3D pointing devices with orientation compensation and improved usability
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-003/033
G06F-003/01
G06F-003/0346
G06F-003/038
H04N-021/422
H04N-005/44
출원번호
US-0015745
(2016-02-04)
등록번호
US-9946356
(2018-04-17)
발명자
/ 주소
Liberty, Matthew G.
출원인 / 주소
InterDigital Patent Holdings, Inc.
대리인 / 주소
Santos, Julian F.
인용정보
피인용 횟수 :
0인용 특허 :
232
초록▼
Systems and methods according to the present invention describe 3D pointing devices which enhance usability by transforming sensed motion data from a first frame of reference (e.g., the body of the 3D pointing device) into a second frame of reference (e.g., a user's frame of reference). One exemplar
Systems and methods according to the present invention describe 3D pointing devices which enhance usability by transforming sensed motion data from a first frame of reference (e.g., the body of the 3D pointing device) into a second frame of reference (e.g., a user's frame of reference). One exemplary embodiment of the present invention removes effects associated with a tilt orientation in which the 3D pointing device is held by a user.
대표청구항▼
1. A method for controlling an object by a device comprising the steps of: detecting movement of the device using an accelerometer and at least one other sensor in the device, the movement being in a body frame of reference;transforming the detected movement from the body frame of reference to anoth
1. A method for controlling an object by a device comprising the steps of: detecting movement of the device using an accelerometer and at least one other sensor in the device, the movement being in a body frame of reference;transforming the detected movement from the body frame of reference to another frame of reference; andusing the transformed movement to generate an output of the device for controlling said object, wherein the step of transforming is calculated by: Pu=Rotate(Pb,Q)+PdeltaPu′=Rotate(Pb′,Q)Pu″=Rotate(Pb″,Q)Wu=Rotate(Wb,Q)Wu′=Rotate(Wb′,Q) where: Rotate represents a quaternion rotation operator such that Rotate(A, Q) is equal to Q*A Q where Q* is a quaternion conjugate and a vector A is a quaternion with a complex component equal to A and a real component equal to 0;Pu is a position in the another frame of reference;Pb is a position in the body frame of reference;′ represents a derivative;Wu is an angular velocity of the device in body angles in the another frame of reference;Wb is an angular velocity of the device in body angles in the body frame of the device;Pdelta is a difference between an origin of the another frame of reference and the body frame of reference in the another frame of reference coordinate system; andQ is the normalized rotation guaternion that represents the rotation from the body frame to the another frame. 2. The method of claim 1, further comprising the steps of: interpreting the detected movement to produce an estimate of the detected movement;converting the detected movement from the body frame of reference to the another frame of reference; andmapping the transformed movement to produce said output of said device. 3. The method of claim 2, wherein the step of mapping is performed to output a gesture for controlling said object. 4. The method of claim 3, wherein said gesture is a command. 5. The method of claim 1, wherein the step of transforming is performed by a processor external to the device. 6. The method of claim 1, wherein the step of transforming includes transforming in x, y, and z dimensions and for both translational and rotational motion. 7. The method of claim 1, wherein the step of transforming includes transforming from x, y, and z dimensions to x and y dimensions. 8. The method of claim 1, wherein the step of transforming includes transforming only one of translational motion and rotational motion. 9. The method of claim 1, further comprising the step of: performing a second transformation to generate the output. 10. A system for controlling an object comprising: a device, comprising: an accelerometer; andat least one other sensor; and aa processor, external to the device, the processor configured to: detect movement of the pointing device using the accelerometer and the at least one other sensor in the device, the movement being in a body frame of reference;transform the detected movement from the body frame of reference to another frame of reference; anduse the transformed movement to generate an output of the device for controlling said object, wherein the step of transforming is calculated by: Pu=Rotate(Pb,Q)+PdeltaPu′=Rotate(Pb′,Q)Pu″=Rotate(Pb″,Q)Wu=Rotate(Wb,Q)Wu′=Rotate(Wb′,Q) where: Rotate represents a quaternion rotation operator such that Rotate(A, Q) is equal to Q*A Q where Q* is a quaternion conjugate and a vector A is a quaternion with a complex component equal to A and a real component equal to 0;Pu is a position in the another frame of reference;Pb is a position in the body frame of reference;′ represents a derivative;Wu is an angular velocity of the device in body angles in the another frame of reference;Wb is an angular velocity of the device in body angles in the body frame of the device;Pdelta is a difference between an origin of the another frame of reference and the body frame of reference in the another frame of reference coordinate system; andQ is the normalized rotation quaternion that represents the rotation from the body frame to the another frame. 11. The system of claim 10, wherein the processor is further configured to: interpret the detected movement to produce an estimate of the detected movement;convert the detected movement from the body frame of reference to the another frame of reference; andmap the transformed movement to produce said output of said device. 12. The system of claim 11, wherein the step of mapping is performed to output a gesture for controlling said object. 13. The system of claim 12, wherein said gesture is a command. 14. The system of claim 10, wherein the transform step includes transforming in x, y, and z dimensions and for both translational and rotational motion. 15. The system of claim 10, wherein the transform step includes transforming from x, y, and z dimensions to x and y dimensions. 16. The system of claim 10, wherein the transform step includes transforming only one of translational motion and rotational motion. 17. The system of claim 10, wherein the processor is further configured to: perform a second transformation to generate the output.
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