Method and apparatus for estimating the value of an input in presence of a non-linear factor
First Claim
1. A method of estimating an input value in a real-time system, wherein the method comprises by a handheld device implementing the real-time system:
- computing the input value from at least a first sensor disposed in or on said handheld device, the computed input value indicating a position of at least part of a head relative to the handheld device;
storing the computed input value in an history of computed input values;
using at least a second sensor disposed in or on said handheld device to sense hand movement of said handheld device;
estimating a non-linear perturbing factor component of the input value from the hand movement the at least second sensor senses;
determining a modified history of input values by cancelling said non-linear perturbing factor component from input values stored in said history of computed input values to thereby correct for hand movement; and
estimating the position of the at least part of the head relative to the handheld device from the modified history of input values.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention concerns a method and a device for estimating the value of an input in a real-time system. It concerns more particularly real time interactive systems where the input is tracked using a first sensor, typically a camera in presence of a perturbing factor. The perturbing factor is estimated using a second sensor. The component of input computed values due to the perturbing factor are cancelled based on this estimation. A next input value is then estimated from the previous computed input values where the perturbing factor has been cancelled. The estimation is then corrected by applying back the estimation of the perturbing factor.
-
Citations
22 Claims
-
1. A method of estimating an input value in a real-time system, wherein the method comprises by a handheld device implementing the real-time system:
-
computing the input value from at least a first sensor disposed in or on said handheld device, the computed input value indicating a position of at least part of a head relative to the handheld device; storing the computed input value in an history of computed input values; using at least a second sensor disposed in or on said handheld device to sense hand movement of said handheld device; estimating a non-linear perturbing factor component of the input value from the hand movement the at least second sensor senses; determining a modified history of input values by cancelling said non-linear perturbing factor component from input values stored in said history of computed input values to thereby correct for hand movement; and estimating the position of the at least part of the head relative to the handheld device from the modified history of input values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method for determining a feedback in a real-time system, wherein the method comprises by a handheld device implementing the real-time system:
-
computing the input value from at least a first sensor disposed in or on said handheld device, the at least first sensor sensing at least part of a head relative to the handheld device; storing the computed input value in an history of computed input values; using at least a second sensor disposed in or on said handheld device to sense hand movement of said handheld device; estimating a non-linear factor component of the input value from the hand movement the at least second sensor senses; determining a modified history of input values by cancelling said non-linear factor component from input values stored in said history of computed input values to correct the history of computed input values for sensed hand movement; estimating the position of the at least part of a head relative to the handheld device from the modified history of input values; and determining the feedback based on the estimated position. - View Dependent Claims (12)
-
-
13. A method of determining an input for adjusting a parallax barrier of a handheld device, the method comprising:
-
predicting a first value for adjusting the parallax barrier at a time in the future based at least upon images captured by a camera in the handheld device; receiving a second value from a gyroscope in said handheld device, the second value indicating at least a component of hand movement of the handheld device; and wherein predicting the first value includes cancelling the component of hand movement of the handheld device from the predicted first value to determine an updated value for adjusting the parallax barrier in the handheld device.
-
-
14. A device for estimating an input value in a real-time system, the input value indicative of position of at least a portion of a head relative to the handheld device, the handheld device comprising:
-
at least a first sensor embedded in said handheld device; at least a second sensor embedded in said handheld device; at least one processor, operatively connected to the first sensor, configured to compute the input value from the at least first sensor; a storage device, operatively connected to the at least one processor, for storing the computed input value in an history of computed input values; the at least one processor being further configured to; determine, using the at least second sensor, hand movement of said handheld device; estimate a non-linear perturbing factor component of the input value from the determined hand movement; determine a modified history of input values by cancelling said estimated non-linear perturbing factor component from each input value stored in said history of computed input values to thereby correct for hand movement; and estimate the input value from the modified history of input values. - View Dependent Claims (15, 16)
-
-
17. A non-transitory storage device storing a computer program product for a programmable apparatus, the computer program product comprising a sequence of instructions for implementing a method, when loaded into and executed by the programmable apparatus, of estimating an input value in a real-time system comprising:
-
computing the input value from at least a first sensor disposed in or on a handheld device, the input value indicating position of at least part of a head relative to the handheld device; storing the computed input value in an history of computed input values on said handheld device; using at least a second sensor disposed in or on said handheld device to sense hand motion of said handheld device; estimating a non-linear factor component of the input value from at least the hand motion the at least second sensor senses; determining a modified history of input values by cancelling said non-linear factor component from input values stored in said history of computed input values to thereby correct for hand motion; and estimating the input value from the modified history of input values.
-
-
18. A handheld device for estimating an input value in a real-time system, the handheld device comprising:
-
at least a first sensor embedded in said handheld device; at least a second sensor embedded in said handheld device; at least one storage device; and at least one processor operatively connected to the at least first and second sensors and the at least one storage device, the at least one processor executing instructions that control the at least one processor to; compute the input value from the at least first sensor, the input value indicating position of at least part of a head relative to the handheld device; store, into the at least one storage device, the computed input value in an history of computed input values; use at least a second sensor disposed in or on said handheld device to sense hand motion of said handheld device; estimate a non-linear factor component of the input value from the hand motion the at least second sensor senses; determine a modified history of input values by cancelling said non-linear factor component from each input value stored in said history of computed input values to thereby correct for hand motion; and estimate the input value from the modified history of input values. - View Dependent Claims (19, 20, 21)
-
-
22. A handheld stereoscopic display device comprising:
-
a multi-dimensional tracking sensor producing a tracking signal; an inertial sensor; a memory storing program instructions; a stereoscopic display having an adjustable parallax barrier; and a processor connected to the tracking sensor, the inertial sensor, the memory and the stereoscopic display, the processor executing the program instructions to perform the following; (a) tracking a part of a user'"'"'s head in response to a succession of tracking signals; (b) correcting the tracking for hand movement the inertial sensor senses; (c) predicting a prospective position of the part of the user'"'"'s head in response to the corrected tracking; and (d) adjusting the stereoscopic display parallax barrier based on the predicted prospective position.
-
Specification