SG11202005776TA - Method and system for optical-inertial tracking movable objects - Google Patents

Method and system for optical-inertial tracking movable objects

Info

Publication number
SG11202005776TA
SG11202005776TA SG11202005776TA SG11202005776TA SG11202005776TA SG 11202005776T A SG11202005776T A SG 11202005776TA SG 11202005776T A SG11202005776T A SG 11202005776TA SG 11202005776T A SG11202005776T A SG 11202005776TA SG 11202005776T A SG11202005776T A SG 11202005776TA
Authority
SG
Singapore
Prior art keywords
optical
movable objects
inertial tracking
tracking movable
inertial
Prior art date
Application number
SG11202005776TA
Other languages
English (en)
Inventor
Petr Vyacheslavovich Sevostianov
Original Assignee
Alt Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alt Llc filed Critical Alt Llc
Publication of SG11202005776TA publication Critical patent/SG11202005776TA/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
    • 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
    • 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
    • A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
    • 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
    • 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
    • A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
    • A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
    • A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by 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
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
    • A63F13/98—Accessories, i.e. detachable arrangements optional for the use of the video game device, e.g. grip supports of game controllers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • 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
    • A63F13/50—Controlling the output signals based on the game progress
    • A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
    • A63F13/525—Changing parameters of virtual cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Cardiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
SG11202005776TA 2017-12-18 2017-12-18 Method and system for optical-inertial tracking movable objects SG11202005776TA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2017/058068 WO2019122950A1 (fr) 2017-12-18 2017-12-18 Procédé et système de poursuite optique-inertielle d'un objet en mouvement

Publications (1)

Publication Number Publication Date
SG11202005776TA true SG11202005776TA (en) 2020-07-29

Family

ID=66993175

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202005776TA SG11202005776TA (en) 2017-12-18 2017-12-18 Method and system for optical-inertial tracking movable objects

Country Status (6)

Country Link
EP (1) EP3730899A4 (fr)
JP (1) JP2021509214A (fr)
CN (1) CN112074705A (fr)
RU (1) RU2758036C1 (fr)
SG (1) SG11202005776TA (fr)
WO (1) WO2019122950A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112729285B (zh) * 2020-12-22 2023-03-10 清华大学 基于多模态融合的定位方法及系统
CN113318435A (zh) * 2021-04-27 2021-08-31 青岛小鸟看看科技有限公司 手柄控制追踪器的控制方法、装置及头戴式显示设备
JP7474726B2 (ja) 2021-05-14 2024-04-25 Kddi株式会社 計算機合成ホログラム生成装置及びプログラム

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003901528A0 (en) * 2003-03-31 2003-05-01 Seeing Machines Pty Ltd Eye tracking system and method
US7961909B2 (en) * 2006-03-08 2011-06-14 Electronic Scripting Products, Inc. Computer interface employing a manipulated object with absolute pose detection component and a display
KR20080049061A (ko) * 2005-09-26 2008-06-03 코닌클리케 필립스 일렉트로닉스 엔.브이. 물체 또는 사람의 운동을 추적하기 위한 방법 및 디바이스
US9352230B1 (en) 2006-07-14 2016-05-31 Ailive Inc. Method and system for tracking motion-sensing device
US9317110B2 (en) 2007-05-29 2016-04-19 Cfph, Llc Game with hand motion control
US8964298B2 (en) * 2010-02-28 2015-02-24 Microsoft Corporation Video display modification based on sensor input for a see-through near-to-eye display
US9341704B2 (en) * 2010-04-13 2016-05-17 Frederic Picard Methods and systems for object tracking
US9348141B2 (en) 2010-10-27 2016-05-24 Microsoft Technology Licensing, Llc Low-latency fusing of virtual and real content
CN104620203A (zh) 2012-09-06 2015-05-13 英特飞斯公司 交互式显示系统中的绝对与相对定位传感器融合
US9063330B2 (en) 2013-05-30 2015-06-23 Oculus Vr, Llc Perception based predictive tracking for head mounted displays
US10905943B2 (en) * 2013-06-07 2021-02-02 Sony Interactive Entertainment LLC Systems and methods for reducing hops associated with a head mounted system
US9443355B2 (en) 2013-06-28 2016-09-13 Microsoft Technology Licensing, Llc Reprojection OLED display for augmented reality experiences
US9514571B2 (en) 2013-07-25 2016-12-06 Microsoft Technology Licensing, Llc Late stage reprojection
US9551873B2 (en) * 2014-05-30 2017-01-24 Sony Interactive Entertainment America Llc Head mounted device (HMD) system having interface with mobile computing device for rendering virtual reality content
US9824498B2 (en) * 2014-12-30 2017-11-21 Sony Interactive Entertainment Inc. Scanning display system in head-mounted display for virtual reality
SG11201705370QA (en) 2014-12-31 2017-08-30 Alt Ltd Liability Company Method and device for displaying three-dimensional objects
US20160232715A1 (en) 2015-02-10 2016-08-11 Fangwei Lee Virtual reality and augmented reality control with mobile devices
CN104658012B (zh) * 2015-03-05 2017-04-12 第二炮兵工程设计研究院 一种基于惯性与光学测量融合的运动捕捉方法
US10089790B2 (en) 2015-06-30 2018-10-02 Ariadne's Thread (Usa), Inc. Predictive virtual reality display system with post rendering correction
US9588598B2 (en) 2015-06-30 2017-03-07 Ariadne's Thread (Usa), Inc. Efficient orientation estimation system using magnetic, angular rate, and gravity sensors
US10192361B2 (en) * 2015-07-06 2019-01-29 Seiko Epson Corporation Head-mounted display device and computer program
US10242455B2 (en) 2015-12-18 2019-03-26 Iris Automation, Inc. Systems and methods for generating a 3D world model using velocity data of a vehicle
JP2017146806A (ja) * 2016-02-17 2017-08-24 齋 石田 自動評価機能付き移動体
US10071306B2 (en) * 2016-03-25 2018-09-11 Zero Latency PTY LTD System and method for determining orientation using tracking cameras and inertial measurements
CN105953796A (zh) * 2016-05-23 2016-09-21 北京暴风魔镜科技有限公司 智能手机单目和imu融合的稳定运动跟踪方法和装置
CN107341831B (zh) * 2017-07-06 2020-10-27 青岛海通胜行智能科技有限公司 一种imu辅助的视觉特征鲁棒跟踪方法及装置
CN107255476B (zh) * 2017-07-06 2020-04-21 青岛海通胜行智能科技有限公司 一种基于惯性数据和视觉特征的室内定位方法和装置

Also Published As

Publication number Publication date
WO2019122950A1 (fr) 2019-06-27
JP2021509214A (ja) 2021-03-18
EP3730899A1 (fr) 2020-10-28
EP3730899A4 (fr) 2021-07-28
RU2758036C1 (ru) 2021-10-25
CN112074705A (zh) 2020-12-11

Similar Documents

Publication Publication Date Title
SG11202003732YA (en) Target object positioning system and positioning method
GB201706579D0 (en) Systems and methods for phone-as-a-key range extension
GB2568620B (en) System and method for projecting graphical objects
ZA201904651B (en) Article tracking system and method
EP3347789A4 (fr) Systèmes et procédés de détection et de suivi d'objets mobiles
EP3673345A4 (fr) Système et procédé pour suivi d'un dispositif distribué
EP3580926A4 (fr) Système et procédé de synchronisation de points de suivi
EP3349040C0 (fr) Procédé de navigation pour objets sous-marins et système de sa mise en oeuvre
IL312194A (en) Methods and systems for analysis of chromatography data
EP3477615A4 (fr) Procédé de suivi d'objet et dispositif de suivi d'objet
EP3503033C0 (fr) Système et procédé de suivi optique
SG11202002678RA (en) A tracking system and method
EP3398158A4 (fr) Système et procédé d'identification d'objets cibles
GB201801837D0 (en) Article tracking system and method
IL257092B (en) System and method for tracking objects between cameras
EP3480788A4 (fr) Procédé et dispositif de suivi d'objets
IL273294A (en) Metrology method and system
GB201820995D0 (en) System and apparatus for moving objects
GB2543959B (en) System and apparatus for moving objects
GB2573703B (en) Object tracking device and object tracking method
EP3430581A4 (fr) Procédé et système pour suivre des produits
SG11202005776TA (en) Method and system for optical-inertial tracking movable objects
EP3485287A4 (fr) Procédé et système de suivi d'objet
EP3703876A4 (fr) Système et procédé de tri d'objets
EP3338107A4 (fr) Système et procédé de suivi