Processing pose data derived from the pose of an elongate object
First Claim
1. A method for processing pose data derived from a pose of an elongate object having a tip, said method comprising:
- a) placing said tip on a plane surface with an invariant feature;
b) measuring said pose optically from on-board said elongate object using said invariant feature;
c) preparing pose data corresponding to said pose;
d) identifying a subset of said pose data; and
e) transmitting said subset to an application.
1 Assignment
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Accused Products
Abstract
An apparatus and method for processing pose data derived from a pose of an elongate object such as, for example, a jotting implement, a pointer, a robotic arm or a cane. The elongate object has a tip contacting a plane surface with one or more invariant features. The pose of the elongate object is measured optically from on-board by an optical measuring system with the aid of the invariant feature. The pose is used for preparing a corresponding pose data and a subset of the pose data is identified and transmitted to an application such as a user application, where the subset can serve as command data or input data. Since the elongate object moves while its tip is contacting the surface the pose is measured periodically at sufficiently frequent measurement times ti to describe the motion at a desired temporal resolution. The subset can include all or a portion of the orientation data that describe the orientation of the elongate object in space and/or position data of the tip on the surface. The position can be a relative position of the tip with respect to any feature or its previous position, or an absolute position in world coordinates. The subset can also contain a mix of orientation and position data.
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Citations
30 Claims
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1. A method for processing pose data derived from a pose of an elongate object having a tip, said method comprising:
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a) placing said tip on a plane surface with an invariant feature;
b) measuring said pose optically from on-board said elongate object using said invariant feature;
c) preparing pose data corresponding to said pose;
d) identifying a subset of said pose data; and
e) transmitting said subset to an application. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for processing pose data derived from a pose of an elongate object having a tip, said apparatus comprising:
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a) a plane surface for placing said tip thereon, said plane surface having an invariant feature;
b) an optical measuring means for optically measuring said pose from on-board said elongate object using said invariant feature;
c) a processor for preparing pose data corresponding to said pose and identifying a subset of said pose data; and
d) a communication link for transmitting said subset to an application. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification