ORIENTATION CALCULATION APPARATUS, STORAGE MEDIUM HAVING ORIENTATION CALCULATION PROGRAM STORED THEREIN, GAME APPARATUS, AND STORAGE MEDIUM HAVING GAME PROGRAM STORED THEREIN

• US 20090322679A1
• Filed: 05/27/2009
• Published: 12/31/2009
• Est. Priority Date: 06/30/2008
• Status: Active Grant

• Current Assignee: Nintendo Company Limited
• Original Assignee: Nintendo Company Limited
• Inventors: Sato, Kenta, Ohta, Keizo
• Granted Patent: US 8,405,611 B2
• Time in Patent Office: Days
• US Class Current: 345/158
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/213 comprising photodetecting means, e.g. cameras, photodiodes or infrared cells A63F13/219, A63F13/655 take precedence
• CPC Class Codes: A63F 13/428 involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
• CPC Class Codes: A63F 13/98 Accessories, i.e. detachable arrangements optional for the use of the video game device, e.g. grip supports of game controllers
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• CPC Class Codes: A63F 2300/105 using inertial sensors, e.g. accelerometers, gyroscopes
• 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

Abstract

An orientation calculation apparatus obtains data from an input device including at least a gyroscope and an acceleration sensor, and calculates an orientation of the input device in a three-dimensional space. Orientation calculation means calculates the orientation of the input device in accordance with an angular rate detected by the gyroscope. Acceleration vector calculation means calculates an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor. Correction means corrects the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space. Also, the correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device.

Claims

1. An orientation calculation apparatus for obtaining data from an input device including at least an angular rate sensor and an acceleration sensor, and calculating an orientation of the input device in a three-dimensional space, the apparatus comprising:

orientation calculation means for calculating the orientation of the input device in accordance with an angular rate detected by the angular rate sensor;

acceleration vector calculation means for calculating an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor; and

first correction means for correcting the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space, wherein,

the first correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device.

2. The orientation calculation apparatus according to claim 1, wherein the first correction means corrects the orientation of the input device through conversion consisting of first conversion for performing a rotation about the predetermined axis such that a direction corresponding to the acceleration vector projected onto a plane perpendicular to the predetermined axis approaches a direction corresponding to the vertically downward direction projected onto the plane, and second conversion for performing a rotation after the first conversion such that the direction of the acceleration vector approaches the vertically downward direction.

3. The orientation calculation apparatus according to claim 1, wherein the first correction means corrects the orientation of the input device such that the direction of the acceleration vector coincides with the vertically downward direction.

4. The orientation calculation apparatus according to claim 1, wherein the first correction means controls an amount of correction for the orientation of the input device such that the closer a magnitude of the acceleration vector is to a magnitude of a gravitational acceleration, the more closely the direction of the acceleration vector approaches the vertically downward direction in the space.

5. The orientation calculation apparatus according to claim 1, wherein the first correction means corrects the orientation of the input device only when a difference between a magnitude of the acceleration vector and a magnitude of a gravitational acceleration is smaller than a predetermined reference value.

6. The orientation calculation apparatus according to claim 1, wherein,

the input device further includes image pickup means, and

the orientation calculation apparatus further comprises second correction means for further correcting the orientation of the input device in accordance with an image of a predetermined subject taken by the image pickup means.

7. The orientation calculation apparatus according to claim 6, wherein the second correction means corrects the orientation of the input device by applying a rotation about the predetermined axis.

8. A game apparatus for performing a game process using, as the orientation of the input device, an orientation obtained through correction by the orientation calculation apparatus according to claim 1.

9. A computer-readable storage medium having stored therein an orientation calculation program to be executed by a computer of an orientation calculation apparatus for obtaining data from an input device including at least an angular rate sensor and an acceleration sensor, and calculating an orientation of the input device in a three-dimensional space, the program causing the computer to function as:

orientation calculation means for calculating the orientation of the input device in accordance with an angular rate detected by the angular rate sensor;

acceleration vector calculation means for calculating an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor; and

first correction means for correcting the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space, wherein,

the first correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device.

10. The storage medium according to claim 9, wherein the first correction means corrects the orientation of the input device through conversion consisting of first conversion for performing a rotation about the predetermined axis such that a direction corresponding to the acceleration vector projected onto a plane perpendicular to the predetermined axis approaches a direction corresponding to the vertically downward direction projected onto the plane, and second conversion for performing a rotation after the first conversion such that the direction of the acceleration vector approaches the vertically downward direction.

11. The storage medium according to claim 9, wherein the first correction means corrects the orientation of the input device such that the direction of the acceleration vector coincides with the vertically downward direction.

12. The storage medium according to claim 9, wherein the first correction means controls an amount of correction for the orientation of the input device such that the closer a magnitude of the acceleration vector is to a magnitude of a gravitational acceleration, the more closely the direction of the acceleration vector approaches the vertically downward direction in the space.

13. The storage medium according to claim 9, wherein the first correction means corrects the orientation of the input device only when a difference between a magnitude of the acceleration vector and a magnitude of a gravitational acceleration is smaller than a predetermined reference value.

14. The storage medium according to claim 9, wherein,

the input device further includes image pickup means, and

the orientation calculation program further causes the computer to function as second correction means for further correcting the orientation of the input device in accordance with an image of a predetermined subject taken by the image pickup means.

15. The storage medium according to claim 14, wherein the second correction means corrects the orientation of the input device by applying a rotation about the predetermined axis.

16. A storage medium having stored therein a game program for performing a game process using, as the orientation of the input device, an orientation obtained through correction by the orientation calculation program according to claim 9.