Method and system for tracking attitude

• US 5,786,804 A
• Filed: 10/06/1995
• Issued: 07/28/1998
• Est. Priority Date: 10/06/1995
• Status: Expired due to Term

• Current Assignee: Avago Technologies General IP PTE Limited (Broadcom, Inc.), Hewlett-Packard Company (HP Inc.), Hewlett-Packard Development Company, L.P. (HP Inc.)
• Original Assignee: Hewlett-Packard Company (HP Inc.)
• Inventors: Gordon, Gary B.
• Primary Examiner(s): Hjerpe, Richard
• Assistant Examiner(s): Laneau, Ronald
• Application Number:
  US08/540,355
• Time in Patent Office: 1,026 Days
• Field of Search: 345/145, 345/157, 345/158, 345/160
• US Class Current: 345/158
• CPC Class Codes: G06F 3/0317 in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface
• CPC Class Codes: G06F 3/0325 using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
• 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 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A method and system for tracking attitude of a device includes fixing a two-dimensional array of photosensors to the device and using the array to form a reference frame and a sample frame of images. The fields of view of the sample and reference frames largely overlap, so that there are common imaged features from frame to frame. Sample frames are correlated with the reference frame to detect differences in location of the common features. Based upon detection of correlations of features, an attitudinal signal indicative of pitch, yaw, and/or roll is generated. In the preferred embodiment, the attitudinal signal is used to manipulate a screen cursor of a display system, such as a remote interactive video system (RIVS). However, attitudinal tracking using the invention may be employed in other applications. Another aspect of the invention is that the two-dimensional array is configured to compensate for any curvilinear distortions introduced by a lens system for imaging the features within the field of view of the array.

Claims

1. A method of tracking attitude of a device comprising the steps of:

fixing a two-dimensional array of photosensors to said device;

attaching an optical means to said device to image features of an environment onto said photosensors;

utilizing said two-dimensional array to acquire a first image of features within a field of view of said array;

storing said first image;

utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images;

correlating said first and second images to detect differences in location of said common features within said first and second images; and

based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images.

2. The method of claim 1 further comprising a step of controlling location of a cursor on a display screen in response to said attitudinal signal.

3. The method of claim 2 wherein said step of controlling location of said cursor includes transmitting said attitudinal signal from said device to a remote receiver in a wireless manner.

4. The method of claim 1 wherein said step of fixing said two-dimensional array is a step of attaching said array to a hand-holdable member.

5. The method of claim 1 wherein said step in which said first image is acquired is a step including defining a reference frame for correlation with a sequence of sample frames for determining said changes in angular orientation.

6. The method of claim 1 further comprising nominally focusing said photoelements at infinity.

7. The method of claim 3 wherein said steps that include acquiring first and second images are steps of forming image data of a region of an environment in which said display screen resides.

8. The method of claim 7 further comprising periodically acquiring sample images and correlating each sample image to an earlier acquired image to detect differences in location of said common features within said sample images.

9. A system for tracking attitude comprising:

a housing;

a two-dimensional array of photosensors fixed to said housing for forming images of features;

storage means connected to said array for storing a reference frame of pixel values in which each pixel value is indicative of light energy received at a particular photosensor at a specific time;

correlation means connected to said array and to said storage means for correlating an arrangement of said pixel values of said reference frame with at least one sample frame of pixel values formed in response to light energy received at said array subsequent to said specific time; and

computing means, responsive to detection of correlations by said correlation means, for generating an attitudinal signal representing pitch and yaw of pixel values of said at least one sample frame relative to said pixel values of said reference frame, said attitudinal signal thereby representing pitch and yaw of said housing.

10. The system of claim 9 wherein said housing is hand holdable.

11. The system of claim 10 further comprising a video display and a demodulator means connected to receive said attitudinal signal for forming a cursor-control signal for maneuvering a cursor of said video display.

12. The system of claim 11 further comprising transmission means connected for wirelessly transmitting said cursor-control signal to said video display.

13. The system of claim 9 further comprising optical means for nominally focusing said array at infinity, said array having arcuate edges having curvatures selected to compensate for distortions induced by said optical means.

14. A method of controlling movement of a cursor of a video display comprising steps of:

providing a hand-holdable device having a two-dimensional array of photosensors;

tracking movement of said device relative to a region of an environment in which said device resides, including substeps of;

(a) periodically forming largely overlapping images of a field of view of said array;

(b) storing a first image as a reference image;

(c) correlating said images such that changes in location of characteristics of said region within successive images are computationally recognized;

in response to said substeps (a), (b) and (c), forming a cursor-control signal that corresponds to computational recognition of said changes in location; and

transmitting said cursor-control signal to said video display.

15. The method of claim 14 wherein said substep of correlating is a step including forming an attitudinal signal representative of pitch and yaw of said hand-holdable device.

16. The method of claim 14 wherein said step of transmitting said cursor-control signal includes transmitting said signal in a wireless manner to said video display.