Motion capture pointer with data fusion
First Claim
1. A pointing device for pointing by a user at a mobile element in a plane surface comprising a reference frame, said pointing device comprising:
- at least one first sensor for measuring angular velocities (ω
Y, ω
Z) of said pointing device about at least two orthogonal axes (Y, Z) of the pointing device;
at least one second sensor for measuring linear accelerations (aX, aY, aZ) of said pointing device in relation to said two axes (Y, Z) and a third orthogonal axis (X); and
a module for computing displacements (dy, dz) to be imparted to the mobile element in the plane surface as a function of rotations of the pointing device in space, said computation module comprising a sub-module for compensating for torsion imparted to the pointing device by implementing a data fusion algorithm, wherein said data fusion algorithm is configured for;
i) receiving as input at least measurements by the first sensor of angular velocities (ω
Y, ω
Z) and by the second sensor of linear accelerations (aX, aY, aZ); and
ii) estimating from said measurements a state vector comprising variables representative of a torsion imparted to the pointing device relative to a horizontal plane of a reference frame of the user and further providing at least angular velocities (ω
v, ω
w) of the pointing device in the reference frame of the user which provide torsion-compensated displacements (dy, dz) of the mobile element in the reference frame of the plane surface of the mobile element.
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Accused Products
Abstract
The invention applies to a pointing device of a mobile element, for example a cursor, on a plane surface. The pointing device comprises a first sensor for measuring the angular rates of the device and a second sensor of the linear accelerations along three dimensions of said device. Preferably, the first sensor is a two-axis or three-axis gyrometer and the second sensor is a three-axis accelerometer. The invention makes it possible to render the movements of the mobile element in the surface of the orientation in which the pointing device is held by its user. This result is achieved by global resolution of the angles of torsion by combining the measurements of the first and second sensors either within an extended Kalman filter or by application of an optimization criterion. The invention also provides a method for estimating the parameters which characterize motion and/or orientation of an object in space from said combination of the measurements of the first and second sensors either within an extended Kalman filter or by application of an optimization criterion.
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Citations
23 Claims
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1. A pointing device for pointing by a user at a mobile element in a plane surface comprising a reference frame, said pointing device comprising:
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at least one first sensor for measuring angular velocities (ω
Y, ω
Z) of said pointing device about at least two orthogonal axes (Y, Z) of the pointing device;at least one second sensor for measuring linear accelerations (aX, aY, aZ) of said pointing device in relation to said two axes (Y, Z) and a third orthogonal axis (X); and a module for computing displacements (dy, dz) to be imparted to the mobile element in the plane surface as a function of rotations of the pointing device in space, said computation module comprising a sub-module for compensating for torsion imparted to the pointing device by implementing a data fusion algorithm, wherein said data fusion algorithm is configured for; i) receiving as input at least measurements by the first sensor of angular velocities (ω
Y, ω
Z) and by the second sensor of linear accelerations (aX, aY, aZ); andii) estimating from said measurements a state vector comprising variables representative of a torsion imparted to the pointing device relative to a horizontal plane of a reference frame of the user and further providing at least angular velocities (ω
v, ω
w) of the pointing device in the reference frame of the user which provide torsion-compensated displacements (dy, dz) of the mobile element in the reference frame of the plane surface of the mobile element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for controlling displacements of a mobile element in a plane surface using a freely moveable object in three-dimensional space, said object being equipped with at least one first sensor for measuring angular velocities (ω
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Y, ω
Z) of said object about at least two of orthogonal axes (Y, Z) of the object and at least one second sensor for measuring linear accelerations of said object in relation to said two axes (Y, Z) and a third orthogonal axis (X), the method comprising, by a processor carrying out instructions of a data fusion algorithm for performing the steps of;i) receiving as input at least measurements by the first sensor of angular velocities (ω
Y, ω
Z) and by the second sensor of linear accelerations (aX, aY, aZ); andii) estimating from said measurements a state vector comprising variables representative of a torsion imparted to the object relative to a horizontal plane of a reference frame of the user and further providing at least angular velocities (ω
v, ω
w) of the object in the reference frame of the user which provide torsion-compensated displacements (dy, dz) of the object in the plane surface.
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Y, ω
Specification