Method and apparatus for computer input using six degrees of freedom

• US 20050062719A1
• Filed: 11/04/2004
• Published: 03/24/2005
• Est. Priority Date: 11/05/1999
• Status: Active Grant

• Current Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Original Assignee: Microsoft Corporation
• Inventors: Sinclair, Michael J., Szeliski, Richard S., Hinckley, Kenneth P., Conway, Matthew J., Hanson, Erik J.
• Granted Patent: US 7,355,587 B2
• Time in Patent Office: Days
• US Class Current: 345/163
• CPC Class Codes: G06F 3/0317 in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface
• 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 3/0395 Mouse pads

Abstract

A computer input device includes a camera for capturing an image of a pattern on a surface. A processor in the computer input device determines equations for lines from the image of the pattern, applies the line equations to a transform to form transformed line equations, and uses the transformed line equations to determine the height of the computer input device above the surface.

Claims

1. A computer input device for providing input control to a computer, the input device comprising:

a camera for capturing an image of a pattern on a surface;

a processor for determining equations for lines from the image of the pattern, applying the line equations to a transform to form transformed line equations, and using the transformed line equations to determine the height of the computer input device above the surface.

2. The computer input device of claim 1 wherein the pattern comprises dots aligned in rows and columns.

3. The computer input device of claim 2 wherein determining equations for lines comprises connecting neighboring dots in the image to produce possible line segments.

4. The computer input device of claim 3 wherein determining equations for lines further comprises identifying a single line from a plurality of possible line segments.

5. The computer input device of claim 1 wherein applying a line equation to a transform comprises applying the line equation to the inverse of a rotation matrix.

6. The computer input device of claim 5 wherein the rotation matrix indicates the amount of rotation of the input device relative to the pattern.

7. The computer input device of claim 1 wherein applying a line equation to a transform comprises applying the line equation to the inverse of a tilt and rotation matrix.

8. The computer input device of claim 7 wherein applying a line equation to a transform further comprises applying an inverse of a lens transform to the line equation.

9. The computer input device of claim 1 wherein using the transformed line equations to determine the height of the computer input device comprises determining the spacing between lines represented by the transformed line equations.

10. A computer-readable medium having computer-executable instructions to perform steps comprising:

receiving an image captured by a computer mouse;

identifying pattern elements from the image;

applying a transform to the pattern elements to form transformed pattern elements; and

using the spacing between the transformed pattern elements to determine the height of the computer mouse above a surface.

11. The computer-readable medium of claim 10 wherein identifying pattern elements comprises identifying equations describing lines from the image.

12. The computer-readable medium of claim 11 wherein applying a transform comprises applying an equation for a line to an inverse rotation matrix.

13. The computer-readable medium of claim 12 further comprising defining the inverse rotation matrix based on the amount of rotation between the computer mouse and a pattern on a surface.

14. The computer-readable medium of claim 12 wherein applying a transform further comprises applying an inverse of a lens distortion transform.

15. A method of determining the height of a computer mouse above a surface, the method comprising:

collecting image data using a camera that forms part of the mouse;

generating equations for features identified from the image data;

applying the equations to transforms to form transformed features; and

comparing the transformed features to determine the height of the mouse.

16. The method of claim 15 wherein generating equations for features comprises generating equations for lines.

17. The method of claim 15 wherein applying the equations to transforms comprises applying the equations to an inverse of a rotation matrix.

18. The method of claim 15 wherein applying equations to transforms comprises applying equations to transforms that correct lens distortion caused by the lens of the camera.

19. The method of claim 15 wherein comparing the transformed features comprises determining the spacing between the transformed features.