Handheld device and positioning method thereof

• US 10,379,627 B2
• Filed: 08/27/2017
• Issued: 08/13/2019
• Est. Priority Date: 02/19/2013
• Status: Active Grant

• Current Assignee: PixArt Imaging Incorporated
• Original Assignee: PixArt Imaging Incorporated
• Inventors: Cheng, Han-Ping, Huang, Chao-Chien
• Primary Examiner(s): Eisen, Alexander
• Assistant Examiner(s): Teshome, Kebede T
• Application Number:
  US15/687,525
• Publication Number:
  US 20170371425A1
• Time in Patent Office: 716 Days
• CPC Class Codes: G06F 3/0304 Detection arrangements using opto-electronic means constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device

Abstract

A positioning method and a handheld device for performing the method are disclosed. In the method, a handheld device captures images corresponding to positions of a reference when the handheld device points toward the reference. A first image position, a first tilt angle indicative of a rotation angle of the handheld device, and a first pointing coordinate of the reference can obtained. A second pointing coordinate according to the first image position and a second tilt angle are obtained. Therefore, a first displacement vector between the first pointing coordinate and the second pointing coordinate can be computed. A third pointing coordinate can also be obtained. When a substantial movement of the positions of the reference revealed in the images captured by the handheld device is found, an output pointing coordinate is obtained. The output can be outputting a cursor parameter for controlling a cursor controlled by the handheld device.

Claims

1. A positioning method performed in a handheld device, comprising:

obtaining a first image position of a reference;

computing a first pointing coordinate according to the first image position and a first tilt angle indicative of a rotation angle of the handheld device;

computing a second pointing coordinate according to the first image position and a second tilt angle that is rendered based on a movement of the first image position of the reference;

computing a first displacement vector between the first pointing coordinate and the second pointing coordinate, and generating a unit displacement;

obtaining a second image position of the reference;

computing a third pointing coordinate according to the second image position and the second tilt angle; and

obtaining an output pointing coordinate according to the third pointing coordinate and the unit displacement, wherein the step of obtaining the output pointing coordinate further includes;

a) setting a number of calibrations as N, a compensation vector as C and a calibration coordinate, wherein the calibration coordinate is the third pointing coordinate;

b) determining whether the first displacement vector is greater than a predetermined threshold;

c) setting N equal to the first displacement vector divided by C when it is determined that the first displacement vector is greater than the predetermined threshold, wherein C is a predetermined compensation value;

setting C equal to the first displacement vector divided by N when it is determined that the first displacement vector is less than the predetermined threshold, wherein N is a predetermined number of calibrations;

d) computing a sum of the calibration coordinate and C to generate a compensated pointing coordinate;

e) executing N-1 and determining whether N is equal to zero; and

f) setting a fourth pointing coordinate to be the calibration coordinate and returning to step d) upon determined that N is not equal to zero;

wherein the forth pointing coordinate is computed according to an image position of the reference and the second tilt angle.

2. The method according to claim 1, wherein the unit displacement is computed according to the first displacement vector in a predetermined number of calculations.

3. The method according to claim 2, wherein the first displacement vector indicates a difference between the first tilt angle and the second tilt angle.

4. The method according to claim 3, wherein the difference is reduced by performing the positioning method a number of times.

5. The method according to claim 4, wherein the output pointing coordinate is outputted when the difference is smaller than a preset angle.

6. The method according to claim 1, wherein the first image position and the second image position of the reference are formed in frames captured by an image sensor of the handheld device.

7. The method according to claim 6, wherein the second pointing coordinate is computed when a tilt angle of the handheld device is updated from the first tilt angle to the second tilt angle.

8. The method according to claim 7, wherein the handheld device updates the first tilt angle to the second tilt angle upon determined that the reference has not substantially moved.

9. The method according to claim 8, wherein the handheld device determines whether the reference has substantially moved by determining whether the image position of the reference formed in the frames has moved.

10. The method according to claim 7, wherein the handheld device updates the first tilt angle to the second tilt angle upon determined that a displacement computed between the first image position and the second image position of the reference formed in any two consecutive frames is less than a predefined displacement threshold.

11. The method according to claim 7, wherein the handheld device updates the first tilt angle to the second tilt angle upon determined that a velocity computed between the first image position and the second image position of the reference formed in any two consecutive frames is less than a predefined velocity threshold.

12. The method according to claim 7, wherein the handheld device updates the first tilt angle to the second tilt angle upon determined that a magnitude of an acceleration vector of the handheld device is equal to a gravitational acceleration of the handheld device, wherein the acceleration vector is generated by the handheld device according to accelerations of the handheld device detected over multiple axes.

13. The method according to claim 1, further comprising:

g) determining whether to update the second tilt angle to a third tilt angle;

h) computing a second displacement vector generated as the handheld device rotates; and

i) computing the sum of the calibration coordinate, the second displacement vector, and C to generate the compensated pointing coordinate.

14. A handheld device, comprising:

an image capturing unit configured to capture images of frames containing a reference;

a processing unit, coupled to the image capturing unit, configured to perform a positioning method for;

obtaining a first image position of the reference;

computing a first pointing coordinate according to the first image position and a first tilt angle indicative of a rotation angle of the handheld device;

computing a second pointing coordinate according to the first image position and a second tilt angle that is rendered based on a movement of the first image position of the reference;

computing a first displacement vector between the first pointing coordinate and the second pointing coordinate, and generating a unit displacement;

obtaining a second image position of the reference;

computing a third pointing coordinate according to the second image position and the second tilt angle; and

obtaining an output pointing coordinate according to the third pointing coordinate and the unit displacement, wherein the step of obtaining the output pointing coordinate in the positioning method further includes;

a) setting a number of calibrations as N, a compensation vector as C and a calibration coordinate, wherein the calibration coordinate is the third pointing coordinate;

b) determining whether the first displacement vector is greater than a predetermined threshold;

c) setting N equal to the first displacement vector divided by C when it is determined that the first displacement vector is greater than the predetermined threshold, wherein C is a predetermined compensation value;

setting C equal to the first displacement vector divided by N when it is determined that the first displacement vector is less than the predetermined threshold, wherein N is a predetermined number of calibrations;

d) computing a sum of the calibration coordinate and C to generate a compensated pointing coordinate;

e) executing N-1 and determining whether N is equal to zero; and

f) setting a fourth pointing coordinate to be the calibration coordinate and returning to step d) upon determined that N is not equal to zero;

wherein the forth pointing coordinate is computed according to an image position of the reference and the second tilt angle.

15. The handheld device according claim 14, wherein the processing unit drives the image capturing unit to capture a first frame containing the reference to respectively compute the first pointing coordinate and the second pointing coordinate using the first and the second tilt angles in coordination with the first frame.

16. The handheld device according to claim 14, wherein the step in the positioning method performed by the processing unit further comprising:

g) determining whether to update the second tilt angle to a third tilt angle;

h) computing a second displacement vector generated as the handheld device rotates; and

i) computing the sum of the calibration coordinate, the second displacement vector, and C to generate the compensated pointing coordinate.

17. The handheld device according to claim 16, wherein the processing unit executes the following steps before executing step d):

a) determining whether to cause the handheld device to update the second tilt angle to a third tilt angle during the computation of a compensated pointing coordinate;

b) computing a second displacement vector generated as the handheld device rotates when it is determined that the handheld device has updated the second tilt angle to the third tilt angle; and

c) computing the sum of the calibration coordinate, the second displacement vector and C to generate the compensated pointing coordinate.

18. The handheld device according claim 17, further comprising:

an accelerometer unit, coupled to the processing unit, configured to detect a plurality of accelerations of the handheld device over multiple axes and generate an acceleration vector.

19. The handheld device according to claim 18, wherein the handheld device updates the first tilt angle to the second tilt angle upon determined that a magnitude of an acceleration vector of the handheld device is equal to a gravitational acceleration of the handheld device, wherein the acceleration vector is generated by the handheld device according to accelerations of the handheld device detected over multiple axes.

20. The handheld device according to claim 14 wherein the processing unit is configured to compute the unit displacement according to the first displacement vector in a predetermined number of calculations.