Method and Device for Pose Tracking Using Vector Magnetometers

• US 20130249784A1
• Filed: 03/22/2012
• Published: 09/26/2013
• Est. Priority Date: 03/22/2012
• Status: Active Grant

• Current Assignee: Advanced Magnetic Interaction
• Original Assignee: Niklas T. Wahlstrom
• Inventors: Gustafson, Fredrik BR, Wahlstrm, Niklas T.
• Granted Patent: US 10,228,428 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: G01C 17/28 Electromagnetic compasses with north seeking magnetic elements and having electric pick-offs G01C17/26
• CPC Class Codes: G01R 33/072 Constructional adaptation of the sensor to specific applications
• 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 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

In accordance with various embodiments of the invention, a user-borne computer input device is disclosed including a 5D or greater “mouse” or other tool or object containing or consisting of one or more permanent magnetic presenting permanent magnetic dipoles. The position and orientation of the device are determined by magnetic field strength measurements derived from at least two vector-magnetometers fixed in a reference frame connected to the computing device. The system allows a user to interact with the computing device in at least 5 dimensions by manipulating the position and orientation of the device within a measurement volume, which may be a few cubic meters.

Claims

1. A system for allowing a user to interact with a computer in at least 5 dimensions, the system comprising:

a computing device;

a visual screen associated with and controlled by the computing device;

two or more vector magnetometers associated with the computing device;

a user-borne device comprising at least one permanent magnet, wherein manipulation of the user-borne device by a user is tracked by the computing device via measurement of a magnetic field associated with the at least one permanent magnet by the two or more vector magnetometers to generate pose information associated with the user-borne device, the pose information including a position and orientation of the user-borne device.

2. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is configured to control a cursor displayed on the visual screen, based on the pose information associated with the user-borne device.

3. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the 5 dimensions include three positional dimensions, a pitch dimension, and a yaw dimension, and wherein the computing device is configured to control a displayed object based on two of the three positional dimensions.

4. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 3, wherein the computing device is further configured to control a selection function based on a third of the three positional dimensions.

5. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 3, wherein the computing device is further configured to control a selection function based on one of the pitch dimension and the yaw dimension.

6. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 3, wherein the computing device is further configured to filter the measurements of magnetic field associated with the at least one permanent magnet via a low pass filter.

7. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 3, wherein the computing device is further configured to filter the measurements of magnetic field associated with the at least one permanent magnet via a movement model based filter.

8. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, further comprising a second user-borne device having a second permanent magnet associated therewith, and wherein the computing device is further configured to select a user-borne device based on a best fit of a model to measurements for each device.

9. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the user-borne device is a multi-dipole tool to provide 6D pose information.

10. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 9, wherein the user-borne device has a variable geometry for providing greater than 6D pose information.

11. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 8, wherein the computing device is further configured to simultaneously track both devices.

12. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 11, wherein each of the first and second user-borne devices is a multi-dipole tool to provide 6D pose information.

13. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 12, wherein each of the first and second user-borne devices has a variable geometry to provide greater than 6D pose information.

14. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to calibrate the sensors for sensor location, sensor orientation, and external magnetic influences.

15. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to calibrate for tool-specific parameters of the user-borne device.

16. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to calibrate for a dynamic external magnetic field.

17. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to filter the pose information based on physical motion constraints associated with the user-borne device.

18. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to filter the pose information via a low pass filter.

19. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to filter the pose information via a model based filter.

20. The system for allowing a user to interact with a computer in at least 5 dimensions according to claim 1, wherein the computing device is further configured to filter the pose information via one of a kalman filter and a non-linear filter.