Scanning optical positioning system with spatially triangulating receivers

• US 8,711,370 B1
• Filed: 10/04/2013
• Issued: 04/29/2014
• Est. Priority Date: 10/04/2012
• Status: Active Grant

• Current Assignee: Gerard Dirk Smits
• Original Assignee: Gerard Dirk Smits
• Inventors: Smits, Gerard Dirk
• Primary Examiner(s): Ton, Tri T
• Application Number:
  US14/046,374
• Publication Number:
  US 20140098379A1
• Time in Patent Office: 207 Days
• Field of Search: 356614-615, 3561414-1415, 356/140, 356/138, 382/103, 382/151, 382/190, 382/206, 382/291, 382/295, 382312-313, 250/573, 250/221, 250/203.1, 434/324, 434/325, 434/337, 348/744, 348/143, 348/333.09, 348/333.01, 348/61, 348/341, 345 11- 13, 345156-158
• US Class Current: 356/614
• 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 13/428 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
• CPC Class Codes: A63F 13/833 Hand-to-hand fighting, e.g. martial arts competition A63F13/837 takes precedence
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• 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 3/0304 Detection arrangements using opto-electronic means constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042
• 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: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/0386 for light pen

Abstract

Embodiments are directed towards detecting the three dimensional position of a position sensing device (PSD) utilizing a spot scanned across a remote surface. A trajectory map may be determined for a projection system. The trajectory map may identify a location of the spot at various times during the scan. A PSD may be arranged with a clear view of the remote surface. The PSD may observe at least three spots projected onto the remote surface utilizing three lines of sight that enable moment-in-time linear alignment between the spot and a sensor. Observation angles between each of the lines of sight may be determined. For each observed spot, a transition time may be determined and a location of the observed spot may be determined based on the trajectory map. A position of the PSD may be determined based on determined observed locations and the observation angles of the PSD.

Claims

1. A method for determining a position of a sensing device, comprising:

employing at least one sensor of the sensing device that is arranged with at least one aperture to detect at least one spot illuminated by a beam that is scanned across a surface over time, and wherein the at least one spot is defined by its location on the surface over time;

employing the at least one sensor to observe at least three spots on the surface over time through at least three lines of sight between each of the at least three spots and the at least one sensor, wherein each line of sight is based on the arrangement of the at least one sensor and the at least one aperture;

determining an observation angle between each of the at least three lines of sight;

determining each location of each of the at least three spots based on a time that each of the at least three spots are observed by the at least one sensor; and

determining a position of the sensing device relative to the surface based on each location of the at least three spots and each determined observation angle.

2. The method of claim 1, wherein determining each location further comprises employing a pixel trajectory time map of the beam to determine each location at a particular time that corresponds to each spot.

3. The method of claim 1, wherein the at least three lines of sight are determined by a plurality of apertures in the sensing device that are arranged with the at least one sensor.

4. The method of claim 1, wherein the at least three lines of sight are determined by the at least one aperture in the sensing device and a plurality of sensors.

5. The method of claim 1, further comprising:

determining a series of times for each of the at least three spots over multiple scans of the beam across the surface; and

compensating for motion of the sensing device during the scanning of the beam based on at least estimating a trajectory of each of the at least three spots for the series of times.

6. The method of claim 1, wherein determining the position of the sensing device further comprises solving a three point perspective pose arrangement based on at least each location of the at least three spots and the observation angles.

7. The method of claim 1, further comprising:

employing the position of the sensing device to modify a virtual environment.

8. A sensing hardware device, comprising:

at least one sensor that is arranged with at least one aperture to detect at least one spot illuminated by a beam that is scanned across a surface over time, and wherein the at least one spot is defined by its location on the surface over time; and

a processor that is operative to perform actions, including;

employing the at least one sensor to observe at least three spots on a surface over time through at least three lines of sight between each of the at least three spots and the at least one sensor, wherein each line of sight is based on the arrangement of the at least one sensor and the at least one aperture and has an observation angle between each other line of sight;

determining each location of each of the at least three spots based on a time that each of the at least three spots are observed by the at least one sensor; and

determining a position of the sensing device relative to the surface based on each location of the at least three spots and each determined observation angle.

9. The sensing hardware device of claim 8, wherein determining each location further comprises employing a pixel trajectory time map of the beam to determine each location at a particular time that corresponds to each spot.

10. The sensing hardware device of claim 8, wherein the at least three lines of sight are determined by a plurality of apertures in the sensing device that are arranged with the at least one sensor.

11. The sensing hardware device of claim 8, wherein the at least three lines of sight are determined by the at least one aperture in the sensing device and a plurality of sensors.

12. The sensing hardware device of claim 8, wherein the processor is operative to perform further actions, comprising:

determining a series of times for each of the at least three spots over multiple scans of the beam across the surface; and

compensating for motion of the sensing device during the scanning of the beam based on at least estimating a trajectory of each of the at least three spots for the series of times.

13. The sensing hardware device of claim 8, wherein determining the position of the sensing device further comprises solving a three point perspective pose arrangement based on at least each location of the at least three spots and the observation angles.

14. A system for determining a position of a sensing device, comprising:

a projection device that is operative to scan a beam across a surface to illuminate at least one spot across the surface over time, wherein the at least one spot is defined by its location on the surface over time;

at least one sensor within the sensing device that is arranged with at least one aperture to detect the at least one spot; and

a position detection device, including;

a memory for storing instructions; and

a processor that executes the instructions to enable actions, comprising;

employing the at least one sensor to observe at least three spots on the surface over time through at least three lines of sight between each of the at least three spots and the at least one sensor, wherein each line of sight is based on the arrangement of the at least one sensor and the at least one aperture;

determining an observation angle between each of the at least three lines of sight;

determining each location of each of the at least three spots based on a time that each of the at least three spots are observed by the at least one sensor; and

determining a position of the sensing device relative to the surface based on each location of the at least three spots and each determined observation angle.

15. The system of claim 14, wherein determining each location further comprises employing a pixel trajectory time map of the beam to determine each location at a particular time that corresponds to each spot.

16. The system of claim 14, wherein the at least three lines of sight are determined by a plurality of apertures in the sensing device that are arranged with the at least one sensor.

17. The system of claim 14, wherein the at least three lines of sight are determined by the at least one aperture in the sensing device and a plurality of sensors.

18. The system of claim 14, wherein the processor of the position detection device enables further actions, comprising:

determining a series of times for each of the at least three spots over multiple scans of the beam across the surface; and

compensating for motion of the sensing device during the scanning of the beam based on at least estimating a trajectory of each of the at least three spots for the series of times.

19. The system of claim 14, wherein determining the position of the sensing device further comprises solving a three point perspective pose arrangement based on at least each location of the at least three spots and the observation angles.

20. The system of claim 14, wherein the processor of the position detection device enables further actions, comprising:

employing the position of the sensing device to modify a virtual environment.