Vision-based six-degree-of-freedom computer input device

• US 5,889,505 A
• Filed: 03/03/1997
• Issued: 03/30/1999
• Est. Priority Date: 04/04/1996
• Status: Expired due to Fees

• Current Assignee: Yale University
• Original Assignee: Yale University
• Inventors: Toyama, Kentaro, Hager, Gregory Donald
• Primary Examiner(s): Saras, Steven J.
• Assistant Examiner(s): Vail, Seth D.
• Application Number:
  US08/810,269
• Time in Patent Office: 757 Days
• Field of Search: 345/156, 345/157, 345/158, 345/167, 382/276, 382/287, 382/289, 382/291, 348/135, 348/139, 348/141, 348/169, 348/172, 395/94, 73/862.043
• US Class Current: 345/156
• CPC Class Codes: G06F 3/0325 using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
• 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: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

A vision-based controller provides translational and rotational control signals to a computer or other input driven device. The controller includes a tracked object, positioned in space and having at least a first reference point and a second reference point. The tracked object is capable of three dimensional rotational and translational movement. At least one imaging device, positioned at a distance from the tracked object, generates an image of the tracked object, at plural succeeding times. A processor unit receives the image, comprised of pixel values, from the imaging device; identifies pixels corresponding to a current center of the tracked object, the first reference point and the second reference point; determines a current dimension (i.e., size or radius) of the tracked object; calculates a translational and rotational displacement of the tracked object based on the above information; and generates control signals in accordance with the transitional and rotational displacement.

Claims

1. A vision-based controller for providing translational and rotational control data for use by a computer or other input driven device, comprising:

a tracked object, positioned in space and having at least a first reference point and a second reference point, said tracking object capable of three dimensional rotational and translational movement, each reference point having different characteristics,

at least one imaging means, positioned at a distance from said tracked object, for generating an image of said tracked object at plural times, each image comprising pixel values, and

processor means, responsive to said pixel values from said imaging means, for;

(a) identifying pixels corresponding to a current center of said tracked object, said first reference point and said second reference point and determining a current dimension of said tracked object;

(b) calculating a translational and rotational displacement of said tracked object based on information ascertained in (a), and

(c) generating control data in accordance with said transitional and rotational displacement.

2. A controller as recited in claim 1, wherein each of said reference points is distinguished by a different color.

3. A controller as recited in claim 1, wherein said tracked object has multiple reference points systematically positioned thereon, said controller further comprising multiple imaging means, positioned at a distance from respective reference points, for generating image information corresponding to different perspectives of said tracked object.

4. A controller as recited in claim 1, wherein said tracked object further includes input means for receiving an input from a user.

5. A controller as recited in claim 4, wherein said input means, responsive to a user input, causes a distinguishable mark having a particular size, shape or color to appear on said tracked object.

6. A controller as recited in claim 5, wherein said processor means generates a control signal in response to a detection of said distinguishable mark.

7. A controller as recited in claim 1, wherein said tracked object is a ball.

8. A controller as recited in claim 7, wherein said ball has a diameter of approximately 8 centimeters.

9. A controller as recited in claim 1, wherein said first reference point and said second reference point are two dots, each having a diameter of 8 millimeters.

10. A controller as recited in claim 9, wherein a distance between said first reference point and said second reference point is 10 millimeters.

11. A controller as recited in claim 1, wherein said imaging means is a digital camera for generating images of said tracked object.

12. A controller as recited in claim 1, wherein said imaging means includes an analog camera and a frame grabber for digitizing analog outputs from said analog camera.

13. A controller as recited in claim 1, wherein said tracked object is suspended in space by elastic bands coupled between said tracked object and a supporting structure.

14. A controller as recited in claim 1, wherein said control data relates to translational and rotational data associated with a movement of said tracked object.

15. A controller as recited in claim 1, wherein said control data relates to velocity data associated with a movement of said tracked object.

16. A controller as recited in claim 1, wherein said current dimension of said tracked object is a variance of the coordinates of all pixels corresponding to said tracked object.

17. A controller as recited in claim 16, wherein said processor means determines a rotational and translational displacement along an axis of said imaging means based on said current dimension.

18. A controller as recited in claim 17, wherein said current dimension relates to a radius of said tracked object.