Method for tracking and displaying user's spatial position and orientation, a method for representing virtual reality for a user, and systems of embodiment of such methods
First Claim
1. A system for representation of virtual space for a user who moves in the real space, comprisinga plurality of relative rotation angles sensors arranged adjacently to main articulations between the user'"'"'s locomotor system segments, or at segments proper, for outputting, at outputs of said sensors, signals of relative rotation angles of said segments;
- means for determination of reference directions, which means are arranged at least at one of the user'"'"'s locomotor system segments, for outputting a reference direction signal at output of said reference directions determination means;
signals analogue-to-digital conversion means, having a first input for receiving signals of said plurality of relative rotation angles sensors, a second input for receiving signals of said at least one means for determination of reference directions, and an output for outputting digital data;
means for processing digital data for construction of a mathematical model of the three-dimensional space and a user in this space, having a first input for receiving said digital data, and a second input for inputting additional data on a user and a space to be displayed, and an output for outputting data on a constructed mathematical model of a user in a space to be simulated;
means for determination of the user'"'"'s viewing field, having an input connected to output of said digital data processing means, and an output;
means for forming signals of image of virtual space corresponding to the user'"'"'s viewing field, having a first input connected to output of said digital data processing means, a second input connected to output of means for determination of the user'"'"'s viewing field, and an output;
means for displaying virtual space for a user, having an input connected to output of means for forming signals of a virtual space image that corresponds to the user'"'"'s viewing field.
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Accused Products
Abstract
The invention relates to methods and systems for determination of position and orientation of users in a space and display of virtual space, and can be used in interactive computer games, health-strengthening teaching devices, or trainings of the athletic and military purposes. The invention provides an improved accuracy and speed of tracking of the user'"'"'s spatial position and orientation, provides convenience for and naturalness of his/her movements and representation of virtual space in conformity with user'"'"'s movements in the real space. Sensors 4 for tracking angular position of segments 2 of the user'"'"'s locomotor system are attached at places of articulations 3 of segments 2 and at certain segments 2 proper. At least at one of segments 2 arranged are main means 5 for determination of reference directions, which means provide determination of orientation of a given segment relative to the reference directions. Data from sensors 4, means 5 for determination of reference directions and, when necessary, from devices 8 of interaction of a user with the virtual space objects are processed for determination of the user'"'"'s orientation and position as a whole on the basis of particular values of angles between segments, and orientation of a main segment whereat means for determination of reference directions, relative to the reference directions, are arranged. Obtained data are used for displaying user'"'"'s movements in real time, or representation for a user of virtual space that corresponds to his/her viewing field that varies according to movements in real space.
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Citations
52 Claims
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1. A system for representation of virtual space for a user who moves in the real space, comprising
a plurality of relative rotation angles sensors arranged adjacently to main articulations between the user'"'"'s locomotor system segments, or at segments proper, for outputting, at outputs of said sensors, signals of relative rotation angles of said segments; -
means for determination of reference directions, which means are arranged at least at one of the user'"'"'s locomotor system segments, for outputting a reference direction signal at output of said reference directions determination means; signals analogue-to-digital conversion means, having a first input for receiving signals of said plurality of relative rotation angles sensors, a second input for receiving signals of said at least one means for determination of reference directions, and an output for outputting digital data; means for processing digital data for construction of a mathematical model of the three-dimensional space and a user in this space, having a first input for receiving said digital data, and a second input for inputting additional data on a user and a space to be displayed, and an output for outputting data on a constructed mathematical model of a user in a space to be simulated; means for determination of the user'"'"'s viewing field, having an input connected to output of said digital data processing means, and an output; means for forming signals of image of virtual space corresponding to the user'"'"'s viewing field, having a first input connected to output of said digital data processing means, a second input connected to output of means for determination of the user'"'"'s viewing field, and an output; means for displaying virtual space for a user, having an input connected to output of means for forming signals of a virtual space image that corresponds to the user'"'"'s viewing field. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for representation of virtual space for a user taking into account his/her motion in the real space, including the following steps:
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a) attaching, at each of the main articulations of the user'"'"'s locomotor system segments, means for determination of at least one angle between segments that are adjacent to a respective articulation; b) determination of linear dimensions of the user'"'"'s locomotor system segments; c) arranging, at least at one of the user'"'"'s locomotor systems segments, means for determining reference directions; d) determination of orientation of at least one segment, whereat the reference directions determination means are arranged, relative to said reference directions; e) determination of angles between segments that are adjacent to said main articulations; f) determination of orientation and position of a user in space as a whole on the basis of obtained values of angles and orientation of said at least one segment, whereat the reference directions determination means are arranged; g) determination of a reference segment or reference segments of the user'"'"'s locomotor system segments; h) positioning of said reference segment or segments relative to a reference in the virtual space to be displayed; i) determination of position and orientation of user'"'"'s head in virtual space for determining the user'"'"'s viewing field in the virtual space; j) formation and representation for a user of an area of the virtual space corresponding to his/her viewing field. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 46)
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23. A system of tracking and displaying the user'"'"'s spatial position and orientation, comprising
a plurality of relative rotation angles sensors arranged adjacently to main articulations between the user'"'"'s locomotor system segments, or at said segments proper for outputting signals of relative rotation angles of said segments at said sensors outputs; -
means for determination of reference directions, arranged at least at one of the user'"'"'s locomotor system segments, for outputting a reference direction signal at output of said means for determination of reference directions; means for analogue-to-digital conversion of signals, having a first input for receiving signals of said plurality of relative rotation angles sensors, a second input for receiving signals of said at least one means for determining reference directions, and an output for outputting digital data; means for processing digital data for constructing a mathematical model of the three-dimensional space and a user in this space, having an input for receiving said digital data, and an output for outputting data on the user'"'"'s position and orientation in the three-dimensional space to be simulated, and means for displaying the user'"'"'s spatial position and orientation, having an input for receiving data on the user'"'"'s position and orientation in the three-dimensional space to be simulated. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method of tracking and displaying a position and orientation of a user in space, comprising the steps of:
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a) attaching means for determining at least one angle between segments adjacent to a respective articulation at each one of main articulations of segments of the user'"'"'s locomotor system; b) disposing, at least at one of the user'"'"'s locomotor system segments, means for determining reference directions; c) determining orientation of at least one segment, at which segment the reference direction determination means are disposed, relative to said reference directions; d) determining angles between segments which are adjacent to said main articulations; e) determining the user'"'"'s position and orientation as a whole in space on the basis of obtained values of angles, and orientation of said at least one segment, at which segment the reference directions determination means are disposed. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 47, 48, 49, 50, 51, 52)
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Specification