STORAGE MEDIUM HAVING INFORMATION PROCESSING PROGRAM STORED THEREON, INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING SYSTEM, AND ATTITUDE CALCULATION METHOD
First Claim
1. A non-transitory computer-readable storage medium storing an information processing program to be executed by a computer of an information processing device for calculating an attitude of an input unit having a magnetic sensor, the information processing program causing the computer to execute:
- repeatedly obtaining detected magnetic vectors detected by the magnetic sensor;
repeatedly estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors; and
calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector,wherein the attitude is calculated while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position.
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Abstract
An example information processing device calculates an attitude of an input unit having a magnetic sensor. The information processing device repeatedly obtains detected magnetic vectors detected by the magnetic sensor. The information processing device repeatedly estimates a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors. The attitude of the input unit is calculated based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector. The information processing device calculates the attitude while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position.
17 Citations
17 Claims
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1. A non-transitory computer-readable storage medium storing an information processing program to be executed by a computer of an information processing device for calculating an attitude of an input unit having a magnetic sensor, the information processing program causing the computer to execute:
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repeatedly obtaining detected magnetic vectors detected by the magnetic sensor; repeatedly estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors; and calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector, wherein the attitude is calculated while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A non-transitory computer-readable storage medium storing an information processing program to be executed by a computer of an information processing device for calculating an attitude of an input unit having a sensor for detecting a value which varies depending on the attitude of the input unit, the information processing program causing the computer to execute:
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obtaining detected vectors detected by the sensor; estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected vectors; and calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected vector, wherein the attitude is calculated while relatively decreasing an influence of a newly-obtained detected vector as the end point position of the newly-obtained detected vector is farther away from the end point positions of the detected vectors used for the estimation of the center position.
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15. An information processing device for calculating an attitude of an input unit having a magnetic sensor, comprising:
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an obtaining unit for repeatedly obtaining detected magnetic vectors detected by the magnetic sensor; a center estimation unit for repeatedly estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors; and an attitude calculation unit for calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector, wherein the attitude calculation unit calculates the attitude while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position.
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16. An information processing system for calculating an attitude of an input unit having a magnetic sensor, comprising:
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an obtaining unit for repeatedly obtaining detected magnetic vectors detected by the magnetic sensor; a center estimation unit for repeatedly estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors; and an attitude calculation unit for calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector, wherein the attitude calculation unit calculates the attitude while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position.
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17. An attitude calculation method for calculating an attitude of an input unit having a magnetic sensor, comprising:
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repeatedly obtaining detected magnetic vectors detected by the magnetic sensor; repeatedly estimating a center position of a spherical body having a curved surface which is estimated based on end point positions of the detected magnetic vectors; and calculating the attitude of the input unit based on a direction vector representing a direction from the center position to the end point position of the detected magnetic vector, wherein the attitude is calculated while relatively decreasing an influence of a newly-obtained detected magnetic vector as the end point position of the newly-obtained detected magnetic vector is farther away from the end point positions of the detected magnetic vectors used for the estimation of the center position.
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Specification