Method and system for tracking attitude
DCFirst Claim
1. A method of tracking attitude of a device comprising the steps of:
- fixing a two-dimensional array of photosensors to said device;
attaching an optical means to said device to image features of an environment onto said photosensors;
utilizing said two-dimensional array to acquire a first image of features within a field of view of said array;
storing said first image;
utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images;
correlating said first and second images to detect differences in location of said common features within said first and second images; and
based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images.
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Abstract
A method and system for tracking attitude of a device includes fixing a two-dimensional array of photosensors to the device and using the array to form a reference frame and a sample frame of images. The fields of view of the sample and reference frames largely overlap, so that there are common imaged features from frame to frame. Sample frames are correlated with the reference frame to detect differences in location of the common features. Based upon detection of correlations of features, an attitudinal signal indicative of pitch, yaw, and/or roll is generated. In the preferred embodiment, the attitudinal signal is used to manipulate a screen cursor of a display system, such as a remote interactive video system (RIVS). However, attitudinal tracking using the invention may be employed in other applications. Another aspect of the invention is that the two-dimensional array is configured to compensate for any curvilinear distortions introduced by a lens system for imaging the features within the field of view of the array.
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Citations
16 Claims
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1. A method of tracking attitude of a device comprising the steps of:
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fixing a two-dimensional array of photosensors to said device; attaching an optical means to said device to image features of an environment onto said photosensors; utilizing said two-dimensional array to acquire a first image of features within a field of view of said array; storing said first image; utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images; correlating said first and second images to detect differences in location of said common features within said first and second images; and based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for tracking attitude comprising:
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a housing; a two-dimensional array of photosensors fixed to said housing for forming images of features; storage means connected to said array for storing a reference frame of pixel values in which each pixel value is indicative of light energy received at a particular photosensor at a specific time; correlation means connected to said array and to said storage means for correlating an arrangement of said pixel values of said reference frame with at least one sample frame of pixel values formed in response to light energy received at said array subsequent to said specific time; and computing means, responsive to detection of correlations by said correlation means, for generating an attitudinal signal representing pitch and yaw of pixel values of said at least one sample frame relative to said pixel values of said reference frame, said attitudinal signal thereby representing pitch and yaw of said housing. - View Dependent Claims (10, 11, 12, 13)
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14. A method of controlling movement of a cursor of a video display comprising steps of:
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providing a hand-holdable device having a two-dimensional array of photosensors; tracking movement of said device relative to a region of an environment in which said device resides, including substeps of; (a) periodically forming largely overlapping images of a field of view of said array; (b) storing a first image as a reference image; (c) correlating said images such that changes in location of characteristics of said region within successive images are computationally recognized; in response to said substeps (a), (b) and (c), forming a cursor-control signal that corresponds to computational recognition of said changes in location; and transmitting said cursor-control signal to said video display. - View Dependent Claims (15, 16)
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Specification