Precise calibration procedure for sensor-based view point control system
First Claim
1. In a system for processing and displaying graphics data representing at least one three-dimensional object according to a view point, wherein said view point is controlled according to position and orientation of a view point reference with respect to a source determined by a view point reference coordinate sensing system, said view point reference coordinate sensing system comprising said source and a sensor having a fixed position and orientation with respect to said view point reference, a method of determining said fixed position and orientation of said sensor with respect to said view point reference comprising the steps of:
- storing a first position and orientation of said sensor with respect to a coordinate system of said source;
rotating said sensor from said first position and orientation around a first rotational axis such that said sensor has a second position and orientation with respect to said coordinate system of said source, and storing said second position and orientation of said sensor with respect to said coordinate system of said source;
storing a third position and orientation of said sensor with respect to said coordinate system of said source;
rotating said sensor from said third position and orientation around a second rotational axis substantially orthogonal to said first axis such that said sensor has a fourth position and orientation with respect to said coordinate system of said source, and storing said fourth position and orientation of said sensor with respect to said coordinate system of said source; and
determining said fixed position and orientation of said sensor with respect to said view point reference according to the stored first, second, third and fourth positions and orientations of said sensor with respect to said coordinate system of said source,wherein said first rotational axis passes through a pivot point having a known position relative to the position of said view point reference.
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Abstract
In a graphics processing and display system wherein the view point is controlled according to position and orientation of a view point reference with respect to a representation of the displayed graphics data determined by a view point reference coordinate sensing system comprising a source and a sensor, wherein the sensor has a fixed position and orientation with respect to said view point reference and the source has a fixed position and orientation with respect to the schematic representation, calibration of the system requires two ordered steps: view point reference-sensor calibration and source-representation calibration. View point reference-sensor calibration is performed by registering and processing four configurations of the sensor housing. Source-representation calibration is performed by storing and processing three positions of the sensor housing.
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Citations
16 Claims
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1. In a system for processing and displaying graphics data representing at least one three-dimensional object according to a view point, wherein said view point is controlled according to position and orientation of a view point reference with respect to a source determined by a view point reference coordinate sensing system, said view point reference coordinate sensing system comprising said source and a sensor having a fixed position and orientation with respect to said view point reference, a method of determining said fixed position and orientation of said sensor with respect to said view point reference comprising the steps of:
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storing a first position and orientation of said sensor with respect to a coordinate system of said source; rotating said sensor from said first position and orientation around a first rotational axis such that said sensor has a second position and orientation with respect to said coordinate system of said source, and storing said second position and orientation of said sensor with respect to said coordinate system of said source; storing a third position and orientation of said sensor with respect to said coordinate system of said source; rotating said sensor from said third position and orientation around a second rotational axis substantially orthogonal to said first axis such that said sensor has a fourth position and orientation with respect to said coordinate system of said source, and storing said fourth position and orientation of said sensor with respect to said coordinate system of said source; and determining said fixed position and orientation of said sensor with respect to said view point reference according to the stored first, second, third and fourth positions and orientations of said sensor with respect to said coordinate system of said source, wherein said first rotational axis passes through a pivot point having a known position relative to the position of said view point reference. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. In a system for processing and displaying graphics data representing at least one three-dimensional object according to a view point, wherein said view point is controlled according to position and orientation of a sensor with respect to a representation of said at least one three-dimensional object determined by a view point reference coordinate sensing system, said view point reference coordinate sensing system comprising said sensor and source having a fixed position and orientation with respect to said representation, a method of determining said fixed position and orientation of said source with respect to said representation comprising the steps of:
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placing said sensor in a first predetermined position with respect to a coordinate system of said representation and registering a first position point; moving said sensor to a second predetermined position with respect to said coordinate system of said representation and registering a second position point; moving said sensor to a third position with respect to said coordinate system of said representation and registering a third position point; and determining said fixed position and orientation of said source with respect to said representation according to the registered first, second and third position points, wherein said first and second predetermined positions with respect to said coordinate system of said representation correspond to first and second predetermined positions with respect to a coordinate system of said at least one three-dimensional object, and wherein said first predetermined position, said second predetermined position and said third position with respect to said coordinate system of said representation have a predetermined sense. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification