Computer interface employing a manipulated object with absolute pose detection component and a display
First Claim
1. A method for use with a system having a manipulated object, the method comprising:
- a) accepting light data indicative of light detected by a photodetector mounted on-board said manipulated object from a first plurality of predetermined light sources having known locations in world coordinates;
b) accepting relative motion data from a relative motion sensor mounted on-board said manipulated object indicative of a change in an orientation of said manipulated object; and
c), determining the pose of said manipulated object based on said light data and said relative motion data, wherein said pose is determined with respect to said world coordinates.
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Accused Products
Abstract
A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo). The one or more controllers are configured to generate signals that are a function of the absolute position of the wand in or along a third axis for rendering the display. To simplify the mapping of a real three-dimensional environment in which the wand is operated to the cyberspace of the application that the system is running, the third axis is preferably the third Cartesian coordinate axis of world coordinates (Xo,Yo,Zo).
339 Citations
21 Claims
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1. A method for use with a system having a manipulated object, the method comprising:
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a) accepting light data indicative of light detected by a photodetector mounted on-board said manipulated object from a first plurality of predetermined light sources having known locations in world coordinates; b) accepting relative motion data from a relative motion sensor mounted on-board said manipulated object indicative of a change in an orientation of said manipulated object; and c), determining the pose of said manipulated object based on said light data and said relative motion data, wherein said pose is determined with respect to said world coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system comprising a manipulated object, said system comprising:
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a) a first plurality of predetermined light sources disposed at known positions in world coordinates; b) a photodetector mounted on-board said manipulated object for generating light data indicative of light detected from said first plurality of light sources; c) a relative motion sensor mounted on-board said manipulated object for generating relative motion data indicative of a change in an orientation of said manipulated object; and d) a processor for determining the pose of said manipulated object based on said light data and said relative motion data, wherein said pose is determined with respect to said world coordinates. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification