US2010105479A1PendingUtilityA1
Determining orientation in an external reference frame
Est. expiryOct 23, 2028(~2.2 yrs left)· nominal 20-yr term from priority
A63F 13/10A63F 2300/105G06F 3/0325A63F 2300/6045G06F 3/017G06F 3/0346A63F 13/213A63F 2300/1087A63F 13/428A63F 13/211A63F 13/45
59
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Claims
Abstract
Orientation in an external reference is determined. An external-frame acceleration for a device is determined, the external-frame acceleration being in an external reference frame relative to the device. An internal-frame acceleration for the device is determined, the internal-frame acceleration being in an internal reference frame relative to the device. An orientation of the device is determined based on a comparison between a direction of the external-frame acceleration and a direction of the internal-frame acceleration.
Claims
exact text as granted — not AI-modified1 . A game system, comprising:
a controller; a controller monitor; and an orientation inferring subsystem configured to:
determine an external-frame acceleration of the controller from time-elapsed position information received from the controller monitor, the external-frame acceleration being in an external reference frame relative to the controller;
determine an internal-frame acceleration for the device from acceleration information received from the controller, the internal-frame acceleration being in an internal reference frame relative to the controller; and
determine a coarse orientation of the controller based on a comparison between a direction of the external-frame acceleration and a direction of the internal-frame acceleration.
2 . The game system of claim 1 , where the controller includes an acceleration-measuring subsystem configured to report acceleration information to the orientation inferring subsystem.
3 . The game system of claim 1 , where the controller includes an angular-motion measuring subsystem configured to report angular motion information to the orientation inferring subsystem.
4 . The game system of claim 3 , where the angular-motion measuring subsystem includes spaced-apart three-axis accelerometers.
5 . The game system of claim 3 , where the angular-motion measuring subsystem includes a three-axis gyroscope.
6 . The game system of claim 3 , where the orientation inferring subsystem is configured to update the coarse orientation based on the angular motion information.
7 . The game system of claim 1 , where the controller monitor includes stereo cameras.
8 . The game system of claim 7 , where the controller includes an infrared light and the stereo cameras are configured to view the infrared light.
9 . The game system of claim 1 , where the orientation inferring subsystem determines the external-frame acceleration as:
2
(
X
0
_
-
X
0
′
_
)
(
t
0
-
t
-
1
)
2
+
g
_
where:
X 0 is a current position of the controller as observed by the controller monitor at a time t 0 ;
g is a gravitational acceleration;
X 0 ′ is X −1 + V (t 0 −t −1 )
where:
X −1 is a previous position of the controller as observed by the controller monitor at a previous time t −1 ;
V
_
is
(
X
-
1
_
-
X
-
2
_
)
(
t
-
1
-
t
-
2
)
where:
X −2 is a more previous position of the controller as observed by the controller monitor at a more previous time t −2 .
10 . The game system of claim 1 , where the orientation inferring subsystem uses an unscented Kalman filter to determine a unified estimate of position and an absolute orientation of the controller.
11 . A method of tracking an orientation of a game controller, the method comprising:
inferring a coarse orientation of the game controller by:
determining an external-frame acceleration for the game controller, the external-frame acceleration being in an external reference frame relative to the game controller;
determining an internal-frame acceleration for the game controller, the internal-frame acceleration being in an internal reference frame relative to the game controller; and
determining an orientation of the game controller based on a comparison between a direction of the external-frame acceleration and a direction of the internal-frame acceleration; and
updating the coarse orientation of the game controller based on angular motion information observed by the game controller.
12 . The method of claim 11 , where determining an external-frame acceleration for the game controller includes translating motion information for the game controller that is visually observed by a stereo camera.
13 . A method of inferring device orientation in an external reference frame, the method comprising:
determining an external-frame acceleration for the device, the external-frame acceleration being in an external reference frame relative to the device; determining an internal-frame acceleration for the device, the internal-frame acceleration being in an internal reference frame relative to the device; determining an orientation of the device based on a comparison between a direction of the external-frame acceleration and a direction of the internal-frame acceleration.
14 . The method of claim 13 , where determining an external-frame acceleration for the device includes translating visually-observed motion of the device.
15 . The method of claim 14 , where a stereo camera is used to visually-observe motion of the device.
16 . The method of claim 13 , where determining the internal-frame acceleration for the device includes receiving internal-frame acceleration information observed by the device.
17 . The method of claim 13 , further comprising updating the orientation of the device based on angular motion information observed by the device.
18 . The method of claim 13 , where determining an external-frame acceleration for the device includes receiving initial position information for the device, the initial position information being in the external reference frame relative to the device; and receiving subsequent position information for the device, the subsequent position information being in the external reference frame relative to the device.
19 . The method of claim 13 , where determining the external-frame acceleration for the device includes calculating:
2
(
X
0
_
-
X
0
′
_
)
(
t
0
-
t
-
1
)
2
+
g
_
where:
X 0 is a current position of the device in the external reference frame at a time t 0 ;
g is a gravitational acceleration;
X 0 ′ is X −1 + V (t 0 −t −1 )
where:
X −1 is a previous position of the device in the external reference frame at a previous time t −1 ;
V
_
is
(
X
-
1
_
-
X
-
2
_
)
(
t
-
1
-
t
-
2
)
where:
X − 2 is a more previous position of the device in the external reference frame at a more previous time t −2 .
20 . The method of claim 13 , further comprising using an unscented Kalman filter to determine a unified estimate of position and an absolute orientation of the device.Join the waitlist — get patent alerts
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