Apparatus and method for determining orientation parameters of an elongate object
First Claim
1. An apparatus for determining at least one orientation parameter of an elongate object having a tip contacting a surface at a contact point, said apparatus comprising:
- a) a projector on said elongate object for illuminating said surface with a probe radiation in a predetermined pattern from a first point of view;
b) a detector on said elongate object for detecting a scattered portion of said probe radiation returning from said surface to a second point of view;
c) a unit for determining said at least one orientation parameter from a difference between said probe radiation and said scattered portion.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus and method employing principles of stereo vision for determining one or more orientation parameters and especially the second and third Euler angles θ, ψ of an elongate object whose tip is contacting a surface at a contact point. The apparatus has a projector mounted on the elongate object for illuminating the surface with a probe radiation in a known pattern from a first point of view and a detector mounted on the elongate object for detecting a scattered portion of the probe radiation returning from the surface to the elongate object from a second point of view. The orientation parameters are determined from a difference between the projected and detected probe radiation such as the difference between the shape of the feature produced by the projected probe radiation and the shape of the feature detected by the detector. The pattern of probe radiation is chosen to provide information for determination of the one or more orientation parameters and can include asymmetric patterns such as lines, ellipses, rectangles, polygons or the symmetric cases including circles, squares and regular polygons. To produce the patterns the projector can use a scanning arrangement or a structured light optic such as a holographic, diffractive, refractive or reflective element and any combinations thereof. The apparatus is suitable for determining the orientation of a jotting implement such as a pen, pencil or stylus.
-
Citations
37 Claims
-
1. An apparatus for determining at least one orientation parameter of an elongate object having a tip contacting a surface at a contact point, said apparatus comprising:
-
a) a projector on said elongate object for illuminating said surface with a probe radiation in a predetermined pattern from a first point of view;
b) a detector on said elongate object for detecting a scattered portion of said probe radiation returning from said surface to a second point of view;
c) a unit for determining said at least one orientation parameter from a difference between said probe radiation and said scattered portion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. An apparatus for determining at least one orientation parameter of an elongate object having a tip contacting a plane surface, and a normal to said plane surface, said apparatus comprising:
-
a) a projector on said elongate object for illuminating said plane surface with a probe radiation at an angle σ
to said axis;
b) a detector on said elongate object offset from said projector for detecting a scattered portion of said probe radiation returning from said plane surface at a predetermined scatter angle τ
to said axis;
c) a timing unit for deriving said at least one orientation parameter from a detection time of said scattered portion. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
-
-
31. A method for determining at least one orientation parameter of an elongate object having a tip contacting a surface at a contact point, said method comprising:
-
a) illuminating said surface with a probe radiation in a predetermined pattern from a first point of view on said elongate object;
b) detecting a scattered portion of said probe radiation returning from said surface at a second point of view on said elongate object;
c) determining said at least one orientation parameter from a difference between said probe radiation and said scattered portion. - View Dependent Claims (32, 33, 34)
-
-
35. A method for determining an inclination angle θ
- between an axis of an elongate object having a tip contacting a plane surface, and a normal to said plane surface, said method comprising;
a) providing a projector on said elongate object;
b) providing a detector on said elongate object, said detector being offset from said projector;
c) illuminating said plane surface with a probe radiation at an angle σ
to said axis from said projector;
d) detecting a scattered portion of said probe radiation returning from said plane surface at a predetermined scatter angle τ
to said axis with said detector;
e) a timing unit for deriving said inclination angle θ
from a detection time of said scattered portion. - View Dependent Claims (36, 37)
- between an axis of an elongate object having a tip contacting a plane surface, and a normal to said plane surface, said method comprising;
Specification