Tracking system calibration by reconciling inertial data with computed acceleration of a tracked object in the three-dimensional coordinate system
First Claim
1. A computer implemented method of calibrating a tracking system, comprising:
- receiving positional data of a tracked object from a positional sensor by a video game console as the tracked object is moved through a rich motion path in at least two dimensions, wherein the tracked object exceeds a minimum acceleration threshold;
receiving inertial data from measured accelerations along a single axis or multiple axes or from measured angular accelerations corresponding to the tracked object by the video game console as the tracked object is moved through the rich motion path;
converting the positional data to a three-dimensional coordinate system of the positional sensor;
computing an acceleration of the tracked object in the three-dimensional coordinate system of the positional sensor based on the converted positional data; and
reconciling the inertial data with the computed acceleration.
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Accused Products
Abstract
To calibrate an positional sensor, a plurality of image locations and image sizes of a tracked object are received as the tracked object is moved through a rich motion path. Inertial data is received from the tracked object as the tracked object is moved through the rich motion path. Each of the plurality of image locations is converted to a three-dimensional coordinate system of the positional sensor based on the corresponding image sizes and a field of view of the positional sensor. An acceleration of the tracked object is computed in the three-dimensional coordinate system of the positional sensor. The inertial data is reconciled with the computed acceleration, calibrating the positional sensor.
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Citations
33 Claims
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1. A computer implemented method of calibrating a tracking system, comprising:
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receiving positional data of a tracked object from a positional sensor by a video game console as the tracked object is moved through a rich motion path in at least two dimensions, wherein the tracked object exceeds a minimum acceleration threshold; receiving inertial data from measured accelerations along a single axis or multiple axes or from measured angular accelerations corresponding to the tracked object by the video game console as the tracked object is moved through the rich motion path; converting the positional data to a three-dimensional coordinate system of the positional sensor; computing an acceleration of the tracked object in the three-dimensional coordinate system of the positional sensor based on the converted positional data; and reconciling the inertial data with the computed acceleration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A non-transitory computer readable storage medium including instructions that, when executed by a processing system, cause the processing system to perform a method comprising:
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receiving a positional data of a tracked object from device positional sensor as the tracked object is moved through a rich motion path in at least two dimensions, wherein the tracked object exceeds a minimum acceleration threshold; receiving inertial data from measured accelerations along a single axis or multiple axes or from measured angular accelerations corresponding to the tracked object by as the tracked object is moved through the rich motion path; converting the positional data to a three-dimensional coordinate system of the positional sensor; computing an acceleration of the tracked object in the three-dimensional coordinate system of the positional sensor based on the converted positional data; and reconciling the inertial data with the computed acceleration. - View Dependent Claims (17, 18, 19)
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20. A tracking system, comprising:
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a tracked object that includes one or more inertial sensors, the tracked object to gather inertial data from measured accelerations along a single axis or multiple axes or from measured angular accelerations as the tracked object is moved through a rich motion path in at least two dimensions, wherein the tracked object exceeds a minimum acceleration threshold, and to transmit the inertial data to a computing device; device positional sensor to gather positional data of the tracked object as the tracked object is moved through the rich motion path, and to transmit the positional data to the computing device; and the computing device, to receive the inertial data and the positional data, to convert the positional data to a three-dimensional coordinate system of the positional sensor, to compute an acceleration of the tracked object in the three-dimensional coordinate system of the positional sensor based on the converted positional data, and to reconcile the inertial data with the computed acceleration. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification