Optical flow based tilt sensor

• US 7,848,542 B2
• Filed: 10/31/2007
• Issued: 12/07/2010
• Est. Priority Date: 01/07/2005
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: GestureTek Incorporated (Winning Brands Corp.)
• Inventors: Hildreth, Evan
• Primary Examiner(s): Carter; Aaron W
• Application Number:
  US11/932,819
• Publication Number:
  US 20080137913A1
• Time in Patent Office: 1,133 Days
• Field of Search: 382/103, 382/107, 3482081-20816, 715719-722, 715/863
• US Class Current: 382/107
• CPC Class Codes: A63F 2300/1087 comprising photodetecting means, e.g. a camera
• CPC Class Codes: G06F 1/1626 with a single-body enclosure integrating a flat display, e.g. Personal Digital Assistants [PDAs]
• CPC Class Codes: G06F 1/1686 the I/O peripheral being an integrated camera
• CPC Class Codes: G06F 2200/1637 Sensing arrangement for detection of housing movement or orientation, e.g. for controlling scrolling or cursor movement on the display of an handheld computer
• 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 7/269 using gradient-based methods
• CPC Class Codes: G06V 10/17 using hand-held instruments
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: H04M 1/72427 for supporting games or graphical animations
• CPC Class Codes: H04M 2250/12 including a sensor for measuring a physical value, e.g. temperature or motion
• CPC Class Codes: H04M 2250/52 including functional features of a camera
• CPC Class Codes: H04N 1/00307 with a mobile telephone apparatus constructional features of portable telephone sets H04M1/0202; mobile radio systems H04W84/00
• CPC Class Codes: H04N 1/00323 with a measuring, monitoring or signaling apparatus, e.g. for transmitting measured information to a central location
• CPC Class Codes: H04N 1/00352 Input means H04N1/00411 takes precedence; input arrangements for computers G06F3/00
• CPC Class Codes: H04N 1/00381 Input by recognition or interpretation of visible user gestures manual input means, e.g. digitisers, writing tablets H04N1/00392; gesture input to computers G06F3/017; recognition algorithms G06V40/20
• CPC Class Codes: H04N 2201/0084 Digital still camera
• CPC Class Codes: H04N 2201/0096 Portable devices

Abstract

A method is described for determining a description of motion of a moving mobile camera to determine a user input to an application. The method may involve capturing a series of images from a moving mobile camera and comparing stationary features present in the series of images. Optical flow analysis may be performed on the series of images to determine a description of motion of the moving mobile camera. Based on the determined motion, a user input to an application may be determined and the application may respond to the user input, for example, by updating a user interface of the application.

Claims

1. A computer-implemented method comprising:

capturing images from a moving mobile camera;

identifying a first stationary feature that is present in the images captured from the moving mobile camera;

identifying a second stationary feature that is present in the images captured from the moving mobile camera, the second stationary feature being different than and spaced apart from the first stationary feature;

determining a description of motion of the moving mobile camera in a depth direction based on changes in distance between the first stationary feature and the second stationary feature within the captured images, the depth direction being a direction of movement toward and away from the first stationary feature and the second stationary feature;

rendering a user interface for an application on an interface device, the user interface including an object; and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera in the depth direction.

2. The method of claim 1 wherein:

determining a description of motion comprises determining a magnitude and an orientation; and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling the object rendered in the user interface to steer, roll or navigate a distance within the user interface corresponding to the determined magnitude in a direction corresponding to the determined orientation.

3. The method of claim 1 wherein determining a description of motion of the moving mobile camera comprises calculating rotation of the moving mobile camera in two degrees of freedom.

4. The method of claim 1 wherein determining a description of motion of the moving mobile camera comprises calculating rotation of the moving mobile camera in three degrees of freedom.

5. The method of claim 1 wherein:

determining a description of motion of the moving mobile camera comprises calculating translation of the moving mobile camera; and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling an avatar rendered in the user interface to steer, roll or navigate in the user interface in a manner corresponding to the calculated translation of the moving mobile camera.

6. The method of claim 1 wherein determining a description of motion of the moving mobile camera comprises calculating motion of the moving mobile camera with respect to an initial position of the moving mobile camera.

7. The method of claim 1 wherein determining a description of motion of the moving mobile camera comprises:

determining motion of features within the captured images; and

determining motion of the mobile camera based on the motion of the features.

8. The method of claim 7 wherein determining a description of motion of the moving mobile camera further comprises:

segmenting the features, based on the determined motion of the features, into a set of moving features that are moving with respect to a real-world frame of reference.

9. The method of claim 1 wherein:

determining a description of motion comprises;

extracting features from the captured images;

comparing images to match features present in more than one image;

determining a flow vector for matched features by calculating the displacement in the position of a feature in a current image relative to the position of the feature in a prior image; and

determining the motion of the mobile camera based on the flow vector determined for the matched features, and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling the object rendered in the user interface to move in a direction corresponding to the determined flow vector.

10. The method of claim 9 wherein extracting features from the captured images includes detecting at least one of corners and edges.

11. The method of claim 9 wherein comparing images to match features comprises first comparing a block of an image located proximate to the known position of the feature in another image.

12. The method of claim 9 wherein comparing images to match features comprises first comparing images at a low resolution and, conditioned on whether a match is found, comparing images at a higher resolution.

13. The method of claim 9 wherein determining the motion of the mobile camera based on the flow vectors comprises determining the motion of the mobile camera in real-world units by converting the motion determined in image-dependent units.

14. The method of claim 1 wherein:

capturing images comprises capturing a sequence of images, and

determining a description of motion of the moving mobile camera comprises;

determining motion for a first feature visible in a first subset of images within the sequence of images;

determining motion for a second feature visible in a second subset of images within the sequence of images, overlapping partially with the first subset, and the second feature having a fixed physical relationship with the first feature, wherein motion for the second feature is based on the motion for the first feature even though the first feature is not visible in all of the second subset of images; and

determining the description of motion of the moving mobile camera based on the determined motions for the first and second features.

15. The method of claim 1 wherein:

the object is a ball rendered in the user interface of an application, and

wherein automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling a rolling direction of the ball in the user interface in a manner corresponding to the determined motion of the moving mobile camera.

16. The method of claim 1 wherein:

the object is a vehicle rendered in the user interface of an application, and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling a steering movement of the vehicle in the user interface in a manner corresponding to the determined motion of the moving mobile camera.

17. The method of claim 1 wherein:

the object is a menu object rendered in the user interface of an application, and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling a menu navigation function associated with the object in a manner corresponding to the determined motion of the moving mobile camera.

18. The method of claim 1 wherein:

the object is an articulated character in an application, and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling movement of the articulated character.

19. The method of claim 1 wherein:

the object is a particle in a particle simulation application, and

automatically controlling movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera further comprises controlling movement of the particle in the particle simulation application.

20. The method of claim 1 wherein the application is at least one of a game, a tracking application, and a security application.

21. The method of claim 1 wherein the moving mobile camera is physically coupled to a cellular phone.

22. A system comprising:

a handheld device;

a camera positioned on the handheld device; and

at least one processor configured to;

capture images from the camera;

identify a first stationary feature that is present in the images captured from the moving mobile camera;

identify a second stationary feature that is present in the images captured from the moving mobile camera, the second stationary feature being different than and spaced apart from the first stationary feature;

determine a description of motion of the handheld device in a depth direction based on changes in distance between the first stationary feature and the second stationary feature within the captured images, the depth direction being a direction of movement toward and away from the first stationary feature and the second stationary feature;

render a user interface for an application on a display device, the user interface including an object; and

automatically control movement of the object rendered in the user interface in a manner corresponding to the determined motion of the handheld device in the depth direction.

23. A computer program product tangibly embodied in a non-transitory machine readable medium, the computer program product comprising, instructions that, when read by a machine, operate to cause data processing apparatus to:

capture images from a moving mobile camera;

identify a first stationary feature that is present in the images captured from the moving mobile camera;

identify a second stationary feature that is present in the images captured from the moving mobile camera, the second stationary feature being different than and spaced apart from the first stationary feature;

determine a description of motion of the moving mobile camera in a depth direction based on changes in distance between the first stationary feature and the second stationary feature within the captured images, the depth direction being a direction of movement toward and away from the first stationary feature and the second stationary feature;

render a user interface for an application on an interface device, the user interface including an object; and

automatically control movement of the object rendered in the user interface in a manner corresponding to the determined motion of the moving mobile camera in the depth direction.