System and method for linking real-world objects and object representations by pointing

• US 8,184,858 B2
• Filed: 12/22/2009
• Issued: 05/22/2012
• Est. Priority Date: 12/22/2008
• Status: Expired due to Fees

• Current Assignee: IPOINTER, INC.
• Original Assignee: Intelligent Spatial Technologies, Inc.
• Inventors: Caduff, David
• Primary Examiner(s): Wang, Claire X
• Application Number:
  US12/645,248
• Publication Number:
  US 20100303293A1
• Time in Patent Office: 882 Days
• Field of Search: 382/103, 382/291, 463/32
• US Class Current: 382/103
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: H04W 4/185 by embedding added-value information into content, e.g. geo-tagging

Abstract

A system and method are described for selecting and identifying a unique object or feature in the system user'"'"'s three-dimensional (“3-D”) environment in a two-dimensional (“2-D”) virtual representation of the same object or feature in a virtual environment. The system and method may be incorporated in a mobile device that includes position and orientation sensors to determine the pointing device'"'"'s position and pointing direction. The mobile device incorporating the present invention may be adapted for wireless communication with a computer-based system that represents static and dynamic objects and features that exist or are present in the system user'"'"'s 3-D environment. The mobile device incorporating the present invention will also have the capability to process information regarding a system user'"'"'s environment and calculating specific measures for pointing accuracy and reliability.

Claims

1. A computer-implemented method for determining a likelihood an object in a real-world scene is the object being pointed at by a pointing device, comprising the steps of:

(A) pointing an electronic pointing device at an object of interest in the real-world scene;

(B) generating with the pointing device a pointing device geodetic position and pointing direction, and transmitting the pointing device geodetic position and pointing direction, and standard deviations relating to generating the pointing device geodetic position and pointing direction to a system server;

(C) mapping a three-dimensional representation of a real-world scene containing the objects in the real-world scene, including the object of interest, and transmitting the three-dimensional representation to the system server;

(D) a system server performing the Substeps of,

(1) generating a two-dimensional digital representation of the three-dimensional scene mapped at Step (C), with the two-dimensional digital representation including at least a digital representation of the objects in the real-world scene, including object of interest,

(2) determining for each object, including the object of interest, in the two-dimensional digital representation a distance estimate from the pointing device geodetic position to each such object, including the object of interest,

(3) determining for each object, including the object of interest, in the two-dimensional digital representation an accuracy of actual pointing and in determining the accuracy of pointing according to Substep (D)(3) using standard deviations transmitted at Step (B) caused by the pointing device in generating the pointing device geodetic position and pointing direction and the distance estimate for each object determined at Substep (D)(2),

(4) defining for each object, including the object interest, in the two-dimensional digital representation an optimal pointing location relating to a visible part of each object, including the object of interest,

(5) determining for each object, including the object of interest, in the two-dimensional digital representation a probability surface for optimal pointing from the pointing device geodetic position applying the definition for each object defined at Substep (D)(4),

(6) determining for each object, including the object of interest, in the two-dimensional digital representation, a numeric correspondence between actual pointing accuracy and optimal pointing location by comparing a standard deviation for the actual pointing accuracy determined at Substep (D)(3) and a standard deviation for the optimal pointing location determined at Substep (D)(5),

(7) selecting as the object of interest the object with the highest numeric correspondence determined at Substep (D)(6), and

(8) the system server communicating to the pointing device the identity of the object of interest.

2. The method as recited in claim 1, wherein the pointing device and the system server communicate wired and wirelessly.

3. The method as recited in claim 1, wherein the pointing device geodetic position includes a position according to a latitude, longitude, elevation, pitch, and yaw of the pointing device.

4. The method as recited in claim 1, wherein the standard deviations relating to generating the pointing device geodetic position and pointing direction, include error propagation caused by pointing device sensors.

5. The method as recited in claim 4, wherein error propagations includes geodetic error propagation.

6. The method as recited in claim 1, wherein the distance estimate for each object, including the object of interest, includes a estimate distance from the pointing device geodetic position to a center of gravity of each object, including the object of interest.

7. The method as recited in claim 1, wherein a visible part of each object, including the object of interest, includes a visible part from the pointing device.

8. The method as recited in claim 1, wherein determining a probability surface for each object, including the object of interest, includes determining a probability surface according to an outline of each object, including the object of interest, from the pointing device geodetic position.

9. The method as recited in claim 1, wherein Substep (D)(6) further includes determining a standard deviation for the actual pointing accuracy for each object, including the object of interest, in the two-dimensional digital representation.

10. The method as recited in claim 9, wherein Substep (D)(6) further includes determining a standard deviation for the optimal pointing location for each object, including the object of interest, in the two-dimensional digital representation.

11. The method as recited in claim 10, wherein comparing at Substep (D)(6) includes comparing the standard deviation for the actual pointing accuracy determined at Substep (D)(3) and the standard deviation for the optimal pointing location determined at Substep (D)(5) using a t-test.

12. The method as recited in claim 11, wherein the numeric correspondence for each object, including the object of interest, includes a numeric correspondence of the overlap of the standard deviation for the actual pointing accuracy determined at Substep (D)(3) and the standard deviation for the optimal pointing location determined at Substep (D)(5).

13. The method as recited in claim 12, wherein numeric correspondence includes at least a lateral correspondence between the standard deviation for the actual pointing accuracy determined at Substep (D)(3) and the standard deviation for optimal pointing location determined at Substep (D)(5) according to an x-axis in the two-dimensional digital representation including the optimal point location and the actual pointing location.

14. The method as recited in claim 12, wherein numeric correspondence includes at least a vertical correspondence between the standard deviation for the actual pointing accuracy determined at Substep (D)(3) and the standard deviation for the optimal pointing location determined at Substep (D)(5) according to a y-axis in the two-dimensional digital representation including the optimal point location and the actual pointing location.

15. A system for determining a likelihood an object in a real-world scene is the object being pointed at by a pointing device, comprising:

a pointing device for generating a geodetic position and pointing direction for the pointing device, and transmitting the pointing device geodetic position and pointing direction, and standard deviations relating to generating the pointing device geodetic position and pointing direction to a system server; and

a system server further comprising,

a mapping module for receiving and processing a three-dimensional representation of an environment that contains a real-world scene with objects, including the object of interest,

a scene generator module that connects to the mapping module and receives an output from the mapping module that generates a two-dimensional digital representation of the real-world scene including objects, including the object of interest, and determines for each object, including the object of interest, in the two-dimensional digital representation a distance estimate from the pointing device geodetic position to each such object, including the object of interest,

a pointing accuracy module that determines for each object, including the object of interest, in the two-dimensional digital representation an accuracy of actual pointing and in determining accuracy of pointing including the standard deviations transmitted from the pointing device caused by the pointing device in generating the pointing device geodetic position and pointing direction, and the distance estimate,

optimal pointing module that defines for each object, including the object interest, in the two-dimensional digital representation an optimal pointing location relating to a visible part of each object, including the object of interest, and for each object, including the object of interest, in the two-dimensional digital representation a probability surface for optimal pointing from the pointing device geodetic position to such objects, including the object of interest,

a comparison module that determines for each object, including the object of interest, in the two-dimensional digital representation, a numeric correspondence between actual pointing accuracy and optimal pointing location by comparing a standard deviation for actual pointing accuracy and a standard deviation for optimal pointing location for each such object, including the object of interest, and that selects as the object of interest the object with the highest numeric correspondence according to a comparison by the comparison module, and

communications module that communicates with the pointing device with communications including transmitting the identity of the object of interest to the pointing device.

16. The system as recited in claim 15, wherein the pointing device includes a mobile device.

17. The system as recited in claim 15, wherein the pointing device and system server communicate wired or wirelessly.

18. The system as recited in claim 15, wherein the pointing device includes sensors for determining pointing device geodetic location and pointing direction.

19. The system as recited in claim 18, wherein pointing device sensors cause pointing device geodetic position errors.

20. The system as recited in claim 19, when pointing device geodetic position includes a position according to a latitude, longitude, elevation, pitch, and yaw of the pointing device.

21. The system as recited in claim 15, wherein the comparison module includes a testing module for testing comparisons using a t-test.