Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features

• US 7,088,440 B2
• Filed: 12/22/2003
• Issued: 08/08/2006
• Est. Priority Date: 12/22/2003
• Status: Active Grant

• Current Assignee: Electronic Scripting Products, Inc.
• Original Assignee: Electronic Scripting Products, Inc.
• Inventors: Carl, Stewart R., Zhang, Guanghua G., Gonzalez-Banos, Hector H., Buermann, Dale H., Mandella, Michael J.
• Primary Examiner(s): Toatley, Jr., Gregory J.
• Assistant Examiner(s): Akanbi, Isiaka O.
• Application Number:
  US10/745,371
• Publication Number:
  US 20050133700A1
• Time in Patent Office: 960 Days
• Field of Search: 382/118, 341/5, 178/18.01, 178/18.09
• US Class Current: 356/138
• CPC Class Codes: G06F 3/0321 by optically sensing the absolute position with respect to a regularly patterned surface forming a passive digitiser, e.g. pen optically detecting position indicative tags printed on a paper sheet constructional details of pen-shaped pointing devices G06F3/03545, G06F3/03542, G06F3/037
• CPC Class Codes: G06F 3/03545 Pens or stylus

Abstract

A method and apparatus for determining a pose of an elongate object and an absolute position of its tip while the tip is in contact with a plane surface having invariant features. The surface and features are illuminated with a probe radiation and a scattered portion, e.g., the back-scattered portion, of the probe radiation returning from the plane surface and the feature to the elongate object at an angle τ with respect to an axis of the object is detected. The pose is derived from a response of the scattered portion to the surface and the features and the absolute position of the tip on the surface is obtained from the pose and knowledge about the feature. The probe radiation can be directed from the object to the surface at an angle σ to the axis of the object in the form of a scan beam. The scan beam can be made to follow a scan pattern with the aid of a scanning arrangement with one or more arms and one or more uniaxial or biaxial scanners. Angle τ can also be varied, e.g., with the aid of a separate or the same scanning arrangement as used to direct probe radiation to the surface. The object can be a pointer, a robotic arm, a cane or a jotting implement such as a pen, and the features can be edges, micro-structure or macro-structure belonging to, deposited on or attached to the surface which the tip of the object is contacting.

Claims

1. A method for determining a pose of an elongate object having a tip contacting a plane surface having an invariant feature, said method comprising:

a) illuminating said plane surface and said invariant feature with a probe radiation;

b) detecting a scattered portion of said probe radiation returning to said elongate object at an angle τ

to an axis of said elongate object;

c) deriving said pose from a response of said scattered portion to said plane surface and to said invariant feature; and

d) obtaining an absolute position of said tip on said surface from said pose and said invariant feature.

2. The method of claim 1, wherein said probe radiation is directed from said elongate object to said surface at an angle σ

to said axis.

3. The method of claim 2, wherein said angle τ

corresponds to a back-scatter angle such that said scattered portion is a back-scattered portion.

4. The method of claim 1, wherein said response is an intensity variation in said scattered portion.

5. The method of claim 1, further comprising varying said angle τ

at which said scattered portion is detected.

6. The method of claim 5, wherein said angle τ

is varied in a scan pattern.

7. The method of claim 1, wherein said probe radiation is directed from said elongate object to said plane surface in a scan beam at an angle σ

to said axis.

8. The method of claim 7, wherein said scan beam comprises a number of component beams.

9. The method of claim 7, wherein said angle σ

is varied such that said scan beam follows a scan pattern.

10. The method of claim 9, wherein said scan pattern is selected from the group consisting of uniaxial scan patterns and biaxial scan patterns.

11. The method of claim 10, wherein said biaxial scan patterns are selected from the group consisting of raster patterns and Lissajous figures.

12. The method of claim 10, wherein said step of deriving comprises a temporal analysis of said scattered portion.

13. The method of claim 12, wherein said temporal analysis comprises a phase analysis.

14. The method of claim 1, wherein said invariant feature comprises an edge of said plane surface.

15. The method of claim 14, wherein said plane surface comprises a jotting surface.

16. The method of claim 15, wherein said jotting surface is selected from the group consisting of a screen, a display, a pad, a paper surface.

17. The method of claim 16, wherein said invariant feature comprises a micro-structure of said paper surface.

18. The method of claim 16, wherein said invariant feature comprises a macro-structure on said paper surface.

19. The method of claim 18, wherein said macro-structure comprises markings.

20. The method of claim 1, wherein said elongate object is selected from the group consisting of jotting implements, pointers, robotic arms and canes.

21. The method of claim 20, wherein said jotting implements are selected from the group consisting of pens, pencils and styluses.

22. The method of claim 1, comprising deriving at least one Euler angle of said elongate object.

23. The method of claim 1, further comprising producing a temporary invariant feature on said plane surface.

24. The method of claim 23, wherein said temporary invariant feature is a projected temporary feature produced on said plane surface by said probe radiation.

25. The method of claim 24, wherein said projected temporary feature is produced by scanning said probe radiation.

26. The method of claim 1, further comprising producing a feature comprising user information on said plane surface.

27. An apparatus for determining a pose of an elongate object having a tip contacting a plane surface having an invariant feature, said apparatus comprising:

a) a source for illuminating said plane surface and said invariant feature with a probe radiation;

b) a detector on said elongate object for detecting a scattered portion of said probe radiation returning to said elongate object at an angle τ

to an axis of said elongate object;

c) a computing unit for deriving said pose from a response of said scattered portion to said plane surface and to said invariant feature, and for obtaining an absolute position of said tip on said surface from said pose and said invariant feature.

28. The apparatus of claim 27, wherein said source comprises an emitter on said elongate object.

29. The apparatus of claim 28, wherein said emitter comprises a number of component emitters for emitting a corresponding number of component beams for illuminating said plane surface and said invariant feature.

30. The apparatus of claim 28, further comprising a scanning arrangement for directing said probe radiation from said emitter to said plane surface in a scan beam at an angle σ

to said axis.

31. The apparatus of claim 30, wherein said scanning arrangement comprises a uniaxial scanner for varying angle σ

by introducing an x-deflection γ

_x.

32. The apparatus of claim 31, wherein said uniaxial scanner further comprises a scan arm having a uniaxial scan mirror and an X-driver for controlling said x-deflection γ

_x.

33. The apparatus of claim 30, wherein said scanning arrangement comprises a biaxial scanner for varying said angle σ

by introducing an x-deflection γ

_x and a y-deflection γ

_y.

34. The apparatus of claim 33, wherein said biaxial scanner further comprises a scan arm having a biaxial scan mirror and an X-driver for controlling said x-deflection γ

_x and a Y-driver for controlling said y-deflection γ

_y.

35. The apparatus of claim 27, wherein said emitter and said detector are offset.

36. The apparatus of claim 27, wherein said detector is positioned to receive said scattered portion at angle τ

corresponding to a back-scatter angle such that said scattered portion is a back-scattered portion.

37. The apparatus of claim 36, further comprising a scanning arrangement for varying said angle τ

.

38. The apparatus of claim 27, wherein said detector comprises a number of component detectors for detecting sub-portions of said back-scattered portion.

39. The apparatus of claim 27, further comprising an optic for shaping said probe radiation.

40. The apparatus of claim 27, further comprising a scanning arrangement having a number of scan arms for shaping said probe radiation into a corresponding number of scan beams.

41. The apparatus of claim 27, wherein said elongate object is selected from the group consisting of jotting implements, pointers, robotic arms and canes.

42. The apparatus of claim 41, wherein said jotting implements are selected from the group consisting of pens, pencils and styluses.

43. The apparatus of claim 27, wherein said computing unit is located on said elongate object.

44. The apparatus of claim 27, wherein said source is a single frequency emitter.

45. The apparatus of claim 44, wherein said single frequency emitter is a laser diode.

46. The apparatus of claim 27, wherein said source is an ambient radiation source and said probe radiation is an ambient radiation.

47. An elongate object having a tip contacting a plane surface having an invariant feature, said elongate object comprising:

a) an emitter on said elongate object for illuminating said plane surface with a probe radiation at an angle σ

to an axis of said elongate object;

b) a detector on said elongate object for detecting a scattered portion of said probe radiation returning from said plane surface to said elongate object at an angle τ

to said axis;

c) a computing unit for deriving a pose of said elongate object from a response of said scattered portion to said plane surface and to said invariant feature, and obtaining a position of said tip on said plane surface.

48. The elongate object of claim 47, wherein said computing unit converts said position to world coordinates such that said position is an absolute position.

49. A method for determining a position of a tip of an elongate object, said tip contacting a plane surface having an invariant feature, said method comprising:

a) illuminating said plane surface and said invariant feature with a probe radiation;

b) selecting an angle τ

to an axis of said elongate object;

c) detecting a scattered portion of said probe radiation arriving at said angle τ

to said elongate object;

d) deriving a pose of said elongate object from a response of said scattered portion to said plane surface and to said invariant feature; and

e) obtaining said position from said pose and said invariant feature.

50. The method of claim 49, further comprising converting said position to world coordinates such that said position is an absolute position.