the relationship between the mode and the coordinate system, the definition coordinate system is originally not associated with the display coordinate system or the reference coordinate system. However, if the head-mounted part reference display mode is selected, the definition coordinate system is fixed to the display coordinate system, and thereby the image is displayed as if fixed to the head-mounted part. On the other hand, when the waist mounting portion reference display mode is selected, the definition coordinate system is fixed to the reference coordinate system, and thereby the image is displayed as if it was fixed to the waist mounting portion.

  The process of creating (converting) display data from definition data according to the selected display mode has been described above. This process is executed by the display data conversion circuit 70. The display data conversion circuit 70 is mainly configured by a computer (not shown) different from the computer 66, and is configured to execute a display data creation program conceptually represented in the flowchart of FIG. However, it is not essential to configure the display data conversion circuit 70 using a computer. For example, the display data conversion circuit 70 can be configured using a DSP.

  In the display data conversion circuit 70, the display data creation program is repeatedly executed. When the display data creation program is executed each time, first, image information is fetched as definition data from the image information memory 74 in S31 of FIG. Next, in S <b> 32, based on the output signal of the operation unit 72, the selection display mode currently selected by the observer is identified from among the head mounting unit reference display mode and the waist mounting unit reference display mode.

  Subsequently, in S33, it is determined whether or not the identified selection display mode is the waist mounting portion reference display mode.

  If it is assumed that the selection display mode is not the waist-mounted part reference display mode but the head-mounted part reference display mode this time, the determination in S33 is NO and the process proceeds to S34. In S34, the definition coordinate system is fixed to the display coordinate system, whereby the taken definition data is output to the display optical system 10 as display data without being coordinate-converted. That is, in this head mounted portion reference display mode, the display coordinate system and the definition coordinate system are equivalent.

  The display data represents, for example, a target value of light intensity (luminance) and a target value of depth (wavefront curvature) for each pixel. A portion representing the target intensity in the display data is finally supplied to the intensity modulator 14 so that the intensity of the light beam output from the intensity modulator 14 becomes equal to the target intensity. Similarly, the portion representing the target depth in the display data is finally supplied to the wavefront modulator 16 so that the wavefront curvature of the light beam output from the wavefront modulator 16 is equal to the target wavefront curvature.

  This completes one execution of the display data creation program.

  On the other hand, this time, if it is assumed that the selection display mode is the waist mounting portion reference display mode, the determination in S33 is YES, and the process proceeds to S35. In S35, the position and orientation of the head mounting part 40 are relatively detected with reference to the waist mounting part 50. Specifically, the latest detection result is read from the RAM / ROM 62.

  Thereafter, in S36, the definition coordinate system is fixed to the reference coordinate system, and thereby the taken definition data is fixed to the reference coordinate system. That is, in this waist mounting portion reference display mode, the reference coordinate system and the definition coordinate system are equivalent.

  Subsequently, in S37, the mapped definition data is mapped to the display coordinate system so that the relative detection result of the position and orientation of the head-mounted unit 40 is reflected. The mapping is performed, for example, as the detection result deviates from the relative detection result of the position and orientation of the head-mounted unit 40 when the relative positional relationship between the image represented by the definition data and the reference coordinate system is set. The display position of the image is moved within the field of view of the observer. That is, the display image is visually recognized as being fixed to the reference coordinate system.

  In S37, the definition data subjected to such mapping is output to the display optical system 10 as display data.

  This completes one execution of the display data creation program.

  As is apparent from the above description, in the present embodiment, the waist mounting portion 50 is the “control unit” in the above item (1), (5), (7), (8), (15) or (16). It constitutes an example.

  Although one embodiment of the present invention has been described in detail with reference to the drawings, this is an exemplification and is based on the knowledge of those skilled in the art including the aspects described in the section of [Disclosure of the Invention]. The present invention can be implemented in other forms with various modifications and improvements.

1 is a block diagram conceptually showing an image display device according to an embodiment of the present invention. FIG. 2 is a block diagram conceptually showing the configuration of a display optical system 10 in FIG. It is a perspective view which shows an example with which the head mounting part 40 and the waist | hip | lumbar part mounting | wearing part 50 in FIG. 1 are each mounted | worn with an observer's head and waist | hip | lumbar part. FIG. 2 is a block diagram showing some elements for relatively detecting the position and orientation of the observer's head with reference to the waist in the image display apparatus shown in FIG. 1. 6 is a flowchart conceptually showing a position detection program executed by a computer 66 in FIG. 4. It is a perspective view for demonstrating the display coordinate system and reference | standard coordinate system which are used in the image display apparatus shown in FIG. 3 is a flowchart conceptually showing a display data creation program executed by a computer in the display data conversion circuit 70 in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 12 Light source 14 Intensity modulator 16 Wavefront modulator 20 Guidance part 24 Output port 32 Magnetic field receiving part 40 Head mounting part 50 Lumbar mounting part 66 Computer 68 Magnetic field generation part 70 Display data conversion circuit

Claims (9)

An image display device that causes a viewer to visually recognize a display target by projecting light onto an observer's retina,
An emission part for emitting light;
A modulator for modulating the light;
A display unit that displays the image representing the display object as a virtual image on a display area by emitting the modulated light onto an observer's retina through an emission port, and is attached to the observer's head. Used and
A control unit that controls the emission unit and the modulation unit so that the image is displayed in the image display area, and detects the motion of the observer relative to the position of the viewer, and the detection In accordance with the performed operation, performing display control that is at least one of on / off of display of the image and change of the display position ;
The position and orientation of the head that is the detected part of the human body that is the observer, and the reference part that is a part that can be displaced relative to the head among the plurality of parts that constitute the human body A detecting unit for detecting a relative relationship with a predetermined reference coordinate system,
Including
In order to display the image in the image display area, the control unit includes: (a) a definition coordinate system used for defining the display target; and (b) an image displayed in the image display area. Using a coordinate system for display that defines the above and fixed to the display unit,
The control unit further displays definition data defining the display target on the definition coordinate system and displays the image on the display coordinate system so that the detected relative relationship is reflected. Converted into data, based on the converted display data, to control the emission unit and the modulation unit,
The reference coordinate system is also the definition coordinate system, or different from both the definition coordinate system and the display coordinate system,
The reference coordinate system is an image display device specified by position information of two points associated with the same part of the human body and direction information of gravity acting on one point associated with the same part . The detection unit includes a first part and a second part that can be displaced relative to each other. The first part is attached to the detected part and moves integrally with the detected part, and the second part The part is attached to the reference part and moves integrally with the reference part, and the detection unit further includes detection means for detecting a relative position between the first part and the second part. The image display device described. One of the first part and the second part is a signal generation unit that generates a detection signal for detecting the relative position, and the other is the generated detection signal that propagates to space. The image display device according to claim 2, wherein the image display device is a receiving unit that receives what is to be performed . The image display device according to claim 1, wherein the control unit performs the display control when an observer's action satisfies a setting condition based on the detected relative relationship . The image display device according to claim 1 , wherein the reference part is set on a waist of an observer . The control unit is determined with reference to an observer reference display mode for displaying the image so that the observer observes the image at a position determined with reference to the reference part, and the position of the display unit. Select one of a plurality of display modes including a display unit reference display mode for displaying the image so that the observer observes the image at a position, and the image is displayed according to the selected display mode. 6. The image display device according to claim 1 , wherein the image display device is a display. The image display device according to claim 6 , wherein the control unit is configured to select the display mode in accordance with an instruction from an observer . The image display device according to any one of claims 1 to 7, wherein the image display device is a see-through type that enables an observer to superimpose an image representing the display object on the actual outside world and observe it together with the image. . The image display device is a retinal scanning type that displays an image to the observer by two-dimensionally scanning the light beam on the retina of the observer,
The modulation unit modulates the wavefront curvature radius of the light beam entering the observer's pupil from the image display region for each frame of the image to be displayed or for each partial region into which the frame is divided. The image display device according to claim 1, comprising:

Images