CN110052020B8 - 便携式装置或机器人系统中运行的设备、控制设备和方法 - Google Patents

便携式装置或机器人系统中运行的设备、控制设备和方法 Download PDF

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Publication number
CN110052020B8
CN110052020B8 CN201810291916.5A CN201810291916A CN110052020B8 CN 110052020 B8 CN110052020 B8 CN 110052020B8 CN 201810291916 A CN201810291916 A CN 201810291916A CN 110052020 B8 CN110052020 B8 CN 110052020B8
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China
Prior art keywords
6dof
map creation
creation process
positioning process
robot system
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CN201810291916.5A
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CN110052020B (zh
CN110052020A (zh
Inventor
达塔·若蔓德森
林瓊
叶浩
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Xvisio Technology Corp
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Xvisio Technology Corp
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/213—Input arrangements for video game devices characterised by their sensors, purposes or types comprising photodetecting means, e.g. cameras, photodiodes or infrared cells
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1006—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals having additional degrees of freedom
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
    • A63F2300/8082—Virtual reality

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Software Systems (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)

Abstract

本发明提供便携式装置或机器人系统中运行的设备、控制设备和方法。涉及用于6DoF内向外追踪游戏控制的方法和设备。在一个新的方面，多处理器架构被用于VI-SLAM。在一个实施例中，设备获得重叠图像帧和设备的传感器输入，其中，所述传感器输入包括陀螺仪数据、加速度计数据和磁力计数据，所述设备基于分割算法，将计算工作分割至多个向量处理器以获得所述设备的六自由度输出即6DoF输出，并且进行定位处理以生成6DoF估计、以及进行地图创建处理以生成与地图的描述符相关联的三维点的云。在一个实施例中，所述定位处理和所述地图创建处理被配置成顺次运行。在另一实施例中，所述定位处理和所述地图创建处理被配置成并行运行。
CN201810291916.5A 2017-01-18 2018-04-03 便携式装置或机器人系统中运行的设备、控制设备和方法 Active CN110052020B8 (zh)

Applications Claiming Priority (3)

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US201762447867P 2017-01-18 2017-01-18
US15/874,842 2018-01-18
US15/874,842 US10843068B2 (en) 2017-01-18 2018-01-18 6DoF inside-out tracking game controller

Publications (3)

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CN110052020A CN110052020A (zh) 2019-07-26
CN110052020B CN110052020B (zh) 2022-07-22
CN110052020B8 true CN110052020B8 (zh) 2023-06-06

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Also Published As

Publication number Publication date
CN110052020B (zh) 2022-07-22
CN110052020A (zh) 2019-07-26
US20180200614A1 (en) 2018-07-19
US11504608B2 (en) 2022-11-22
US10843068B2 (en) 2020-11-24
US20210031097A1 (en) 2021-02-04
US20230014421A1 (en) 2023-01-19

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CI03 Correction of invention patent

Correction item: Address

Correct: 201203 Xuhui Hongqiao International, No. 288 Tongxie Road, Changning District, Shanghai

False: 201203 Xuhui Hongqiao International, No. 288 Tongxie Road, Pudong New Area, Shanghai

Number: 29-02

Volume: 38

Correction item: Address

Correct: 201203 Xuhui Hongqiao International, No. 288 Tongxie Road, Changning District, Shanghai

False: 201203 Xuhui Hongqiao International, No. 288 Tongxie Road, Pudong New Area, Shanghai

Number: 29-02

Page: The title page

Volume: 38

CI03 Correction of invention patent
OR01 Other related matters
OR01 Other related matters