OPERATING METHOD OF TRACKING SYSTEM, CONTROLLER, TRACKING SYSTEM, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM

• US 20180307331A1
• Filed: 04/17/2018
• Published: 10/25/2018
• Est. Priority Date: 04/21/2017
• Status: Active Grant

• Current Assignee: HTC Corporation
• Original Assignee: HTC Corporation
• Inventors: LU, Hsin-Yu, WENG, Li-Kang, PAN, Kuang-Yu, CHEN, Yuan-Tung
• Granted Patent: US 10,564,733 B2
• Time in Patent Office: Days
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

An operating method of a tracking system includes the following operations: obtaining a first relative movement vector of a client device by first movement detector; obtaining scale information related to distance; calculating a first actual movement vector of the client device according to the first relative movement vector and the scale information; and fusing, by a processor of a host device, the first relative movement vector, the scale information and the first actual movement vector to generate a 3D position of the client device.

Claims

1. An operating method of a tracking system, comprising:

obtaining a first relative movement vector of a client device;

obtaining scale information related to distance;

calculating a first actual movement vector of the client device according to the first relative movement vector and the scale information; and

fusing, by a processor, object information of the client device and the first actual movement vector to generate a 3D position of the client device.

2. The operating method as claimed in claim 1, wherein the first relative movement vector comprises a movement vector in respect with a 2D-plane and a movement vector detected by an first inertial measurement unit of the client device.

3. The operating method as claimed in claim 2, wherein the scale information related to distance is obtained based on a map database stored in a memory of a host device.

4. The operating method as claimed in claim 2, wherein calculating the first actual movement vector of the client device according to the first relative movement vector and the scale information comprises:

obtaining, by a second inertial measurement unit and a tracker, the 3D position of a host device; and

calculating the first relative movement vector according to the 3D position of the host device and the movement vector.

5. The operating method as claimed in claim 1, further comprising:

obtaining a second relative movement vector of the client device; and

detecting a first depth information in respect with the first relative movement vector and a second depth information in respect with the second relative movement vector;

wherein the first depth information in respect with the first relative movement vector is perpendicular to a second depth information in respect with the second relative movement vector.

6. The operating method as claimed in claim 5, wherein the scale information is obtained according to the first relative movement vector, the second relative movement vector, the first depth information, and the second depth information.

7. The operating method as claimed in claim 1, further comprising:

determining whether the client device is within a field of view (FOV) of a host device or not by the processor of the host device; and

updating a map database with high confidence and retrieving the scale information accurately if it is determined that the client device is within the FOV of the host device by the processor.

8. The operating method as claimed in claim 7, wherein determining whether the client device is within the FOV of the host device or not comprises:

obtaining the object information so as to determine whether the client device is within the FOV of the host device,

wherein the object information comprises shape, color, and/or pattern of an object.

9. The operating method as claimed in claim 7, further comprising:

determining whether the client device has visited the position before or not if it is determined that the client device is not within the FOV of the host device by the processor;

determining a position of the client device within the environment according to history information of the map database if it is determined that the client device has visited the position by the processor; and

updating the map database with low confidence if it is determined that the client device has never visited the position by the processor.

10. A controller, comprising:

a first movement detector configured to obtain a first movement vector of the controller on a first virtual plane;

a second movement detector configured to obtain a second movement vector of the controller on a second virtual plane;

a first depth detector configured to obtain a first depth information in respect with the first virtual plane;

a second depth detector configured to obtain a second depth information in respect with the second virtual plane; and

a processor configured to calculate a first actual movement vector of the controller according to the first and second movement vectors and the first and second depth information.

11. A tracking system, comprising:

a client device, comprising;

a first air mouse configured to obtain a first movement vector of the client device on a first virtual plane; and

an inertial measurement unit (IMU) configured to obtain a IMU movement vector of the client device; and

a host device, comprising;

a processor configured to obtain scale information related to distance, to calculate a first actual movement vector of the client device according to the first movement vector, the IMU movement vector and the scale information, and to fuse object information of the client device and the first actual movement vector to generate a 3D position of the client device.

12. The tracking system as claimed in claim 11, wherein the client device further comprises:

a second air mouse configured to obtain a second movement vector of the client device on a second virtual plane, wherein the second virtual plane is perpendicular to the first virtual plane.

13. The tracking system as claimed in claim 12, wherein processor of the host device is further configured to calculate a second actual movement vector of the client device on the second virtual plane according to the second movement vector, the IMU movement vector and the scale information, and to fuse the first relative movement vector, the second relative movement vector, the scale information, the first actual movement vector, and the second actual movement vector to generate the 3D position of the client device.

14. The tracking system as claimed in claim 11, wherein the host device further comprises:

a memory configured to store a map database of an environment of the tracking system;

wherein the processor is further configured to determine a position of the client device within the 3D environment according to the map database and the first actual movement vector.

15. The tracking system as claimed in claim 14, wherein the processor is further configured to determine whether the client device is within a FOV of the host device or not, and if it is determined that the client device is within the FOV of the host device, the processor is further configured to update the map database with high confidence and to retrieve the scale information accurately.

16. The tracking system as claimed in claim 15, wherein the host device further comprises:

a tracker configured to obtain the object information so as to determine whether the client device is within the FOV of the host device or not.

17. The tracking system as claimed in claim 16, wherein the object information comprises shape, color, and/or pattern of an object.

18. The tracking system as claimed in claim 15, wherein if it is determined that the client device is not within the FOV of the host device, the processor is further configured to determine whether the client device has visited the position before or not, and if it is determined that the client device has visited the position before, the processor is further configured to determine the position of the client device within the environment according to history information of the map database.

19. The tracking system as claimed in claim 18, wherein if it is determined that the client device has never visited the position, the processor is further configured to update the map database with low confidence.

20. A non-transitory computer readable storage medium storing one or more programs comprising instructions, which when executed, causes one or more processing components to perform operations comprising:

receiving a first relative movement vector of a controller;

receiving scale information related to distance;

calculating a first actual movement vector of the controller according to the first relative movement vector and the scale information; and

fusing the first relative movement vector, the scale information and the first actual movement vector to generate a 3D position of the controller.