Correcting angle error in a tracking system

• US 8,253,801 B2
• Filed: 05/04/2009
• Issued: 08/28/2012
• Est. Priority Date: 12/17/2008
• Status: Active Grant

• Current Assignee: Sony Interactive Entertainment Inc. (Sony Group Corp.)
• Original Assignee: Sony Computer Entertainment Incorporated (Sony Group Corp.)
• Inventors: Marks, Richard Lee, Larsen, Eric
• Primary Examiner(s): Salad, Abdullahi
• Application Number:
  US12/435,285
• Publication Number:
  US 20100149341A1
• Time in Patent Office: 1,212 Days
• Field of Search: 348/169, 382/107, 382/103
• US Class Current: 348/169
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/213 comprising photodetecting means, e.g. cameras, photodiodes or infrared cells A63F13/219, A63F13/655 take precedence
• CPC Class Codes: A63F 13/22 Setup operations, e.g. calibration, key configuration or button assignment
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• CPC Class Codes: A63F 13/40 Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
• CPC Class Codes: A63F 13/428 involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes

Abstract

To correct an angle error, acceleration data is received corresponding to a tracked object in a reference frame of the tracked object. Positional data of the tracked object is received from a positional sensor, and positional sensor acceleration data is computed from the received positional data. The acceleration data is transformed into a positional sensor reference frame using a rotation estimate. An amount of error between the transformed acceleration data and the positional sensor acceleration data is determined. The rotation estimate is updated responsive to the determined amount of error.

Claims

1. A method to compensate for error of a rotation angle when tracking an object, comprising:

receiving inertial data corresponding to the tracked object in a reference frame of the object;

transforming the inertial data into a reference frame of a positional sensor using a rotation estimate;

determining an amount of error between the transformed inertial data and acceleration data derived from positional data received from the positional sensor; and

updating the rotation estimate responsive to the determined error.

2. The method of claim 1, wherein the positional sensor is one of a digital camera, a z-camera, an ultrasonic sensor, or a photosonic sensor.

3. The method of claim 1, wherein the object is a sphere coupled with a game controller, wherein the position of the sphere relative to the positional sensor controls associations associated with a video game.

4. The method of claim 1, wherein updating the rotation estimate comprises updating the rotation estimate based on a portion of the determined error.

5. The method of claim 1, wherein updating the rotation estimate comprises updating the rotation estimate based on an amount of time lapsed since a previous update of the rotation estimate.

6. The method of claim 1, wherein the received inertial data includes acceleration data of the tracked object, wherein the acceleration data of the tracked object includes a first plurality of vectors and the acceleration data derived from positional data includes a second plurality of vectors.

7. The method of claim 6, further comprising:

for each vector in the first plurality of vectors, filtering out the vector if it has a magnitude that is smaller than a minimum threshold.

8. The method of claim 6, further comprising:

for each vector in the first plurality of vectors, applying a weight for the vector based on a magnitude of the vector, wherein vectors having a higher magnitude are weighted more heavily than vectors having a lower magnitude.

9. The method of claim 6, wherein the determining the amount of error comprises:

selecting a plurality of potential angles;

rotating the second plurality of vectors by each of the plurality of potential angles;

determining a difference between the rotated vectors and the first plurality of vectors for each of the plurality of potential angles;

identifying which one of the plurality of potential angles causes the smallest difference between the rotated vectors and the first plurality of vectors;

setting the identified angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

10. The method of claim 6, wherein determining the amount of error comprises:

determining a three-dimensional rotation that aligns the first plurality of vectors and the second plurality of vectors, the three-dimensional rotation including a three-dimensional angle between the first plurality of vectors and the second plurality of vectors;

decomposing the three-dimensional angle into a decomposed angle, the decomposed angle being a same type of angle as the rotation angle;

setting the decomposed angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

11. The method of claim 6, wherein determining the amount of error comprises:

projecting the first and second plurality of vectors onto a plane;

rotating the projections around a normal of the plane; and

determining an estimated amount of error based on the difference between the rotated projections.

12. The method of claim 6, wherein updating the rotation estimate comprises basing an amount the rotation is updated on a magnitude of each of the first plurality of vectors.

13. A non-transitory machine-readable storage medium that provides instructions that, if executed by a processor, will cause said processor to perform operations to compensate for error of a rotation angle when tracking an object, the operations comprising:

receiving inertial data corresponding to the tracked object in a reference frame of the object;

transforming the inertial data into a reference frame of a positional sensor using a rotation estimate;

determining an amount of error between the transformed inertial data and acceleration data derived from positional data received from the positional sensor; and

updating the rotation estimate responsive to the determined error.

14. The non-transitory machine-readable storage medium of claim 13, wherein the positional sensor is one of a digital camera, a z-camera, an ultrasonic sensor, or a photosonic sensor.

15. The non-transitory machine-readable storage medium of claim 13, wherein the object is a sphere coupled with a game controller, wherein the position of the sphere relative to the positional sensor controls associations associated with a video game.

16. The non-transitory machine-readable storage medium of claim 13, wherein updating the rotation estimate comprises updating the rotation estimate based on a portion of the determined error.

17. The non-transitory machine-readable storage medium of claim 13, wherein updating the rotation estimate comprises updating the rotation estimate based on an amount of time lapsed since a previous update of the rotation estimate.

18. The non-transitory machine-readable storage medium of claim 13, wherein the received inertial data includes acceleration data of the tracked object, wherein the acceleration data of the tracked object includes a first plurality of vectors and the acceleration data derived from positional data includes a second plurality of vectors.

19. The non-transitory machine-readable storage medium of claim 18, further comprising:

for each vector in the first plurality of vectors, filtering out the vector if it has a magnitude that is smaller than a minimum threshold.

20. The non-transitory machine-readable storage medium of claim 18, further comprising:

for each vector in the first plurality of vectors, applying a weight for the vector based on a magnitude of the vector, wherein vectors having a higher magnitude are weighted more heavily than vectors having a lower magnitude.

21. The non-transitory machine-readable storage medium of claim 18, wherein determining the amount of error comprises:

selecting a plurality of potential angles;

rotating the second plurality of vectors by each of the plurality of potential angles;

determining a difference between the rotated vectors and the first plurality of vectors for each of the plurality of potential angles;

identifying which one of the plurality of potential angles causes the smallest difference between the rotated vectors and the first plurality of vectors;

setting the identified angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

22. The non-transitory machine-readable storage medium of claim 18, wherein determining the amount of error comprises:

determining a three-dimensional rotation that aligns the first plurality of vectors and the second plurality of vectors, the three-dimensional rotation including a three-dimensional angle between the first plurality of vectors and the second plurality of vectors;

decomposing the three-dimensional angle into a decomposed angle, the decomposed angle being a same type of angle as the rotation angle;

setting the decomposed angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

23. The non-transitory machine-readable storage medium of claim 18, wherein determining the amount of error comprises:

projecting the first and second plurality of vectors onto a plane;

rotating the projections around a normal of the plane; and

determining an estimated amount of error based on the difference between the rotated projections.

24. The non-transitory machine-readable storage medium of claim 18, wherein updating the rotation estimate comprises basing an amount the rotation is updated on a magnitude of each of the first plurality of vectors.

25. A tracking system, comprising:

a tracked object corresponding with one or more inertial sensors, the inertial sensors to gather inertial data as the tracked object is moved, wherein the inertial data is transmitted to a computing device;

a positional sensor to gather positional data of the tracked object as the object is moved, wherein the positional data is transmitted to the computing device; and

a computing device having a processor to execute instructions and a memory, coupled with the processor, having instructions that when executed, cause the processor to perform operations including;

receiving the inertial data corresponding to the tracked object in a reference frame of the object;

transforming the inertial data into a reference frame of the positional sensor using a rotation estimate;

determining an amount of error between the transformed inertial data and acceleration data derived from the positional data received from the positional sensor; and

updating the rotation estimate responsive to the determined error.

26. The tracking system of claim 25, wherein the positional sensor is one of a digital camera, a z-camera, an ultrasonic sensor, or a photosonic sensor.

27. The tracking system of claim 25, wherein the tracked object is a sphere coupled with a game controller, wherein the position of the sphere relative to the positional sensor controls associations associated with a video game being played on the computing device.

28. The tracking system of claim 25, wherein updating the rotation estimate comprises updating the rotation estimate based on a portion of the determined error.

29. The tracking system of claim 25, wherein updating the rotation estimate comprises updating the rotation estimate based on an amount of time lapsed since a previous update of the rotation estimate.

30. The tracking system of claim 25, wherein the received inertial data includes acceleration data of the tracked object, wherein the acceleration data of the tracked object includes a first plurality of vectors and the acceleration data derived from positional data includes a second plurality of vectors.

31. The tracking system of claim 30, further comprising:

for each vector in the first plurality of vectors, filtering out the vector if it has a magnitude that is smaller than a minimum threshold.

32. The tracking system of claim 30, further comprising:

for each vector in the first plurality of vectors, applying a weight for the vector based on a magnitude of the vector, wherein vectors having a higher magnitude are weighted more heavily than vectors having a lower magnitude.

33. The tracking system of claim 30, wherein determining the amount of error comprises:

selecting a plurality of potential angles;

rotating the second plurality of vectors by each of the plurality of potential angles;

determining a difference between the rotated vectors and the first plurality of vectors for each of the plurality of potential angles;

identifying which one of the plurality of potential angles causes the smallest difference between the rotated vectors and the first plurality of vectors;

setting the identified angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

34. The tracking system of claim 30, wherein determining the amount of error comprises:

determining a three-dimensional rotation that aligns the first plurality of vectors and the second plurality of vectors, the three-dimensional rotation including a three-dimensional angle between the first plurality of vectors and the second plurality of vectors;

decomposing the three-dimensional angle into a decomposed angle, the decomposed angle being a same type of angle as the rotation angle;

setting the decomposed angle as the estimated correct angle; and

determining an estimated amount of error based on the difference between the estimated correct angle and the rotation angle.

35. The tracking system of claim 30, wherein determining the amount of error comprises:

projecting the first and second plurality of vectors onto a plane;

rotating the projections around a normal of the plane; and

determining an estimated amount of error based on the difference between the rotated projections.

36. The tracking system of claim 30, wherein updating the rotation estimate comprises basing an amount the rotation is updated on a magnitude of each of the first plurality of vectors.