Hybrid sensing techniques for position determination

• US 7,269,531 B2
• Filed: 10/23/2003
• Issued: 09/11/2007
• Est. Priority Date: 10/24/2002
• Status: Active Grant

• Current Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Original Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Inventors: Brouhon, Patrick
• Primary Examiner(s): Tsai, Carol S. W.
• Assistant Examiner(s): Sun, Xiuqin
• Application Number:
  US10/693,010
• Publication Number:
  US 20040135776A1
• Time in Patent Office: 1,419 Days
• Field of Search: 702/150, 382/314, 356/28, 396/85, 250/231.14, 348/116, 318/580, 318/568.12, 178/19.03, 345/179, 400/708
• US Class Current: 702/150
• 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

The invention provides for a method and apparatus for improving error-correction in non-contact optical position sensing. The primary application is in page-based data input contexts such as form-filling and paper-based web interfaces and GUIs. The invention utilises a combined measurement of the relative movement of a device in relation to a fixed surface and at least one measurement of the absolute position of the device. Absolute measurement of position is preferably carried out using a position-encoded glyph bed embedded on the fixed surface. Based on the at least single absolute measurement, the relative measurement of the devices movement, or stroke, is normalised to the properly measure absolute position and thus substantial interruptions in the detection of the absolute stroke position can be tolerated and corrected for.

Claims

1. A method of determining the time-varying absolute position of a device with respect to a surface having a position-encoded portion and an obscured portion, wherein the position-encoded portion bears accessible encoded position data and the obscured portion does not bear accessible position data, the method comprising the steps of:

moving the device with respect to the surface;

measuring a time-varying vector representing the relative movement of the device over the position-encoded portion and the obscured portion of said surface during motion of the device;

measuring at least one absolute position of the device with respect to the position-encoded portion of said surface during a portion of said motion when said position-encoded portion of said surface is accessible;

initializing the position of the vector to the at least one absolute position measurement thereby measuring the absolute position of the vector and thus the time-varying absolute position of the device; and

recording the measured time-varying absolute position of the device for subsequent outputting to an interpreter mechanism.

2. A method as claimed in claim 1 where the detection of the absolute position is achieved by non-contact optical means.

3. A method as claimed in claim 1 wherein the detection of the time-varying vector is achieved by means of a non-contact relative optical measurement.

4. A method as claimed in claim 1 wherein the detection of the at least one absolute position is performed by imaging a glyph bed which forms the position-encoded portion and is applied to the surface.

5. A method as claimed in claim 4 wherein the glyph bed is a machine-readable array of markings having absolute positions encoded therein.

6. A method as claimed in claim 4 wherein the glyph bed is invisible to the human eye or alternatively adapted to not substantially interfere with the appearance of the surface when viewed by the human eye.

7. A method as claimed in claim 4 wherein the glyph bed is applied using ink which is visible in the infrared part of the spectrum.

8. A method as claimed in claim 4 wherein the surface is overprinted with human-readable material in such a way as to obscure a portion of the glyph bed to thereby define at least part of said obscured portion of said surface.

9. A method as claimed in claim 1 wherein the detection of the relative position of the time-varying vector representing the movement of the device with respect to the surface is preferably measured using heterodyne or homodyne detection of non-doppler, non-speckle image signals derived from changes in the phase and/or the amplitude of reflection from an optical surface.

10. A method as claimed in claim 1 wherein the detection of the relative position of the time-varying vector representing the movement of the device with respect to the surface is measured using a transducer-based arrangement.

11. A method of determining the absolute position of a stroke made by a measurement device with respect to a surface, said surface having embedded thereon position encoding indicia, the method comprising:

moving the measurement device over the position-encoded surface, and whenever the measurement device passes over said one or more position encoding indicia, at any point of said motion, detecting one or more position encoding indicia, thereby calculating at least one absolute position measurement of the device;

in conjunction with the aforementioned detection, measuring the relative movement of the device with respect to the position-encoded surface and thereby calculating a time-varying motion vector representing the movement of the device with respect to the surface;

calculating the absolute location of the stroke with respect to the position-encoded surface on the basis of at least one measurement of the absolute position in combination with the time-varying motion vector; and

recording the calculated time-varying absolute position of the device for subsequent outputting to an interpreter mechanism.

12. A method as claimed in claim 11 further including where the detection of absolute stroke position is interrupted, attempting to interpolate across the interrupted area.

13. A method as claimed in claim 11 further including sanity checking interpolation and stroke reconstruction based on the statistically possible locations of strokes applied to the surface.

14. A method as claimed in claim 11 further including sanity checking absolute position measurements with respect to a sequence of stroke detection events of a surface by reference to user ergonomics, physical size of the surface, type of stroke applied or the speed of application of the stroke.

15. A method as claimed in claim 11 further including providing feedback to a user as to whether the stroke detection is successful or not, preferably in real time.

16. A method as claimed in claim 11, the method adapted to detect the absolute position of a plurality of strokes, said strokes constituting writing, wherein sanity checking of the absolute position detection is performed based on a forward looking probabilistic algorithm responsive to the physical writing environment and process.

17. A measurement device for determining the time-varying absolute position of the device with respect to a surface having a position-encoded portion with accessible encoded position data and an obscured portion where encoded position data is not accessible, said device including:

a first measuring device arranged to determine at least one absolute position of the device with respect to the position-encoded portion of said surface;

a second measuring device arranged to determine a time-varying vector representing the relative movement of the device with respect to the surface, wherein the first measuring device is further arranged to determine said at least one absolute position of the device at any time while said second measuring device is determining said time-varying vector;

processing means adapted to initialize the position of the vector to the at least one absolute position measurement so as to produce a signal representing the absolute position of the vector and thus the time-varying absolute position of the device; and

recording means for recording the absolute position signal for subsequent outputting to an interpreter mechanism.

18. A device as claimed in claim 17 wherein the device includes a first and second optical system, the first optical system adapted to image a glyph bed arranged to encode the absolute position onto the surface, and the second optical system adapted to determine the relative movement of the device with respect to the surface.

19. A device as claimed in claim 17 wherein the first and second measuring devices are incorporated into a common optical sensing device.

20. A device as claimed in claim 17 wherein the device has a pen form-factor or alternatively, a mouse form-factor.

21. A device as claimed in claim 17 wherein the device includes additional support circuitry adapted to store stroke data.

22. A device as claimed in claim 17 wherein the device includes communications circuitry adapted to transmit stroke data to a control means such as a computer.

23. A device as claimed in claim 17 wherein the device operates by buffering the stroke data for user-activated upload, or communicating the stroke data in real-time, or being responsive to a user'"'"'s command to upload stroke data to a control means.

24. A measurement device for determining the absolute position of a stroke made by the measurement device with respect to a surface, said surface having embedded thereon position encoding indicia, the measurement device including:

a first measuring device arranged to detect one or more position encoding indicia and determine at least one absolute position measurement of the device;

a second measuring device arranged to measure the relative movement of the device with respect to the surface and output a time-varying motion vector representing the movement of the device with respect to the surface, wherein the first measuring device is provided for determining said at least one absolute position of the device whenever the first measuring device passes by said one or more position encoding indicia during the relative movement of the measurement device;

processing means adapted to calculate the absolute location of the stroke with respect to the surface on the basis of the at least one measurement of the absolute position in combination with the measurement of the time-varying motion vector; and

recording means for recording the calculated absolute position of the stroke for subsequent outputting to an interpreter mechanism.