Dual reality system

• US 6,278,479 B1
• Filed: 02/24/1998
• Issued: 08/21/2001
• Est. Priority Date: 02/24/1998
• Status: Expired due to Fees

• Current Assignee: Wilson Hewitt & Associates Incorporated
• Original Assignee: Wilson Hewitt & Associates Incorporated
• Inventors: Wilson, Phillip C., Martin, Erik A.
• Primary Examiner(s): Britton, Howard
• Assistant Examiner(s): DIEP, NHON THANH
• Application Number:
  US09/028,319
• Time in Patent Office: 1,274 Days
• Field of Search: 382/154, 382/106, 702/150, 702/151, 702/152, 702/153, 348/42, 348/47, 348/53, 348/139, 358/107
• US Class Current: 348/47
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G02B 27/017 Head mounted
• CPC Class Codes: G02B 30/34 Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers
• CPC Class Codes: G06T 15/10 Geometric effects
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: H04N 13/156 Mixing image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/257 Colour aspects
• CPC Class Codes: H04N 13/279 the virtual viewpoint locations being selected by the viewers or determined by tracking
• CPC Class Codes: H04N 13/289 Switching between monoscopic and stereoscopic modes
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/344 with head-mounted left-right displays
• CPC Class Codes: H04N 13/373 for tracking forward-backward translational head movements, i.e. longitudinal movements
• CPC Class Codes: H04N 13/376 for tracking left-right translational head movements, i.e. lateral movements
• CPC Class Codes: H04N 13/38 for tracking vertical translational head movements
• CPC Class Codes: H04N 13/383 for tracking with gaze detection, i.e. detecting the lines of sight of the viewer's eyes
• CPC Class Codes: H04N 2013/0077 Colour aspects
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0096 : Synchronisation or controlling aspects

Abstract

An apparatus for merging real and virtual images in which points in three dimensions of an actual scene are obtained and selected in a random fashion and in a number sufficient to track the movement of the three dimensional scene relative to an observer wearing the apparatus. Updating of selected points occurs responsive to movement of a video camera pair observing the actual scene. The position and orientation of the unit housing the video camera pair is utilized to properly merge a generated virtual image with the real image. Selection of points and orientation of the unit relative to a three dimensional real image are obtained in real time. Microprocessor-based apparatus is utilized to perform the method of the invention.

Claims

1. A method for determining in real time a position and orientation of a camera pair based upon an observed environment within said camera pair'"'"'s field of view comprising the steps of:

(a) obtaining an image of a region observed by each camera of said camera pair;

(b) identifying distinctive points in said image;

(c) determining current three dimensional positions of said distinctive points by comparing information obtained from each camera of said camera pair;

(d) analyzing said three-dimensional positions to determine position and orientation of said camera pair; and

(e) repeating steps (c) and (d) at given intervals;

and further comprising;

discarding points identified during a given interval which are not identified in a subsequent interval.

2. The method of claim 1 further comprising replacing said discarded points in a random manner.