Method and apparatus for performing motion recognition using motion sensor fusion, and associated computer program product
First Claim
1. A method, applied to an electronic device, for performing motion recognition using motion sensor fusion, the method comprising:
- utilizing a plurality of motion sensors of the electronic device to obtain sensor data respectively corresponding to the plurality of motion sensors, the sensor data measured at a device coordinate system of the electronic device, wherein the plurality of motion sensors comprises inertial motion sensors;
performing sensor fusion according to the sensor data to obtain motion data at the device coordinate system and orientation of the electronic device at a global coordinate system, wherein the motion data based on the device coordinate system comprises linear acceleration based on the device coordinate system;
selecting one of at least one predetermined plane based on the orientation;
mapping the motion data onto the selected one of the at least one predetermined plane to obtain a trajectory on the selected one of the at least one predetermined plane;
performing motion recognition based on the trajectory on the selected one of the at least one predetermined plane at the global coordinate system, in order to recognize the user'"'"'s motion;
converting the motion data based on the device coordinate system into at least one portion of the converted data according to the orientation based on the global coordinate system, wherein the at least one portion of the converted data comprise linear acceleration based on the global coordinate system; and
according to the converted data based on the global coordinate system, performing motion recognition to recognize the user'"'"'s motion in the 3D space and at least one character drawn by the user in the 3D space;
wherein the linear acceleration based on the global coordinate system and the orientation based on the global coordinate system are utilized for sensing linear translation and rotation motion of the electronic device respectively in three-dimensional (3D) space;
wherein the step of converting the motion data based on the device coordinate system into at least one portion of the converted data according to the orientation based on the global coordinate system further comprises;
determining a status of a user of the electronic device based on the pitch angle;
selecting the one of the at least one predetermined plane based on the status of the user;
converting linear acceleration at the device coordinate system into linear acceleration at the global coordinate system; and
performing character recognition by mapping the converted linear acceleration onto at least one predetermined plane of the 3D space to obtain trajectories on the at least one predetermined plane, wherein the least one predetermined plane is parallel to two of three axes of the global coordinate system, and the three axes of the global coordinate system are orthogonal to each other.
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Abstract
A method and apparatus for performing motion recognition using motion sensor fusion and an associated computer program product are provided, where the method is applied to an electronic device. The method includes the steps of: utilizing a plurality of motion sensors of the electronic device to obtain sensor data respectively corresponding to the plurality of motion sensors, the sensor data measured at a device coordinate system of the electronic device, wherein the plurality of motion sensors includes inertial motion sensors; and performing sensor fusion according to the sensor data by converting at least one portion of the sensor data and derivatives of the sensor data into converted data based on a global coordinate system of a user of the electronic device, to perform motion recognition based on the global coordinate system, in order to recognize the user'"'"'s motion.
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Citations
17 Claims
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1. A method, applied to an electronic device, for performing motion recognition using motion sensor fusion, the method comprising:
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utilizing a plurality of motion sensors of the electronic device to obtain sensor data respectively corresponding to the plurality of motion sensors, the sensor data measured at a device coordinate system of the electronic device, wherein the plurality of motion sensors comprises inertial motion sensors; performing sensor fusion according to the sensor data to obtain motion data at the device coordinate system and orientation of the electronic device at a global coordinate system, wherein the motion data based on the device coordinate system comprises linear acceleration based on the device coordinate system; selecting one of at least one predetermined plane based on the orientation; mapping the motion data onto the selected one of the at least one predetermined plane to obtain a trajectory on the selected one of the at least one predetermined plane; performing motion recognition based on the trajectory on the selected one of the at least one predetermined plane at the global coordinate system, in order to recognize the user'"'"'s motion; converting the motion data based on the device coordinate system into at least one portion of the converted data according to the orientation based on the global coordinate system, wherein the at least one portion of the converted data comprise linear acceleration based on the global coordinate system; and according to the converted data based on the global coordinate system, performing motion recognition to recognize the user'"'"'s motion in the 3D space and at least one character drawn by the user in the 3D space; wherein the linear acceleration based on the global coordinate system and the orientation based on the global coordinate system are utilized for sensing linear translation and rotation motion of the electronic device respectively in three-dimensional (3D) space; wherein the step of converting the motion data based on the device coordinate system into at least one portion of the converted data according to the orientation based on the global coordinate system further comprises; determining a status of a user of the electronic device based on the pitch angle; selecting the one of the at least one predetermined plane based on the status of the user; converting linear acceleration at the device coordinate system into linear acceleration at the global coordinate system; and performing character recognition by mapping the converted linear acceleration onto at least one predetermined plane of the 3D space to obtain trajectories on the at least one predetermined plane, wherein the least one predetermined plane is parallel to two of three axes of the global coordinate system, and the three axes of the global coordinate system are orthogonal to each other. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A non-transitory computer-readable medium encoded with instructions for instructing a processor of an electronic device to perform a method comprising the steps of:
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utilizing a plurality of motion sensors of the electronic device to obtain sensor data respectively corresponding to the plurality of motion sensors, the sensor data measured at a device coordinate system of the electronic device, wherein the plurality of motion sensors comprises inertial motion sensors; performing sensor fusion according to the sensor data to obtain motion data at the device coordinate system and orientation of the electronic device at a global coordinate system; selecting one of at least one predetermined plane based on the orientation; mapping the motion data onto the selected one of the at least one predetermined plane to obtain a trajectory on the selected one of the at least one predetermined plane; and performing motion recognition based on the trajectory on the selected one of the at least one predetermined plane at the global coordinate system, in order to recognize the user'"'"'s motion in the 3D space and at least one character drawn by the user in the 3D space, wherein in mapping the motion data the least one predetermined plane is parallel to two of three axes of the global coordinate system, and the three axes of the global coordinate system are orthogonal to each other.
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13. An apparatus for performing motion recognition using motion sensor fusion, the apparatus comprising at least one portion of an electronic device, the apparatus comprising:
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a storage module arranged to store information of at least one database for use of performing motion recognition;
a motion sensing module, the motion sensing module comprising a plurality of motion sensors positioned within the electronic device, wherein the plurality of motion sensors comprises inertial motion sensors; andat least one processor, coupled to the storage module and the motion sensing module, arranged to execute program instructions to perform a method comprising the steps of; utilizing the plurality of motion sensors of the electronic device to obtain sensor data respectively corresponding to the plurality of motion sensors, the sensor data measured at a device coordinate system of the electronic device; and performing sensor fusion according to the sensor data to obtain motion data at the device coordinate system and orientation of the electronic device at a global coordinate system; selecting one of at least one predetermined plane based on the orientation; mapping the motion data onto the selected one of the at least one predetermined plane to obtain a trajectory on the selected one of the at least one predetermined plane; and performing motion recognition based on the trajectory on the selected one of the at least one predetermined plane at the global coordinate system, with aid of the at least one database, in order to recognize the user'"'"'s motion in the 3D space and at least one character drawn by the user in the 3D space, wherein in mapping the motion data the least one predetermined plane is parallel to two of three axes of the global coordinate system, and the three axes of the global coordinate system are orthogonal to each other. - View Dependent Claims (14, 15, 16, 17)
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Specification