JP2020510272A - Navigation system - Google Patents

Abstract

A touch-screen enabled device is provided for displaying images in either a real or virtual environment, the device including a graphical overlay overlaid on the images to navigate these environments. Has a user interface. The device can interpret gestures made by the user on the touch screen as commands, and the graphical overlay enables intended operations such as viewpoint translation and viewpoint rotation within the displayed environment. Guide the user on where to make the gestures to do. The graphical overlay can contain only a single symbol, and the gestures that occur within the area marked by this symbol on the display are distinguished from the gestures that originate from outside the symbol, and the distinguished gestures are translated respectively. And control the rotation. This allows one-finger navigation of the environment.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation of US patent application Ser. No. 15 / 919,585, filed Mar. 13, 2018, entitled "Navigation System," which is US Provisional Patent Application Ser. 470405, filed March 13, 2017, claiming priority under the title "Navigation System," and filed with U.S. Patent Application No. 15 / 388,935, filed December 22, 2016, entitled "Navigation System." Head-Mounted Sensor System ", which is a continuation-in-part application, and which is also a continuation-in-part application of U.S. Patent Application No. It is. The disclosures of all of the above patent applications are incorporated herein by reference.

FIELD OF THE INVENTION The present invention is in the field of handheld computing devices, and more particularly, to the use of these computing devices to display and navigate within representations of real and virtual environments. Things.

2. Related Art 2D (two-dimensional) and 3D (three-dimensional) representations of virtual environments are well known in video games, for example, when navigating with one or more joysticks, for example, using one joystick. You can go forward, back, and turn left and right. Similar controls are applied to touch sensors on mobile devices.

US Patent Application No. 15/389059 US Patent Application No. 15 / 388,935

  The present invention is directed to a computer device having a touch screen display and a logic circuit including a microprocessor. Suitable computing devices include handheld devices as well as stationary devices. In various embodiments, the computing device includes an input / output (I / O) configured to communicate with an external device via a communication channel, and / or a representation of a navigable environment. Further comprising an image storage device configured to store The apparatus of the present invention may optionally include an image source configured to generate sufficient information to create a representation of a navigable environment.

  The logic is configured to display an image of a navigable environment on a touch screen display, the image comprising a viewpoint having a position in the navigable environment and an angle in the navigable environment. Is characterized by: In various embodiments, the navigable environment includes a virtual reality environment, a gaming environment, or a real environment. The logic is further configured to receive touch information from a touch screen display and filter the touch information to identify touch gestures, each touch gesture having an origin on the display. The logic circuit is further configured to change an image on the touchscreen display for a touch gesture having an origin in the first portion of the touchscreen display to change a viewpoint position of the image. Have been. The logic circuit changes an image on the touch screen for a contact gesture having a starting point in a second portion of the touch screen display that does not overlap with the first portion of the touch screen display. It is configured to change the angle of the viewpoint of the image.

  In various embodiments, the logic is further configured to overlay a first symbol on an image of the navigable environment, the first symbol being associated with the first portion of the touch screen display. Aligned. In some of these embodiments, the logic is further configured to overlay a second symbol on the navigable image, wherein the second symbol is aligned with the second portion of the touch screen display. You. The logic circuit is configured to, for a touch gesture having an origin within the first portion of the touch screen display and including a swipe, move the first symbol from a position aligned with the first portion of the touch screen display. It can be further configured to move along a path traced by the swipe.

  In some embodiments where the computing device is hand-held, the computing device includes an orientation sensor, and the logic circuit receives orientation information from the orientation sensor and is navigable based on the orientation information. Further configured to switch the display of the image of the environment between a landscape mode and a portrait mode, and to overlay the first symbol on the image of the navigable environment; Is aligned with the first portion of the touch screen display. Further, the logic circuit is further configured to overlay a second symbol on the image of the navigable environment when the display of the image of the navigable environment is switched to a landscape mode. Is aligned with a third portion of the touch screen display within a second portion of the touch screen display. In these preferred embodiments, the logic circuit, while in landscape mode, filters the touch information to identify contact gestures originating in the third portion of the touch screen display, and in response, The image processing apparatus is further configured to change an image on the touchscreen display to change an angle of a viewpoint of the image.

  In various embodiments, the second portion of the touchscreen display includes the entire area of the touchscreen display outside the first portion. Also, in some embodiments, the logic circuit changes a viewpoint angle in proportion to the length of the swipe for a touch gesture that includes a swipe and has an origin in a second portion of the touch screen display. It is further configured as follows. The logic is further configured to change a position of a viewpoint in response to a touch gesture having an origin in a first portion of the touch screen display in proportion to a length of a touch touch time on the touch screen display. can do. The logic circuit may be further configured to change the position of the viewpoint along a curved line for a contact gesture having a starting point in the first portion of the touch screen display and having a curved swipe. .

  In various embodiments, the logic is further configured to overlay a mini-map of the navigable environment over an image of the navigable environment. In some of these embodiments, the logic is further configured to filter the touch information to identify a touch gesture that includes a tap, and in response to the touch gesture that includes the tap. Further configured to provide a map. Also, in some preferred embodiments wherein the logic circuit is configured to overlay a mini-map, the logic circuit is further configured to filter the touch information to identify a touch gesture including a tap. The image processing apparatus is further configured to store the image in response to a contact gesture including the tap.

  In an additional embodiment, wherein the computer system includes a handheld device, the handheld device includes an orientation sensor, and the logic circuit receives orientation information from the orientation sensor and is navigable based on the orientation information. It is further configured to switch the display of an image of the environment between a landscape mode and a portrait mode. In these embodiments, the first portion of the touchscreen display can be positioned within an area of the touchscreen display, and when in portrait mode, the first portion of the touchscreen display can be positioned. Positioning at a first distance from a first edge of the touchscreen display and at a second distance from a second edge longer than the first edge of the touchscreen display; When in landscape mode, the first portion of the touch screen display is spaced a second distance from the first edge of the touch screen display and a first distance from the second edge of the touch screen display. The above logic circuit should be It can be configured.

  The present invention also provides a telepresence system comprising a mobile (mobile) telepresence robot and a controller device. The telepresence robot is movable two-dimensionally in a real environment in response to a received command (command). The robot includes a camera, a first I / O, and logic, wherein the first I / O is configured to communicate via a communication channel, wherein the logic streams video from the camera through the I / O over the communication channel. It is configured to deliver. The controller device includes a second I / O, a touch screen display, and logic, wherein the second I / O is configured to communicate with the telepresence robot via the communication channel, wherein the logic includes a microprocessor. . The logic is configured to display a streaming video on a touch screen display, the video being characterized by a viewpoint having a location in a real environment. The logic circuit receives touch information from a touch screen display, filters the touch information to identify touch gestures each having an origin on the display, and an origin in a first portion of the touch screen display. A command is transmitted to the telepresence robot in response to the contact gesture having the following to move the telepresence robot in the real environment to change the position of the viewpoint of the video.

FIG. 2 illustrates a communication network including at least one computer device, according to various embodiments of the invention. 2A, 2B and 2C are diagrams illustrating landscape and portrait modes of a user interface according to various embodiments of the present invention. FIG. 2B illustrates a screen capture of the user interface of FIG. 2A, according to various embodiments of the invention. FIG. 4 illustrates preferred navigation symbol forms in portrait mode and landscape mode, according to various embodiments of the invention.

DETAILED DESCRIPTION The present invention is directed to devices having a touch screen user interface, which are capable of displaying images on a touch screen, the images being displayed in a real or virtual environment. And the present invention is also directed to a graphical overlay that is displayed as if it were overlaid on an image on a touch screen. The device can interpret a contact gesture made by a user on a touch screen as a command to navigate through the environment. The graphical overlay guides the user about the location on the touch screen where the contact gesture to achieve the intended operation should be made. The operations may include, for example, translation of the viewpoint within the display environment, rotation of the viewpoint, and combinations thereof. In some embodiments, the device can be a handheld device, but the device can be a device that includes a fixed display, such as one that includes a display mounted on a wall.

  More specifically, the graphical overlay can include only a single symbol, such as a circle, while in other embodiments, the overlay includes two symbols. In a single symbol embodiment, contact gestures originating within the area of the display marked (marked) by the symbol are distinguished from contact gestures originating outside this symbol. In a two-symbol embodiment, a contact gesture originating in one symbol is distinguished from a contact gesture originating in the other symbol. In each case, these distinctive contact gestures control translation and rotation, respectively. The apparatus of the present invention provides a user with a user interface for navigating the displayed environment using only one finger. The resulting user experience feels like a formal complete take on computer games.

  FIG. 1 illustrates a communication system 100 according to various embodiments of the invention, the communication system including at least one computing device 110A. Communication system 100 optionally includes additional computing devices 110B, 110C, and so on. Computer device 110 is optionally configured to communicate via network 115. Network 115 may include the Internet, a cellular network, a wireless network, a local area network, etc., and combinations thereof.

  The computing device 110A includes a touch screen display 125, which can detect the contact of a user's finger (eg, a thumb or other finger) on the surface of the display 125, with a suitable computer. Device 110A includes smartphones and tablets, and other types of computer systems with touch screens, such as laptop computers, and systems with touch screen displays mounted on walls. As used herein, a contact gesture is the interaction of a finger with the display 125, including touching the display 125 or being recognized by being close enough to the display 125. Suitable contact gestures include tap (short touch), double (twice) tap, touch a first point and swipe to a second point (maintain contact), touch and touch at a particular point Hold (long press), etc. The path followed by the user's finger on the display 125 can be part of a contact gesture. Other contact gestures may include arches, arcs, etc. The drag used in the present specification is a swipe in which an object displayed on the display 125 moves together with a swipe finger. Swipe, as used herein, refers to any type of continuous movement that does not need to be one-way or at any type of stroke speed, but rather refers to any persistent contact on a path Obviously, it does not preclude touch and release at a single location.

  Computing device 110A optionally further includes an I / O (input / output device) 130, which is configured to communicate with external devices via a communication channel, eg, network 115. The I / O 130 can include a communication port, a wireless communication circuit, and the like.

  The computing device 110A optionally includes an image storage device 145 for storing a representation of the navigable environment, such as a RAM or flash memory, for example, by collecting stored images such as photographs of a real environment. It further includes a non-transitory storage device. The real and virtual environments are based on stored information sufficient to constitute a navigable environment, such as a 3D wireframe image and a set of textures assigned to various portions of the wireframe image. It can also be expressed. Thus, the navigable environment may include, for example, a virtual environment, a game environment, and / or a real environment. Image storage 145 optionally includes a data structure specifically configured to store the geometry of the image and / or environment.

  As an example, images of the real environment can be used by a remote user holding device 110A to operate an individual telepresence robot throughout the real environment. In these embodiments, the image storage 145 does not need to store the streaming video received from the telepresence robot, but the image storage 145 may buffer the streaming video, and And / or the streaming video can be provided for recording for later playback. A representation of the navigable environment may be generated on the computing device 110A and / or received via a network 115 from an external device or image source.

    The computer device 110A further includes a user interface (UI) logic 135 and a navigation logic 140. UI logic 135 continuously receives touch screen input in the form of touch information from display 125, while navigation logic 140 provides a navigable environment along with one or more navigation symbols on display 125. provide. These navigation symbols are overlaid on a displayed image of the navigable environment and are used to indicate different functions (eg, characteristics or functionality) of different portions of the display 125. Navigation symbols may include buttons, menu items (items), circles, icons, etc., as described further herein. Navigation symbols can be opaque or translucent to the image below. The navigation logic 140 is optionally configured to present different numbers of navigation symbols depending on the orientation of the display 125 (eg, portrait or landscape orientation / mode). The touch information can include, for example, the number of pixels being touched.

  The UI logic circuit 135 is configured to filter the received touch information to determine the occurrence of a contact gesture and identify the position of the contact gesture relative to the position of the symbol 210, 215 or any other symbol. . Once the contact gesture is identified by the filter, information about the gesture is passed to the navigation logic 140. When the orientation of the display 125 is switched by the navigation logic 140, the navigation logic 140 updates the UI logic 135, which can update the filter to a new configuration. In an embodiment using both symbols 210, 215, each symbol 210, 215 is aligned with a portion of the touch screen display 125, and the two portions do not overlap. As used herein, “aligned” means that each of the symbols 210, 215 is overlaid on a plurality of pixels within a portion of the display 125 so that these pixels are in the same area as the symbols 210, 215 Or it means to spread over almost the same range. Otherwise, the portion of display 125 that is aligned with symbols 210, 215 may be larger or smaller than the symbols 210, 215 on display 125 themselves.

  A preferred computing device 110A is shown in FIGS. 2A-2C, which both illustrate the computing device 110A in landscape orientation (FIG. 2A) and portrait orientation (FIGS. 2B and 2C). In the illustrated embodiment, the display 125 has a rectangular touch-sensitive display area, within which a navigable environment is shown. For clarity, such images are not shown in FIGS. 2A-2C, but only the navigation symbols 210, 215 that are overlaid on images of this environment. FIG. 3 shows a screenshot of the environment where the symbols 210, 215 are overlaid, and a minimap of a larger, navigable environment.

  In various embodiments, computing device 110A includes an orientation sensor, and navigation logic 140 receives orientation information from the orientation sensor and ports display 125 based on how computing device 110A is held. Automatically switch between rate mode and landscape mode. In these embodiments, as illustrated, the symbols 210, 215 can be displayed by the navigation logic 140 on the left and right sides of the center in landscape orientation, while one symbol 215 in portrait orientation. Only present below the center. In some embodiments, a fixed display, such as a wall mounted touch screen, can use either a single symbol 215 or both symbols and can switch between these symbols.

  The navigation logic 140 is also optionally further configured to provide a partial or complete "mini-map" of the navigable environment, i.e., the representation of the navigable environment is the image in FIG. Overlaid on a portion of the. In some embodiments, the mini-map is optionally accessed by a contact gesture such as a double tap on a particular portion of the display 125, for example, a double tap on the portion of the display 125 represented by the symbol 215. Is done.

  The navigation logic 140 is further configured to optionally provide information about an object in an image of the displayed environment, in response to a touch gesture such as touch and release. For example, navigation logic 140 may provide a listing of selectable objects (registration list) shown in the image currently displayed on display 125, some information about each object, and each of these objects in display 125. Can be included so that upon receiving a contact gesture from a pixel corresponding to an object, the navigation logic 140 can display information about this object on the display 125. Can be added to the overlay into the area close to the selected object.

  In another embodiment, navigation logic 140 uses image analysis to identify objects in an environment, such as a real environment, such as people and articles in an image currently displayed on display 125. Is configured. In some of these embodiments, the navigation logic 140 can respond to the contact gesture by initiating image analysis in an area near the touched pixel, and some Is clearly identified, the navigation logic 140 can display the information stored for the object or person, or can retrieve the information and retrieve the information in the overlay in close proximity to anything identified. An overview can be provided as.

  The navigation logic 140 is further configured to optionally store an image currently displayed on the display 125 in response to the touch gesture. The navigation logic 140 is further configured to optionally orient the displayed portion of the navigable environment in response to the touch gesture, for example, the touch gesture comprises By changing the direction of the displayed portion, the successor on the opposite side (back side) can be indicated.

  The navigation logic 140 controls both the angle and position of the viewpoint, i.e., changes the position in which the environment presented on the display 125 is viewed in the environment, and changes the direction in which the scene is viewed from this position. It is further configured to: The “viewpoint position” is the position or point in the environment where this scene occurs. The “viewpoint angle” is a direction in which the environment is observed from the position of the viewpoint in the environment coordinate system. Changing the angle and position of the viewpoint has the effects of panning (shaking the camera) and zooming, and is similar to a person turning or moving at the viewpoint in a navigable environment.

  As described above, the navigation logic 140 receives the touch gesture from the UI logic 135 and recognizes a part of the touch gesture as a command to change the position of the viewpoint, and recognizes other touch gestures as commands to change the viewpoint. It is further configured to: In some embodiments, both types of contact gestures are common in that the gesture occurs on a first portion of the display 125 and is extended to other portions of the display 125 before ending. In some examples, the filter may recognize the initiated touch gesture and pass the information to the navigation logic 140 before the touch gesture is completed. Thus, the navigation logic 140 can change the display of the environment in response to the touch gesture while the touch gesture is still in progress.

  First and / or second portions of the display are optionally indicated by symbols 210,215. In some embodiments, the angle of the viewpoint is controlled using a touch occurring at the symbol 210, whereas the position of the viewpoint is controlled using a touch occurring at the symbol 215. For example, touching the symbol 210 and swiping up causes an upward change in the angle of the viewpoint, and touching the symbol 210 and swiping right causes a rightward change in the angle of the viewpoint. And so on. Touching the symbol 215 and swiping upward causes the viewpoint position in the navigable environment to move forward, and touching the symbol 215 and swiping right changes the viewpoint position. Is caused to move to the right, and so on. The embodiment represented by FIG. 2A is particularly useful when the computing device 110A is a handheld device and is held with both hands to touch each of the symbols 210 and 215 with each thumb. In some embodiments, touching the symbol 210 helps to select the symbol 210 and drag the symbol 210 with any swipe starting there. Upon completion of the contact gesture, the symbol 210 is returned to the home position on the display 125.

  Display 125 is shown in portrait mode in FIG. 2B. In some embodiments, only one of the symbols 210, 215 is provided by the navigation logic 140 when in the portrait mode. Thus, the operation of UI logic 135 and navigation logic 140 optionally depends on the orientation of computing device 110A. The functions of different parts of the display 125 can be changed according to the orientation of the display 125. In the illustrated example, the symbol 215 represents a portion that scans the position of the viewpoint on the display 125. A contact gesture that occurs on this portion of the display 125 and is swiped outward from this portion is interpreted by the UI logic 135 as a command to change the position of the viewpoint in the environment. Optionally, touches that occur and are swiped on any other part of the display 125 are interpreted as commands to change the viewpoint angle. Thus, the person holds the computing device 110A with one hand, changes the viewpoint position by touching the symbol 215 with his thumb, and swipes to another location on the display 125 with his thumb. You can change the angle of the viewpoint.

  FIG. 2C illustrates an example of a swipe operation that may occur on display 125 in landscape mode. The angle of the viewpoint is changed using a swipe 220 originating from outside the symbol 215, and in some embodiments, the swipe includes the entire touch-sensitive surface of the display 125 outside the symbol 215, or It may be only a portion outside the symbol 215. The length or strength of the swipe 220 can optionally be used as a control means, for example, the amount of change in the viewpoint angle can be proportional to the length of the swipe 220.

  In FIG. 2C, the position of the viewpoint is changed using a swipe 225 generated at a portion of the display 125 indicated by the symbol 215. In various embodiments, the swipe may be along a straight or curved path. The swipe path is optionally interpreted by the UI logic 135 as a gesture having a particular meaning. The degree of curvature of the swipe gesture is optionally used to control the curvature of the path that changes the viewpoint position for the displayed environment. For example, a gesture that occurs at symbol 215 in FIG. 2C and bends to the area indicated by box 230 will cause a change in the position of the viewpoint that moves forward and gradually (to the right or left). In contrast, a gesture that occurs at the symbol 215 and bends to the area indicated by any of the boxes 235 will move forward and cause a relatively sudden (right or left) change in position. Gestures with even greater curvature can cause a U-turn at the viewpoint position. This simulates a person who suddenly turns backward and is similar to a 180 degree rotation of the viewpoint angle. Boxes 230 and 235 are not necessarily visible on display 125, but merely represent an area of display 125 for purposes of illustration. Thus, boxes 230 and 235 can represent any of a discrete area or continuum that can be the endpoint of numerous alternative gestures.

  In some embodiments, a contact gesture resulting from the area indicated by the symbol 215 on the display 125 may be held on the display 125 at the end of the gesture. In other words, if the user leaves his or her finger on the display 125 after swiping a certain distance from the symbol 215, the resulting change in viewpoint position (speed and orientation) will remain until the finger is lifted from the display 125. continue. If the movement continues until the finger is lifted, the amount of change in the viewpoint position depends on the length of time that the finger is in contact with the display 125.

  Note that the portion used for controlling the angle of the viewpoint on the display 125 includes a larger amount in the display 125 in the portrait mode than in the landscape mode. Specifically, the ratio of the area of the portion for changing the viewpoint on the display to the area of the first portion for changing the position on the display is larger in the portrait mode than in the landscape mode.

  Computing device 110A optionally further includes an image source 150. Image source 150 is configured to generate sufficient information to form a navigable environment, such as, for example, an image stored in image storage 145 or a 3D wireframe image and a set of textures. Rendering logic may be included. Computing device 110A further includes a microprocessor 180 configured to perform at least the operations of navigation logic 140, but implements UI logic 135, image source 150, I / O 130, and coded instructions. It also includes one or more of any other logic circuits herein that require the microprocessor to do so.

  A "logic circuit" as described herein includes an entity that executes hardware, firmware, and / or software stored on non-transitory computer readable media. The UI logic 135 and the navigation logic 140 can be used to navigate a virtual reality environment, navigate a game environment, navigate a telepresence robotic device in the real world, and the like. Note that the division of the UI logic circuit 135 and the navigation logic circuit 140 performed here is merely an example, and the functions provided by these may be integrated into a single logic circuit or distributed over three or more logic circuits. it can.

  Communication system 100 optionally further includes a remote image source 155 that communicates over network 115 with computing device 110A. In some embodiments, information stored in the image storage 145 that is sufficient to configure a navigable environment is generated, at least in part, by the remote image source 155. Remote image source 155 may include specific examples of I / O 130, image source 150, microprocessor 180, and the like.

  Communication system 100 optionally further includes a sensor system 165, wherein sensor system 165 is configured to generate data characterizing the navigable environment of the real world, and from this data, configures the navigable environment. More information can be generated. Sensor systems 165 can range from one or more optical cameras to more complex systems that can measure distances and collect images, such as those described in U.S. Pat. / 389059 (Patent Document 1) and U.S. Patent Application No. 15/388935 (Patent Document 2). In some embodiments, computing device 110A includes sensor system 165.

  FIG. 4 shows preferred navigation symbol shapes for portrait mode and landscape mode, respectively. In portrait mode, in these embodiments, as shown, the symbols 215 are positioned along the vertical centerline of the display 125 and are spaced from the lower end of the display 125 by a gap a. The symbol 215 is spaced from the right end of the display 125 by an amount corresponding to another gap. In the landscape mode, the symbols 215 are similarly spaced from the lower end and the right end of the display 125 by the same gap. As further shown, other navigation symbols that may be present as part of the overlay in portrait mode also rearrange to maintain respective gaps for the two nearest sides of display 125.

  The embodiments described herein are illustrative of the present invention. Since these embodiments of the invention have been described with reference to examples, various modifications and adaptations of the described methods and / or specific structures will become apparent to those skilled in the art. All such alterations, adaptations, or variations that rely on the teachings of the present invention, and all those that have advanced the teachings of the present invention, are considered to be within the spirit and scope of the present invention. Accordingly, these descriptions and drawings should not be considered in a limiting sense, as it is clear that the invention is not in any way limited to the illustrated embodiments.

  The computer systems referred to herein may include integrated circuits, microprocessors, personal computers, servers, distributed computer systems, communication devices, network devices, etc., and various combinations thereof. Computer systems include random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), magnetic media, optical media, nano media, and hard disk drives. , Compact discs, digital versatile discs (DVDs), and / or other devices such as databases configured to store analog or digital information. Various examples of the above-described logic circuits may comprise hardware, or computer-readable media, software stored above, or a combination thereof. Computer-readable media as used herein explicitly excludes paper. The computer-implemented steps of the methods described herein may include a set of instructions stored on a computer-readable medium, which, when executed, cause the steps to be performed. The above computer system is executed.

Claims (19)

A touch screen display,
A logic device including a microprocessor, the logic circuit comprising:
Displaying an image of the navigable environment on the touch screen display, wherein the image is characterized by a viewpoint having a position in the navigable environment and an angle in the navigable environment;
Receiving touch information from the touch screen display;
Filtering the touch information to identify contact gestures each having an origin on the touch screen display;
For the contact gesture having an origin in a first portion of the touch screen display, changing an image on the touch screen display to change a position of the viewpoint of the image,
A computer configured to change an image on the touchscreen display to change an angle of the viewpoint of the image for the contact gesture having an origin in a second portion of the touchscreen display. apparatus.   The computer device according to claim 1, wherein the computer device is a handheld device.   The logic circuit is further configured to overlay a first symbol on an image of the navigable environment, wherein the first symbol is aligned with the first portion of the touch screen display. 3. The computer device according to 1 or 2.   The logic circuit is further configured to overlay a second symbol on an image of the navigable environment, the second symbol being aligned with the second portion of the touch screen display. 4. The computer device according to claim 3. The handheld device includes an orientation sensor;
The logic circuit comprises:
Receiving orientation information from the orientation sensor,
Based on the orientation information, display of the image of the navigable environment, switching between landscape mode and portrait mode,
Overlaying a first symbol on the image of the navigable environment, wherein the first symbol is aligned with the first portion of the touch screen display;
When the display of the image of the navigable environment is switched to the landscape mode, a second symbol is overlaid on the image of the navigable environment, and the second symbol is displayed on the touch screen display. Further configured to be aligned with a third portion of the touch screen display within the second portion;
The logic circuit, while in the landscape mode, filters the touch information to identify a touch gesture occurring in the third portion of the touch screen display, and responds to the identification of the touch gesture. The computer device of claim 2, further comprising: changing the image on the touchscreen display to change an angle of the viewpoint of the image.   The computer device of claim 1, wherein the second portion of the touchscreen display includes an entire area of the touchscreen display outside the first portion.   The logic circuit is further configured to change an angle of the viewpoint in proportion to a length of the swipe for a touch gesture including a swipe and having an origin in the second portion of the touch screen display. The computer device according to claim 1, wherein:   The angle of the viewpoint in proportion to the length of time that the logic circuit is touching and touching the touch screen display for a contact gesture having an origin in the first portion of the touch screen display. The computer device according to any one of claims 1 to 7, further configured to change:   The logic circuit is further configured to change the position of the viewpoint along the curve for a contact gesture having an origin and having a curved swipe within the first portion of the touch screen display. The computer device according to claim 1, wherein:   The logic circuit aligns the first symbol with the first portion of the touch screen display for a touch gesture including a swipe having an origin within the first portion of the touch screen display. The computer device of claim 3, further configured to move from a set position along a path traced by the swipe.   The computer device according to claim 1, wherein the navigable environment includes a virtual reality environment, a game environment, or a real environment.   The computer device of claim 1, wherein the logic is further configured to overlay the navigable environment mini-map on an image of the navigable environment.   The logic circuit is further configured to filter the touch information to identify a touch gesture including a tap, and configured to provide the mini-map in response to the touch gesture including the tap. The computing device of claim 12, wherein   The logic circuit is further configured to filter the touch information to identify a touch gesture that includes a tap, and is further configured to store the image in response to the touch gesture that includes the tap. The computer device according to claim 12.   The computer device according to any of the preceding claims, further comprising an input / output device (I / O) configured to communicate with an external device via a communication channel.   A computer device according to any preceding claim, further comprising an image storage device configured to store a representation of the navigable environment.   17. A computer device according to any preceding claim, further comprising an image source configured to generate sufficient information to create a representation of the navigable environment. The handheld device includes an orientation sensor, the first portion of the touchscreen display is positioned within an area of the touchscreen display, and the logic circuit comprises:
Receiving orientation information from the orientation sensor.
Based on the orientation information, display of the image of the navigable environment, switching between landscape mode and portrait mode,
When in the portrait mode, the first portion of the touch screen display is spaced a first distance from a first edge of the touch screen display and the first edge of the touch screen display. Position from the longer second edge by a second distance,
When in the landscape mode, the first portion of the touch screen display is spaced from the first edge of the touch screen display by the second distance and the second portion of the touch screen display is The computer device according to claim 2, wherein the computer device is positioned so as to be spaced from the edge by the first distance. A telepresence system comprising a mobile telepresence robot movable two-dimensionally in a real environment in response to a received command and a controller device,
The mobile telepresence robot includes a camera, a first I / O, and a logic circuit, wherein the first I / O is configured to communicate via a communication channel, wherein the logic circuit communicates with the first I / O from a camera. Configured to stream video over the communication channel through O;
The controller device includes:
A second I / O configured to communicate with the telepresence robot via the communication channel;
A touch screen display,
A logic circuit including a microprocessor;
The logic circuit is
Displaying the streamed video on the touch screen display, wherein the video is characterized by a viewpoint having a location in a real environment;
Receiving touch information from the touch screen display;
Filtering the touch information to identify contact gestures each having an origin on the touch screen display;
In response to a contact gesture having an origin in a first portion of the touch screen display, a command is sent to the telepresence robot to move the telepresence robot in the real environment, and A telepresence system configured to change the position of the viewpoint.

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