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Method and apparatus for estimating orientation of body, and computer readable storage medium of recording the method

  • US 9,589,182 B2
  • Filed: 10/08/2014
  • Issued: 03/07/2017
  • Est. Priority Date: 10/08/2013
  • Status: Active Grant
First Claim
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1. A method of transmitting information for an orientation of a body, the method comprising:

  • receiving position information indicating a position of a first region of a human body;

    determining a reference point based on the received position information;

    determining a translation matrix of a world coordinate system, based on the determined reference point;

    determining a first vector based on the determined reference point and a second region of the human body;

    determining a first rotation matrix rotated by an angle α

    about a first rotation vector, which is perpendicular to the determined first vector and a Z-axis of the world coordinate system, as a first rotation axis;

    determining a second vector, based on the determined first vector and a third region of the human body;

    determining a second rotation matrix rotated by an angle β

    about the Z-axis of the world coordinate system as a second rotation axis;

    determining a transformation matrix, which is used to mutually transform coordinates between a human body coordinate system and the world coordinate system, based on the determined translation matrix, the determined first rotation matrix, and the determined second rotation matrix; and

    transmitting information indicating the determined transformation matrix to an external device,wherein the angle α

    is an angle between the Z-axis and the determined first vector, andwherein the angle β

    is an angle between a Y-axis of the world coordinate system and the determined second vector.

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