Determining positional information of an object in space

• US 9,927,522 B2
• Filed: 06/16/2017
• Issued: 03/27/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Lmi Liquidating Co., LLC
• Original Assignee: Leap Motion Incorporated (Ultraleap Limited)
• Inventors: Holz, David
• Primary Examiner(s): PHAM, HOA Q
• Application Number:
  US15/625,856
• Publication Number:
  US 20170285169A1
• Time in Patent Office: 284 Days
• Field of Search: 356601-623, 345156-184, 345619-688
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/483 Details of pulse systems

Abstract

The technology disclosed relates to determining positional information of an object in a field of view. In particular, it relates to calculating a distance of the object from a reference such as a sensor including scanning the field of view by selectively illuminating directionally oriented light sources and measuring one or more differences in property of returning light emitted from the light sources and reflected from the object. The property can be intensity or phase difference of the light. It also relates to finding an object in a region of space. In particular, it relates to scanning the region of space with directionally controllable illumination, determining a difference in a property of the illumination received for two or more points in the scanning, and determining positional information of the object based in part upon the points in the scanning corresponding to the difference in the property.

Claims

1. A method of tracking motion of a target object for gesture control of a system by determining positional information of the target object moving in a region of space within range of a light sensitive sensor, the method including:

scanning the region of space monitored by the light sensitive sensor by selectively illuminating respective directionally oriented light sources of a plurality of directionally oriented light sources that (i) are mounted to a single surface and (ii) have at least some overlapping fields of illumination;

measuring, using the light sensitive sensor, one or more differences in an intensity of returning light emitted from the respective directionally oriented light sources and reflected from the target object as the target object moves through the region of space; and

recognizing signals in response to (i) positional information of the target object determined based on at least, a first position in space at a first time t0 and a second position in space at a second time t1 sensed using the measured one or more differences in the intensity of the returning light and (ii) a non-coplanar movement of the target object determined in response to a difference in the determined positional information of the target object at the first time t0 and the second time t1.

2. The method of claim 1, wherein the selectively illuminating of the respective directionally oriented light sources includes varying a brightness of a pair of overlapping directionally oriented light sources by dimming a first directionally oriented light source of the pair, which is initially on while brightening a second directionally oriented light source of the pair, which is initially off.

3. The method of claim 2, further including varying the brightness of the pair of overlapping directionally oriented light sources according to a quadratic formula.

4. The method of claim 2, further including varying the brightness of the pair of overlapping directionally oriented light sources according to a Gaussian distribution.

5. The method of claim 2, further including illuminating two or more directionally oriented light sources of the plurality of directionally oriented light sources respectively at different intensities of illumination.

6. The method of claim 2, further including performing a coarse scan of the region of space to assemble a low-resolution estimate of a position of the target object by illuminating a subset of directionally oriented light sources from the plurality of directionally oriented light sources.

7. The method of claim 6, further including:

following the coarse scan by performing a fine grained scan of a subsection the region of space based on the low-resolution estimate of the position of the target object; and

identifying distinguishing features of the target object based on a high-resolution data set collected during the fine grained scan.

8. The method of claim 1, further including selectively illuminating the respective directionally oriented light sources one at a time.

9. The method of claim 1, further including the light sensitive sensor scanning the region of space using a scanning mirror and a photo detector that rasterizes the region of space within the range of the light sensitive sensor.

10. The method of claim 1, further including distinguishing among the respective directionally oriented light sources based on different frequencies of the respective directionally oriented light sources.

11. The method of claim 1, further including determining one or more angles for the returning light reflected from the target object, with respect to the sensor by mapping pixels of a camera array that captured the returning light reflected from the target object to the one or more angles.

12. The method of claim 1,

wherein the sensor is positioned apart from the plurality of directionally oriented light sources and not between any two directionally oriented light sources of the plurality of directionally oriented light sources, and

wherein the method further includes determining an angle between the plurality of directionally oriented light sources and the target object.

13. The method of claim 12, further including determining a distance of the target object from the plurality of directionally oriented light sources or the sensor using:

an angle between at least one directionally oriented light source of the plurality of directionally oriented light sources and the target object; and

a second angle between the sensor and the target object.

14. The method of claim 1, further including performing a plurality of scans of the region of space and varying light properties of light emitted from the respective directionally oriented light sources among the plurality of scans.

15. The method of claim 1, wherein the single surface is at least one of:

an arc; and

an N-sided polygon.

16. The method of claim 1, wherein the single surface is a parabolic curve or a hyperbolic curve.

17. The method of claim 16, wherein the method further includes determining phase differences of the returning light reflected from the target object by applying a Fourier transform to a series of intensity measurements of the returning light reflected from the target object.

18. The method of claim 1, wherein the scanning includes illuminating selective light emitting diodes (LEDs) of a plurality of LEDs, each LED of the plurality of LEDs being directed at a different geometric position relative to the target object.

19. The method of claim 18, wherein the illuminating includes illuminating at least one LED, of the plurality of LEDs, directed to a different position in space relative to the target object.

20. The method of claim 18, wherein the illuminating includes illuminating at least one LED of the plurality of LEDs directed at a different angle relative to the target object.

21. The method of claim 1, wherein the scanning includes illuminating selective light emitting diodes (LEDs) of a plurality of LEDs, such that the target object is scanned in at least two dimensions during a single pass through the scanning.

22. A method of tracking motion of a target object for gesture control of a system by determining positional information of the target object moving in a region of space within range of a light sensitive sensor, the method including:

scanning the region of space monitored by the light sensitive sensor by selectively illuminating respective directionally oriented light sources of a plurality of directionally oriented light sources that (i) are mounted to a single surface and (ii) have at least some overlapping fields of illumination;

measuring, using the light sensitive sensor, one or more differences in a property of returning light emitted from the respective directionally oriented light sources and reflected from the target object as the target object moves through the region of space; and

recognizing signals in response to (i) positional information of the target object determined based on at least, a first position in space at a first time t0 and a second position in space at a second time t1 sensed using the measured one or more differences in the property of the returning light and (ii) a non-coplanar movement of the target object determined in response to a difference in the determined positional information of the target object at the first time t0 and the second time t1.

23. The method of claim 22, wherein the property is an intensity of light.

24. A system of tracking motion of a target object for gesture control of the system by determining positional information of the target object moving in a region of space within range of a light sensitive sensor, the system including:

a processor and a computer readable storage medium storing computer instructions configured to cause the processor to;

scan the region of space monitored by the light sensitive sensor by selectively illuminating respective directionally oriented light sources of a plurality of directionally oriented light sources that (i) are mounted to a single surface and (ii) have at least some overlapping fields of illumination;

measure, using the light sensitive sensor, one or more differences in an intensity of returning light emitted from the respective directionally oriented light sources and reflected from the target object as the target object moves through the region of space; and

recognizing signals in response to (i) positional information of the target object determined based on at least, a first position in space at a first time t0 and a second position in space at a second time t1 sensed using the measured one or more differences in the intensity of the returning light and (ii) a non-coplanar movement of the target object determined in response to a difference in the determined positional information of the target object at the first time t0 and the second time t1.

25. A method of finding an object moving in a region of space within range of a light sensitive sensor and generating a three-dimensional (3D) model of the object for gesture control of a system, the method including:

scanning the region of space monitored by the light sensitive sensor with directionally controllable illumination from selected directionally oriented illumination sources of a set of directionally oriented illumination sources that are mounted to a single surface;

detecting illumination in the region of space including illumination reflected by non-coplanar movement of the object as the object moves through the region of space;

determining a difference in a property of the illumination received for two or more points in the scanning;

determining positional information of the object based at least in part upon the two or more points in the scanning corresponding to the determined difference in the property to identify the non-coplanar movement of the object; and

generating, by a computer system, the 3D model of the object for control of the system.

26. The method of claim 25, further including:

conducting a second scanning of the region of space to obtain second positional information of the object; and

determining a change in the object based upon a comparison of a result from a first scanning and a result from the second scanning.

27. The method of claim 25, further including:

conducting a second scanning limited to a portion of the region of space corresponding to the positional information of the object obtained from a first scanning; and

determining additional positional information of the object based upon a result from the second scanning.

28. The method of claim 27,

wherein the second scanning includes conducting the second scanning using a greater number of directionally oriented illumination sources of the set of directionally oriented illumination sources than used during a first scanning, and

wherein the determining of the positional information comprises determining the positional information of the object for additional accuracy based upon the result from the second scanning.