Method and system for tracking motion-sensing device
First Claim
1. A method for determining tracking a motion-sensing device in six degrees of freedom, the method comprising:
- receiving sensor data sequentially from inertial sensors in the motion-sensing device;
estimating three relative angular and three relative translational motions of the motion-sensing device from the sensor data; and
correcting the three relative angular and three relative translational motions of the motion-sensing device to derive a relative motion path of the motion-sensing device, wherein said correcting the relative three angular and three translational motions of the motion-sensing device comprises;
detecting when any of the sensor data has been maxed out because of the motion-sensing device being moved beyond limits of the inertial sensors;
estimating overflow values for a portion of the sensor data that has been maxed out; and
replacing the portion of the sensor data that has been maxed out with the overflow values.
3 Assignments
0 Petitions
Accused Products
Abstract
Techniques for interpreting motions of a motion-sensitive device are described to allow natural and intuitive interfaces for controlling an application (e.g. video game). A motion-sensitive device includes inertial and generates sensor signals sufficient to derive positions and orientations of the device in six degrees of freedom. The motion of the device in six degrees of freedom is tracked by analyzing sensor data from the inertial sensors in conjunction with data from a secondary source that may be a camera or a non-inertial sensor. Different techniques are provided to correct or minimize errors in deriving the positions and orientations of the device. These techniques include “stop” detection, back tracking, extrapolation of sensor data beyond the sensor ranges, and using constraints from multi trackable objects in an application being interfaced with the motion-sensitive device.
3 Citations
37 Claims
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1. A method for determining tracking a motion-sensing device in six degrees of freedom, the method comprising:
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receiving sensor data sequentially from inertial sensors in the motion-sensing device; estimating three relative angular and three relative translational motions of the motion-sensing device from the sensor data; and correcting the three relative angular and three relative translational motions of the motion-sensing device to derive a relative motion path of the motion-sensing device, wherein said correcting the relative three angular and three translational motions of the motion-sensing device comprises; detecting when any of the sensor data has been maxed out because of the motion-sensing device being moved beyond limits of the inertial sensors; estimating overflow values for a portion of the sensor data that has been maxed out; and replacing the portion of the sensor data that has been maxed out with the overflow values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A computing device for determining tracking a motion-sensing device in six degrees of freedom, the computing device comprising:
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a transceiver receiving sensor data sequentially from inertial sensors in the motion-sensing device; a memory space; a processor coupled to the memory space; and a data processing unit, coupled to the memory space and controlled by the processor, configured to perform operations of; estimating three relative angular and three relative translational motions of the motion-sensing device from the sensor data; and correcting the three relative angular and three relative translational motions of the motion-sensing device to derive a relative motion path of the motion-sensing device, wherein said correcting the relative three angular and three translational motions of the motion-sensing device comprises detecting when any of the sensor data has been maxed out because of the motion-sensing device being moved beyond limits of the inertial sensors; estimating overflow values for a portion of the sensor data that has been maxed out; and replacing the portion of the sensor data that has been maxed out with the overflow values. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A motion-sensing device being tracked in six degrees of freedom, the motion-sensing device comprising:
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a set of inertial sensors that generate a first set of sensor data when the motion-sensing device is being manipulated by a user to interact with an application; and a transceiver to transport the first set of sensor data to a computing device that is configured to derive a relative moving path in 6 axes including three relative angular and three translational motions of the motion-sensing device, wherein the three relative angular and three relative translational motions of the motion-sensing device are corrected to derive a relative motion path of the motion-sensing device by; detecting when any of the sensor data has been maxed out because of the motion-sensing device being moved beyond limits of the inertial sensors; estimating overflow values for a portion of the sensor data that has been maxed out; and replacing the portion of the sensor data that has been maxed out with the overflow values. - View Dependent Claims (33, 34, 35, 36, 37)
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Specification